JP2016052374A - Moving body and information presenting method - Google Patents

Abstract

CONSTITUTION: To provide a moving body 10 which is a moving body such as a wheel chair robot that automatically travels while a user riding on it, and includes information presenting means 12, 42 which present relaxation information to the user during automatic travel, with the information presenting means presenting the relaxation information for relaxing stress of the user to the user only in a case of place and state where, for example, a degree of stress of the user rises when no information is presented, in a presentation mode that is determined based on physiological index at automatic travel which is acquired from a person being tested in advance.EFFECT: Relaxation information is presented properly and effectively in a place and state which a user really requires, for improved comfortability of the user.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a moving body and an information presenting method, and more particularly to a moving body and an information presenting method in which, for example, the user travels automatically.

  In recent years, research and development have been actively conducted on wheelchair robots that automatically travel to a destination with elderly people or physically disabled people. Most of them focus on safety, such as control methods to avoid physical collisions, but consider the comfort of users (passengers) riding wheelchair robots in addition to safety. What has been reported is also being reported.

  For example, Non-Patent Document 1 discloses a wheelchair robot including an information providing terminal. In the technology of Non-Patent Document 1, when a wheelchair robot automatically travels, a wheelchair that automatically travels by notifying the user of the current state of the wheelchair robot by video and audio or notifying the next operation is provided. The anxiety of the user who rides the robot is removed.

Tsutomu Hatase et al .: “Intelligent Wheelchair Robot” FUJITSU.57,3, p.263-268 (05,2006)

  Information about the behavior of the mobile body and the surrounding environment is presented to the user in order to increase the sense of security of the user who travels automatically (that is, travels automatically regardless of the user's driving operation). It is effective to do.

  However, in the technique of Non-Patent Document 1, information presentation to the user is simply performed at a mechanical timing determined in advance by subjective evaluation based on map information or environment information. Specifically, when a wheelchair robot detects an obstacle and stops, immediately after it stops, it always indicates that it has stopped because it has detected an obstacle. When turning a left corner, a certain distance of the corner Be sure to present the information “Turn left after this”.

  For this reason, in the technique of Non-Patent Document 1, information is presented more than necessary (that is, in a place or situation where the user feels that information presentation is unnecessary), or the timing at which the information is presented is shifted. May give users stress. In addition, there is a case where information presentation is actually necessary but not presented.

  Therefore, a main object of the present invention is to provide a novel mobile object and information presentation method.

  Another object of the present invention is to provide a moving body and an information presentation method that can appropriately present information to a user and that allow the user to ride comfortably.

  1st invention is equipped with the information presentation means which presents to the said user the relaxation information for relieving a user's stress at the time of automatic driving | running | working in the mobile body which carries a user automatically, Information presentation means Is a moving body characterized in that relaxation information is presented based on a physiological index at the time of automatic traveling acquired in advance from a subject.

  In the first invention, the mobile body is a mobile body such as a wheelchair robot that automatically travels with a user, and includes information presenting means for presenting relaxation information to the user during automatic travel. This information presentation means is a presentation mode determined based on a physiological index at the time of automatic driving acquired in advance from a subject. For example, the user's stress is applied only in a place or situation where the stress level of the user is high unless information is presented. Present mitigation information for mitigation to users.

  According to the first invention, since the relaxation information is presented to the user based on the physiological index at the time of automatic driving acquired from the subject in advance, the information presentation that the user feels redundant is suppressed, and the user is true. The mitigation information is presented appropriately and effectively at the location and timing required for Therefore, the comfort of the user who gets on the moving body can be enhanced.

  The second invention is dependent on the first invention, and the mitigation information includes behavior information of the moving body and surrounding environment information.

  In the second invention, the information presenting means presents information about the behavior of the moving object (current state and next action) and the surrounding environment to the user. Thereby, since information is shared between the moving body and the user, the sense of security of the user who rides on the moving body can be enhanced.

  The third invention is dependent on the first or second invention, and the mitigation information includes interest information for diverting the user's attention from automatic driving.

