AUTONOMOUS TRAVELING DEVICE TRAVELING-INFORMATION GENERATION DEVICE, METHOD, AND PROGRAM, AND AUTONOMOUS TRAVELING DEVICE

摘要

The present invention addresses the problem of making a moving person definitively aware of the existence of an autonomous traveling device, and making the autonomous traveling device travel more safely. The position of a moving person within a building is acquired at prescribed time intervals by a position acquisition unit and the positions of the moving person are stored in chronological order in a position history database, and according to the database the speed and movement direction of the moving person are calculated by a movement information calculation unit. The traveling information for the autonomous traveling device is stored in an autonomous traveling device database. An approach time at which the autonomous traveling device and the moving person come within a prescribed distance of each other is calculated by an approach time calculation unit on the basis of the traveling information and the position, movement direction, and speed of the moving person. From the position and movement direction of the moving person and the position of an obstacle stored in an obstacle database, a gaze position for the moving person is obtained by a gaze position acquisition unit. A gaze region for the moving person is obtained by a gaze region calculation unit from the position and movement direction of the moving person and the gaze position. Traveling information that causes the autonomous traveling device to travel to the gaze region before a prescribed time from the approach time is generated by a traveling information generation unit from the obstacle position, approach time and gaze region.