Autonomous moving device and control method of autonomous moving device

1. An autonomous moving device comprising:

a measuring unit configured to measure a position and a posture of a person who is present in a predetermined area;

an attention state estimating unit configured to estimate a first attention state of the person on the basis of information indicating the position and the posture of the person measured by the measuring unit;

a state analyzing unit configured to determine a corrective course of action for correcting the first attention state on the basis of the estimated first attention state and a predetermined second attention state; and

an action planning unit configured to determine an action corresponding to the determined corrective course of action,

wherein

the attention state estimating unit estimates a gaze direction in which the person present in the predetermined area watches as the first attention state on the basis of the information indicating the posture measured by the measuring unit,

the second attention state includes a position of a focusing object which is an object which the person is desired to watch and information indicating the focusing object, and

the attention state estimating unit compares the estimated gaze direction with a focusing direction from the person to the focusing object and determines whether the person watches the focusing object on the basis of the comparison result.

2. The autonomous moving device according to claim 1 , wherein when there is a plurality of objects, the attention state estimating unit estimates focusing directions of the person to the plurality of the objects, calculates angle differences between the gaze direction and the focusing directions, and estimates the object corresponding to the focusing direction having the smallest angle difference among the calculated angle differences as the object which the person mostly watches.

3. The autonomous moving device according to claim 2 , wherein the attention state estimating unit estimates that the person watches the object when the position of the object corresponding to the focusing direction having the smallest angle difference among the calculated angle differences is within the person's effective viewing angle.

4. The autonomous moving device according to claim 2 , wherein the attention state estimating unit estimates the objects watched by a plurality of persons who are present in the predetermined area as the first attention state, and

the attention state estimating unit calculates a ratio of the persons watching the object among the plurality of persons for each object and estimates the object watched by the plurality of persons who are present in the predetermined area depending on the calculated ratios.

5. The autonomous moving device according to claim 4 , wherein the state analyzing unit compares the object estimated by the attention state estimating unit with the focusing object and determines whether a predetermined ratio or more of persons among the plurality of persons who are present in the predetermined area watch the focusing object.

6. The autonomous moving device according to claim 5 , wherein the state analyzing unit determines the corrective course of action for correcting the attention state to change the gaze direction when it is determined that the ratio of the persons not watching the focusing object is equal to or greater than the predetermined ratio.

7. The autonomous moving device according to claim 5 , wherein the state analyzing unit determines whether to increase the ratio of the persons watching the autonomous moving device or whether to decrease the ratio of the persons watching the autonomous moving device among the plurality of persons who are present in the predetermined area depending on the object watched by the predetermined ratio or more of persons and the focusing object when it is determined that the persons do not watch the focusing object.

8. The autonomous moving device according to claim 7 , wherein the state analyzing unit determines whether to change the ratio of the persons watching the focusing object via the autonomous moving device or whether to change the ratio of the persons watching the autonomous moving device which is the focusing object as the corrective course of action depending on the object watched by the predetermined ratio or more of persons and the focusing object when it is determined that the ratio of the persons watching the autonomous moving device is to be increased.

9. The autonomous moving device according to claim 7 , wherein the state analyzing unit determines whether to change the ratio of the persons watching the focusing object when the object on which the persons are desired to focus is set or whether to change the ratio of the persons watching the object when the object on which the persons are desired to focus is not set as the corrective course of action depending on the object watched by the predetermined ratio or more of persons and the focusing object when it is determined that the ratio of the persons watching the autonomous moving device is to be decreased.

10. The autonomous moving device according to claim 1 , further comprising an action storage unit configured to store candidate actions based on the corrective course of action in advance,

wherein the action planning unit selects one of the candidate actions stored in the action storage unit depending on the corrective course of action determined by the state analyzing unit.

11. The autonomous moving device according to claim 10 , wherein the action planning unit preferentially selects the candidate action which does not interfere with a predetermined action of the autonomous moving device.

12. The autonomous moving device according to claim 10 , wherein the action planning unit preferentially selects the candidate action which does not accompany movement of the autonomous moving device.

13. The autonomous moving device according to claim 1 , further comprising an imaging unit configured to capture an image of the predetermined area,

wherein the measuring unit measures information indicating the gaze directions of the persons who are present in the predetermined area on the basis of the image captured by the imaging unit.

14. An autonomous moving device comprising:

a measuring unit configured to measure a position and a posture of a person who is present in a predetermined area;

an attention state estimating unit configured to estimate a first attention state of the person on the basis of information indicating the position and the posture of the person measured by the measuring unit;

a state analyzing unit configured to determine a corrective course of action for correcting the first attention state on the basis of the estimated first attention state and a predetermined second attention state;

an action planning unit configured to determine an action corresponding to the determined corrective course of action; and

an area dividing unit configured to divide the predetermined area into two or more divided areas,

wherein

the attention state estimating unit estimates the first attention state of the person on the basis of information indicating the position and the posture of the person measured by the measuring unit for each divided area,

the state analyzing unit determines the corrective course of action for correcting the first attention state on the basis of the estimated first attention state and the predetermined second attention state for each divided area, and

the action planning unit determines the action corresponding to the determined corrective course of action for each divided area.

15. The autonomous moving device according to claim 14 , wherein the action planning unit sets the divided area as an end point to which the autonomous moving device moves on the basis of the corrective course of action when the divided area in which the first attention state and the second attention state are different from each other is present as the comparison result.

16. A control method of an autonomous moving device, comprising:

measuring a position and a posture of a person who is present in a predetermined area;

estimating, as a first attention state of the person, a gaze direction in which the person present in the predetermined area watches on the basis of information indicating the posture of the person;

comparing the gaze direction with a focusing direction from the person to a focusing object which is an object which the person is desired to watch, and determining whether the person watches the focusing object on the basis of the comparison result;

determining a corrective course of action for correcting the first attention state on the basis of the first attention state and a predetermined second attention state, wherein the second attention state includes a position of the focusing object and information indicating the focusing object; and

determining an action corresponding to the corrective course of action.