  In the third invention, the information presenting means presents interest information unrelated to the behavior information of the moving body and the surrounding environment information to the user. Here, the interest information refers to information for diverting the user's attention from automatic driving, and examples thereof include video images, news information, and music that the user is interested in. By presenting the interest information and drawing the user's attention, it is possible to prevent the user on the moving body from feeling uneasy.

  A fourth invention is dependent on any one of the first to third inventions, a sensor for detecting a physiological index of a user, and a mode of presenting relaxation information by information presenting means based on the physiological index detected by the sensor An adjusting means for adjusting is further provided.

  In 4th invention, a mobile body is provided with the sensor which detects a user's physiological parameter | index, such as a heart rate sensor and a sweat sensor. In addition, adjustment means for adjusting a presentation mode of relaxation information, for example, a place and a situation to be presented, is provided based on the acquired physiological index of the user. For example, if it is detected based on a physiological index that the user's stress level is high during automatic traveling, the moving body adjustment means causes the information presenting means to present mitigation information.

  According to the fourth aspect of the invention, information can be presented more appropriately even on a moving route that moves for the first time, and the comfort of the user can be further improved.

  A fifth invention is an information presentation method in which a mobile object that automatically travels with a user presents relaxation information for relieving stress to the user during automatic traveling, wherein a physiological index during automatic traveling is displayed. Based on the first step acquired from the subject and the physiological index acquired in the first step, including a second step of presenting relaxation information for the user to relieve the stress of the user during automatic driving, This is an information presentation method.

  In 5th invention, the physiological index at the time of automatic driving | running | working is acquired from a test subject in a 1st step. Then, in the second step, the user's stress is alleviated only in places and situations where the user's stress level is high unless information is presented, for example, in the presentation mode determined based on the physiological index acquired in the first step. Mitigation information is presented to the user.

  According to the fifth invention, similar to the first invention, information presentation that the user feels redundant is suppressed, and mitigation information is presented appropriately and effectively at a place or timing that the user really needs. Is done. Therefore, the comfort of the user who gets on the moving body can be enhanced.

  According to the present invention, since relaxation information is presented to the user based on a physiological index during automatic driving obtained in advance from a subject, information presentation that the user feels redundant is suppressed, and the user is truly necessary. Mitigation information is presented appropriately and effectively at the location and timing. Therefore, the comfort of the user who gets on the moving body can be enhanced.

  The above object, other objects, features, and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

It is an illustration figure which shows the wheelchair control system containing the wheelchair robot which is one Example of this invention. It is an illustration figure which shows the external appearance structure of the wheelchair robot of FIG. It is an illustration figure which shows the electrical structure of the wheelchair robot of FIG. It is an illustration figure for demonstrating the stress degree determination by a heartbeat. It is an illustration figure for demonstrating the stress degree determination by perspiration. FIG. 4 is an illustrative view showing a memory map of a RAM shown in FIG. 3. It is a flowchart which shows an example of the learning process which CPU shown in FIG. 3 performs. It is a flowchart which shows an example of the automatic traveling control process of CPU shown in FIG.

  Referring to FIG. 1, a wheelchair robot 10 according to an embodiment of the present invention is a mobile body that automatically travels with a user (passenger) such as an elderly person or a physically handicapped person. The wheelchair control system 100 is configured by being communicably connected to the measuring device 102 to be measured via the network 110. As will be described in detail later, the wheelchair robot 10 includes an information presentation device 12 (see FIG. 2), and is used to relieve user stress such as own behavior information and surrounding environment information during automatic driving. Present mitigation information to users.

  In this embodiment, the description will be made on the assumption that the wheelchair robot 10 automatically travels in an indoor environment (for example, when the wheelchair robot 10 automatically travels from reception to a desired clinic in a hospital). However, the environment in which the wheelchair robot (moving body) 10 automatically travels is not particularly limited, and the wheelchair robot 10 can automatically travel in the outdoor environment.

  As shown in FIG. 2, the wheelchair robot 10 includes a seat 20 on which a user sits, and left and right front wheels 22 a and 22 b and left and right rear wheels 24 a and 24 b are provided below the seat 20. A distance sensor 30a is attached to the left frame 26a of the wheelchair robot 10 at the left portion of the step 28a where the user puts his left foot. Further, a distance sensor 30b is attached to the right frame 26b of the wheelchair robot 10 at the right portion of the step 28b where the user puts his right foot.

