Warning for Target subsystem warns Target with the warning level specified by input.
D x notify (t n ) [mm]: Distance to Target from Robot where Robot warns Target.
After that, we summarized the requirements as follows: The approach function has to warn an inattentive Target of Robot's approach at an appropriate distance and to warn Target who may be starting to walk suddenly, for ensuring psychological security.
The approach function has to warn an inattentive Target of Robot's approach at an appropriate distance and to warn Target who may be starting to walk suddenly, for ensuring psychological security.
We assumed that a distance getting closer to Target during a reflex time of Target would be an additional distance to the distance at which starting deceleration for adjusting the appropriate distance to warn Target.
By the ability for Robot to warn Target at the appropriate distance that was adjusted by adding a distance related to a reflection time based on the attentiveness of Target, the inattentive Target could notice Robot approaching and became attentive.
Therefore, we adopted Kinect unit to recognize and distinguish the pose of Target in Kinect subsystem, the laser range finder (LRF) unit to measure the distance to Target in LRF subsystem, a speaker unit to warn Target in Warning for Target subsystem, and a drive unit to move Robot in Motor drive subsystem.
For producing a design solution of the approach function for both attentive Target and inattentive Target, we surveyed the required abilities to the approach function suitable for both attentive and inattentive Target, and then, we assumed that Robot had to have abilities to distinguish the poses of inattentive Target from attentive Target, to measure distances to Target, and to warn Target.
And then, we designed a hardware configuration of Robot with the abilities to recognize the pose of Target, to measure the distance to Target, and to warn Target in addition to a basic ability to move Robot, based on the model of Robot shown in Fig. 5.