  In this embodiment, the distance sensors 30 a and 30 b are attached to the left and right of the wheelchair robot 10, but may be attached to the front and rear of the wheelchair robot 10. The reason why the two distance sensors 30 a and 30 b are provided on the left and right or front and rear of the moving body 10 is to detect (measure) the distance over the entire circumference of the wheelchair robot 10. However, this is merely an example, and the number of distance sensors may be one, or three or more distance sensors may be provided.

  The information presentation device 12 is attached to the left frame 26a of the wheelchair robot 10 via a support portion. In this embodiment, the information presentation device 12 is provided so as to be rotatable in the vertical direction with the frame 26a as a rotation axis. When the user sits on the seat 20, the information presentation device 12 is placed on the user's thigh. To be located. However, the arrangement position of the information presentation device 12 can be changed as appropriate. For example, the information presentation device 12 may be attached obliquely in front of the user, or may be directly held or worn by the user.

  Further, a box 40 is provided below the seat 20 and between the rear wheels 24a and 24b. In the box 40, a computer 42, an input / output interface (hereinafter simply referred to as “interface”) 44, motor drivers 46a and 46b, motors 48a and 48b, and encoders 50a and 50b are provided. However, the computer 42 and the interface 44 may be provided outside the box 40.

  The wheelchair robot 10 may include an operation lever (not shown) that receives a driving operation from the user. Although the wheelchair robot 10 basically runs automatically, the wheelchair robot 10 may be used as a conventional electric wheelchair that is operated by a user by switching the running mode.

  FIG. 3 is a block diagram showing an electrical configuration of the wheelchair robot 10. The wheelchair robot 10 includes a computer 42. The computer 42 is a computer such as a general-purpose personal computer or workstation, and includes components such as a CPU 42a, a RAM 42b, an HDD 42c, and a communication device (not shown). The provision of such components is the same for the computer 104 of the measuring apparatus 102 described later.

  The computer 42 is connected to the information presentation device 12, the distance sensors 30 a and 30 b, and the interface 44. A motor 48a is connected to the interface 44 via a motor driver 46a, and a motor 48b is connected via a motor driver 46b. Furthermore, encoders 50 a and 50 b are connected to the interface 44. The rotating shaft of the motor 48a and the rotating shaft of the left rear wheel 24a are connected using a gear, and the rotating shaft of the motor 48b and the rotating shaft of the right rear wheel 24b are connected using a gear.

  The computer 42 (CPU 42 a) manages the overall control of the wheelchair robot 10. In this embodiment, the computer 42 calculates the movement route to the destination, and controls the driving of the motors 22a and 22b so that the wheelchair robot 10 moves (automatic travel) along the calculated movement route. Further, the computer 42 acquires distance data and rotation speed data detected by the distance sensors 30a and 30b and the encoders 50a and 50b, and predicts (determines) the current position of the wheelchair robot 10 based on the acquired data. Measure the distance to the obstacle.

  The distance sensors 30a and 30b are, for example, general-purpose LRFs (laser range finders), and measure the distance to the object from the time it takes to irradiate the laser and reflect it back to the object. Specifically, the LRF reflects the laser beam emitted from the transmitter with a rotating mirror and scans the fan in a certain angle (for example, 0.25 degrees). The measurement ranges of the distance sensors 30a and 30b in this embodiment are shown in a fan shape with a radius R (R≈10 to 15 m) of 135 ° on each of the left and right sides with respect to the front direction of the distance sensors 30a and 30b. . That is, each of the distance sensors 30a and 30b can detect a distance in a range of 270 ° centered on the front surface thereof. Moreover, the period which scans the whole measurement range (detection range) is 25 msec, for example.

  The motor drivers 46a and 46b drive the motors 48a and 48b based on instructions from the computer 42. The encoder 50 a detects the rotational speed (rps) of the motor 48 a and inputs data about the rotational speed (rotational speed data) to the computer 42 via the interface 44. Similarly, the encoder 50 b detects the rotational speed of the motor 48 b and inputs rotational speed data regarding the rotational speed to the computer 42 via the interface 44.

  The computer 42 acquires the distance data detected by the distance sensors 30a and 30b and the rotational speed data detected by the encoders 50a and 50b, stores them in the RAM 42b (or may be the HDD 42c), and as described above. The current position of the wheelchair robot 10 is predicted and the distance to the obstacle is measured.

  The information presentation device 12 is a small terminal such as a tablet terminal, a tablet PC, a smartphone, a PDA, and a display device, and is used by at least one of an image (video) and audio based on an instruction from the computer 42. Mitigation information to relieve stress on the user is presented to the user.

  Although detailed illustration is omitted, the information presentation device 12 includes, for example, a rectangular housing. A display such as liquid crystal or organic EL is provided on the surface side of the housing, and a touch panel is provided on the upper surface of the display. In addition, a speaker, a microphone, and the like are built in the housing. The information presentation device 12 presents relaxation information to the user from a display, a speaker, or the like based on an instruction from the computer 42. In addition, an input operation such as a destination by a user is accepted from a touch panel and a microphone, and the input information is transmitted to the computer 42.

  That is, in this embodiment, the information presentation device 12 functions as an information presentation unit that presents relaxation information to the user and also functions as an input unit that receives an input operation from the user. However, the information presentation device 12 may simply present relaxation information. The information presentation device 12 may present only an image or only a sound. Furthermore, the information presentation device 12 is not limited to the one that presents the mitigation information at the user's hand, and may be a projector that projects an image or video on a surrounding wall or the like.

  Returning to FIG. 1, the measurement device 102 is a device (system) that detects the current position of the wheelchair robot 10 and measures environmental information such as the positions of pedestrians and other moving bodies and the presence or absence of obstacles. is there. Information measured by the measuring device 102 is appropriately transmitted to the computer 42 of the wheelchair robot 10 via the network 110.

  Specifically, the measurement apparatus 102 includes a computer 104, and a plurality of distance sensors 106 and the like are connected to the computer 104. Although not shown, the plurality of distance sensors 106 are installed in an environment in which the wheelchair robot 10 automatically travels. As the distance sensor 106, the same sensor as the distance sensors 30a and 30b described above can be used. Each distance sensor 106 is arranged so as to partially overlap the detection range of the other distance sensor 104, and the distance can be measured over the entire range of the environment in which the wheelchair robot 10 automatically travels.

  However, as the distance sensors 30a, 30b, and 106, an ultrasonic distance sensor, a millimeter wave radar, or the like may be used instead of the LRF.

  The measuring apparatus 102 stores data on a two-dimensional map (world coordinate system map) in which the environment in which the wheelchair robot 10 automatically travels is viewed from above. For example, when the measuring apparatus 102 detects an object that does not appear on the map based on the distance data detected by the distance sensor 106, the measuring apparatus 102 recognizes (detects) it as a pedestrian or a newly generated obstacle.

  The wheelchair robot 10 configured as described above calculates a movement route from the start point to the destination by, for example, a user who rides the wheelchair robot 10 inputting (setting) the destination using the information presentation device 12. And automatically travel to the destination (autonomous movement). As a method for calculating the movement route, a conventional method for obtaining the shortest distance or the shortest time route may be used.

  Here, in the case of a mobile body that travels automatically with a user on it, that is, a mobile body that travels automatically to the destination regardless of the user's driving operation, the user will get on the mobile body if no behavior information is presented. Users feel nervous and stressed. For this reason, providing information about the behavior of the moving body (current state and next action) and the surrounding environment to the user, that is, sharing information between the moving body and the user It is effective in enhancing the sense of security (comfort) of the user who rides the vehicle. For example, information on the behavior of a moving object such as starting, stopping, turning right or left, etc. is notified to the user in advance, the movement of a person around the moving object, an obstacle on the movement path, or a wall The user's stress is alleviated (reduced) by notifying the user of surrounding environmental information such as the situation of the other side of the wall at a corner with poor visibility. That is, the behavior information of the wheelchair robot 10 and the surrounding environment information are effective as relaxation information for reducing the stress of the user.

  However, if information is presented to users uniformly at the mechanical timing determined by subjective evaluation, information may be presented in more places or situations than necessary, or in fact, where information presentation is required. There is a case where the user is stressed by not presenting it. In other words, the user feels stress if the information is not properly presented. For example, if information is presented in a place or situation where it can be easily predicted that the user will turn left or stop, the user will feel that the information presentation is redundant (or unconsciously) and stressed. May end up.

  Therefore, in the wheelchair robot 10 of this embodiment, paying attention to the fact that a human stress level can be determined by a physiological index (biological information), information is presented with reference to a previously acquired physiological index. Specifically, in this embodiment, at the time of learning (test stage), data relating to physiological indices of a plurality of subjects (users at the time of learning) riding on a wheelchair robot 10 that automatically travels without presenting information is acquired and stored. To do. Next, based on the physiological index acquired in advance, a place or situation having a high degree of stress during automatic driving is extracted. Then, in places or situations where the degree of stress is high, it is estimated (determined) that information needs to be presented, and information is presented when the wheelchair robot 10 is actually used (when practical). On the other hand, in places or situations where the degree of stress is low, it is presumed that information presentation is not necessary and information is not presented during practical use.

  That is, in this embodiment, relaxation information for relieving the user's stress only in a place or situation where the user's stress level is estimated to be high based on a physiological index during automatic driving obtained in advance from the subject. Is presented to the user. As a result, information presentation that the user feels redundant is suppressed, and mitigation information is presented appropriately and effectively in places or situations that the user truly needs.

  As a physiological index for determining the degree of stress, an index based on heartbeat, pulse, sweating, respiratory rate, blood flow, blink, brain wave, and the like can be used. In this embodiment, as an index for stress determination, a low frequency (Low Frequency: 0.05 to 0.15 Hz) component and a high frequency (High Frequency: 0.15 to 0.45 Hz) obtained by frequency analysis of heart rate variability affected by the autonomic nervous system. LF / HF, which is a ratio of the components, and skin conductance related to mental sweating of the palm are used.

  FIG. 4 shows an example of an LF / HF feature signal extracted from a heartbeat signal acquired from a subject. The LF / HF value is known to show a high value when tensioned. Therefore, in the stress determination by LF / HF (heart rate), time average processing is performed to calculate an average value of LF / HF for each certain time section (for example, a section of 5 seconds). If there is a time interval in which the time average value of LF / HF is greater than a threshold value in other time intervals (normal value), the time interval is determined as a high stress interval. In the case of the signal shown in FIG. 4, a section A having a large LF / HF time average value is determined as a section having a high degree of stress, and a place (or situation) corresponding to the section A is registered (learning) as a place having a high degree of stress. Is done.

  FIG. 5 shows an example of a skin electrical resistance (SC) signal obtained from a subject. The SC value is known to increase with tension. Therefore, in the stress determination based on the SC value (sweating), a time average process for calculating the average value of the SC for each certain time interval (for example, a 5-second interval) is performed. Then, if there is a time interval in which the magnitude of the change in the SC average time value is greater than or equal to the threshold value, that is, there is a time interval that is greater than or equal to the threshold value than the immediately preceding time interval value, the time interval is determined to be a high stress level interval. In the case of the signal shown in FIG. 5, the section B having a large change in SC time average value is determined to be a section having a high degree of stress, and a place (or situation) corresponding to the section B is registered (learning) as a place having a high degree of stress. Is done.

  Then, when the wheelchair robot 10 is put into practical use, a position (timing) just before a predetermined distance or a predetermined time that the wheelchair robot 10 reaches the place corresponding to the section A or the section B, that is, the timing before the stress level of the user increases. The mitigation information is presented to the user. This prevents the user from becoming nervous and increasing the degree of stress in advance.

  FIG. 6 shows an example of the memory map 200 of the RAM 42b shown in FIG. As shown in FIG. 6, the RAM 42 b includes a program storage area 202 and a data storage area 204. The program storage area 202 stores a movement control program for automatically running the wheelchair robot 10. The movement control program includes a movement route calculation program 202a, a drive control program 202b, a relaxation information presentation program 202c, a physiological index acquisition program 202d, and the like.

  The travel route calculation program 202a is a program for calculating the travel route to the destination. At the start of the travel control (automatic travel), the travel route calculation program 202a calculates the travel route from the start point and the destination, This is a program for recalculating the movement route from the current position and the destination for avoiding the situation.

  The drive control program 202b is a program for controlling the driving of the motors 48a and 48b so that the wheelchair robot 10 moves along the movement path calculated according to the movement path calculation program 202a.

  When the wheelchair robot 10 automatically travels along the travel route calculated according to the travel route calculation program 202a, the mitigation information presentation program 202c is based on the physiological index at the time of automatic travel previously acquired from the subject. It is a program for presenting mitigation information for mitigating the problem to the user.

  The physiological index acquisition program 202d is a program for acquiring data relating to physiological indices such as heartbeat signals and skin electrical resistance from a person riding on the wheelchair robot 10 during automatic running. In this embodiment, the physiological index acquisition program 202d is used when acquiring data related to a physiological index from a subject during learning.

  Although illustration and detailed description are omitted, the program storage area 202 also stores programs for communicating with other computers.

  The data storage area 204 stores map data 204a, travel route data 204b, destination data 204c, current position data 204d, current situation data 204e, mitigation information presentation data 204f, and the like.

  The map data 204a is data about a two-dimensional map in which the environment in which the wheelchair robot 10 is traveled is viewed from above. This map is a map in the world coordinate system. For example, the map data 204a is generated in advance and input to the computer 42, or stored in advance in the HDD 42c inside the computer 42, and stored in the RAM 42b when executing the movement control process.

  The movement route data 204b is data about a movement route calculated according to the movement route calculation program 202a. For example, the movement route data 204b includes a plurality of points (positions) arranged in order from the start position or the current position of the moving body 10 toward the destination. ) Of each two-dimensional coordinate data (data group).

  The destination data 204c is two-dimensional coordinate data regarding the destination which is the final target position of the wheelchair robot 10. For example, the destination is input to the computer 42 when the user inputs to the information presentation device 12, or is input to the computer 42 from another computer (host computer) or the like by the system administrator.

  The current position data 204d is two-dimensional coordinate data regarding the current position of the wheelchair robot 10. The current position of the wheelchair robot 10 is detected based on the rotational speed data detected by the encoders 50a and 50b, the distance data detected by the distance sensor 104 of the measuring device 100, and the like.

  The current status data 204e is the current status of the wheelchair robot 10 (running or stopped, running speed, direction, etc.), current surrounding environment information (movement of surrounding people, presence of obstacles, etc.), and the like. It is data about the situation.

  The relaxation information presentation data 204f includes voice data and image data (character data, still image data, moving image data, etc.) regarding relaxation information to be presented to the user during automatic driving, and the location, situation, and timing at which the relaxation information is presented. Are stored in association with a presentation mode (presentation condition).

  Although not shown, the data storage area 204 stores other data necessary for execution of the movement control program, and is provided with a counter (timer) and a flag.

  FIG. 7 is a flowchart showing an example of a learning process executed by the CPU 42a shown in FIG. Hereinafter, with reference to the flowchart shown in FIG. 7, a learning process for learning a place or situation where relaxation information should be presented based on a physiological index of a subject (that is, learning a presentation mode of relaxation information) will be described.

  When this learning process is executed (during learning), a heart rate sensor is attached to the subject's chest and a sweat sensor is attached to the subject's finger. Further, each of the heart rate sensor and the sweat sensor and the computer 42 are connected so as to be communicable. The wheelchair robot 10 on which the subject is placed automatically travels along a predetermined movement route without presenting any relaxation information to the subject. This learning process is executed for each movement route assumed in the environment. Moreover, although one test subject may be sufficient, in order to perform more exact learning, it is preferable to acquire the information regarding a physiological index from as many test subjects as possible.

  As shown in FIG. 7, when the movement route is set by the system administrator or the like, the CPU 42a starts automatic traveling, and measures the heart rate and skin resistance of the subject during automatic traveling in step S1. That is, the CPU 42a acquires the heartbeat signal and the SC (skin electrical resistance) signal from the heartbeat sensor and the sweat sensor while controlling the driving of the motors 48a and 48b so as to move the wheelchair robot 10 according to the movement path, and the RAM 42b or The data is stored in the HDD 42c.

  In subsequent steps S3 to S13, the CPU 42a extracts and stores a place or situation where the stress level of the subject (and thus the user) increases along the movement route based on the physiological index of the subject acquired in step S1.

  Specifically, in step S3, the CPU 42a obtains LH / HF by performing frequency analysis on the heartbeat information, and calculates a time average of LH / HF. Here, the CPU 42a performs frequency analysis on the heartbeat signal to obtain LF / HF which is a ratio of the low frequency component to the high frequency component, and calculates, for example, an average value of LF / HF for each time interval of 5 seconds. I do.

  In step S5, the CPU 42a determines whether or not there is a time interval in which the average value of LF / HF is larger than the normal value by a threshold value or more. That is, based on LF / HF, the CPU 42a determines whether there is a place or situation where the degree of stress is high and extracts it.

  If “NO” in the step S5, that is, if there is no time interval in which the average value of LF / HF is larger than the normal value by a threshold value or more, the process proceeds to a step S9. On the other hand, if “YES” in the step S5, that is, if there is a time interval in which the average value of LF / HF is larger than the normal value by a threshold value or more, the process proceeds to a step S7.

  In step S7, the CPU 42a registers (stores) the place or situation corresponding to the time interval extracted in step S5 in the RAM 42b or the like as the place or situation where the information presentation is required (relaxation information presentation data 204f), and goes to step S9. move on.

  In step S9, the CPU 42a calculates the time average of the SC. Here, for example, the CPU 42a performs a time average process for calculating an average value of the SC for each time interval of 5 seconds.

  In step S11, the CPU 42a determines whether or not there is a time interval in which the magnitude of the change in the average value of the SC is greater than or equal to the threshold value, that is, there is a time interval that is greater than or equal to the threshold value. That is, the CPU 42a determines and extracts whether there is a place or situation where the degree of stress is high based on the SC.

  If “NO” in the step S11, that is, if there is no time interval in which the magnitude of the change in the average value of the SC is greater than or equal to the threshold value, the learning process ends. On the other hand, if “YES” in the step S11, that is, if there is a time interval in which the magnitude of the change in the average value of the SC is equal to or larger than the threshold value, the process proceeds to the step S13.

  In step S13, the CPU 42a registers the place or situation corresponding to the time interval extracted in step S11 in the RAM 42b or the like as the place or situation that requires information presentation (relaxation information presentation data 204f), and ends this learning process. .

  It is to be noted that mitigation information is presented to the user during practical use because the degree of stress is high and the wheelchair robot 10 does not reach a place that exactly matches the time interval extracted in steps S5 and S11. This is a place (timing) that is a predetermined distance or a predetermined time before. For this reason, in steps S7 and S13, a place (timing) that is a predetermined distance or a predetermined time before the place that coincides with the time interval extracted in steps S5 and S11 is a place or situation that requires information presentation, such as the RAM 42b. Is stored (registered).

  As a specific example, if the wheelchair robot 10 is making a left turn (the same is true for a right turn or a stop) in the extracted time section, a point 4 m before the left turn point needs information presentation (start information presentation) It is memorized as a place to do. In addition, for example, if the wheelchair robot 10 is approaching the wall to avoid a pedestrian approaching oppositely in the extracted time interval, the situation that the pedestrian is avoided by approaching the wall is presented as information. For example, the timing of 2 seconds before the start of the control for narrowing down is stored as a situation (timing) necessary for information presentation.

  However, the specific example given here is merely an example, and in this learning process, a place where the stress level becomes high is extracted on the movement route based on the physiological index of the subject, and the extracted place is required to present information. Learn as a place.

  FIG. 8 is a flowchart showing an example of the movement control process executed by the CPU 42a shown in FIG. Hereinafter, with reference to the flowchart shown in FIG. 8, a movement control process when the wheelchair robot 10 automatically travels with a user on it (when practically used) will be described.

  As shown in FIG. 8, for example, when a destination is input by the user, the CPU 42a starts a movement control process, and calculates a movement route in step S21. Here, the CPU 42a refers to the map data 204a, calculates a movement route from the start position (current position) to the destination using a general route calculation method, and stores the corresponding movement route data 204b in the RAM 42b. To do.

  In the next step S23, the movement of the wheelchair robot 10 is started so as to move according to the movement route calculated in step S21. That is, the CPU 42a controls driving of the motors 48a and 48b so that the wheelchair robot 10 moves along the movement path. Note that the current position of the wheelchair robot 10 is always detected, and the current position data 204d is updated each time the wheelchair robot 10 moves.

  In a succeeding step S25, it is determined whether or not the current position is a place where information should be presented. Here, the CPU 42a acquires the current position of the wheelchair robot 10 with reference to the current position data 204d. Then, with reference to the relaxation information presentation data 204f, it is determined whether or not the acquired current position of the wheelchair robot 10 is registered as a place where information presentation is necessary. Note that the processing in step S25 and later-described S29 is executed in parallel at predetermined time intervals while the wheelchair robot 10 automatically travels.

  If “NO” in the step S25, that is, if the current position is not a place to present information, the process proceeds to a step S29. On the other hand, if “YES” in the step S25, that is, if the current position is a place to present information, the process proceeds to a step S27.

  In step S27, information presentation according to the place is executed. For example, the CPU 42 a refers to the relaxation information presentation data 204 f and causes the information presentation device 12 to present behavior information of the wheelchair robot 10. To give a specific example, when the next behavior of the wheelchair robot 10 is to turn left at the T-junction, the speaker of the information presentation device 12 outputs a voice saying “Turn left at the next T-junction”. At the same time, an image showing the wheelchair robot 10 turning left at the T-junction is displayed on the display of the information presentation device 12.

  In the next step S29, it is determined whether or not the current situation is a situation where information should be presented. Here, CPU42a acquires the present condition of the wheelchair robot 10 with reference to the present condition data 204e. Then, with reference to the relaxation information presentation data 204f, it is determined whether or not the acquired current situation of the wheelchair robot 10 is registered as a situation requiring information presentation.

  If “NO” in the step S29, that is, if the current situation is not a place where information should be presented, the process proceeds to a step S33. On the other hand, if “YES” in the step S29, that is, if the current situation is a situation where information should be presented, the process proceeds to a step S31.

  In step S31, information presentation according to the situation is executed. For example, the CPU 42a refers to the relaxation information presentation data 204f and causes the information presentation device 12 to present behavior information of the wheelchair robot 10 and surrounding environment information. As a specific example, when a pedestrian is approaching from a side road on a T-junction and the wheelchair robot 10 is stopped in front of the T-junction for safety, the speaker of the information presentation device 12 “walks from the side”. As the pedestrian approaches, it stops once before the T-junction. "And the pedestrian approaches from the side road and the wheelchair robot 10 stops before the T-junction. The video is displayed on the display of the information presentation device 12.

  In the next step S33, it is determined whether or not the wheelchair robot 10 has arrived at the destination. Here, the CPU 42a determines whether the two-dimensional coordinate data of the destination included in the destination data 204c matches the two-dimensional coordinate data of the current position included in the current position data 204d. If “NO” in the step S33, that is, if the wheelchair robot 10 has not arrived at the destination, the process returns to the step S25. On the other hand, if “YES” in the step S33, that is, if the wheelchair robot 10 has arrived at the destination, the movement control process is ended.

  According to this embodiment, the mitigation information for relieving the user's stress only in a place or situation where the user's stress level is estimated to be high based on a physiological index during automatic driving obtained in advance from the subject. Is presented to the user. For this reason, the information presentation which a user feels redundant can be suppressed. In addition, because information is presented based on physiological indices, it is possible to respond appropriately to stress that the user feels unconsciously, and mitigation information that is appropriate and effective in places or situations that the user really needs Can be presented.

  Therefore, the comfort of the user who rides on the wheelchair robot (moving body) 10 can be improved, and the user can comfortably (with peace of mind) even when riding the wheelchair robot 10 for the first time or when traveling for the first time. It is possible to get on the wheelchair robot 10.

  In the above-described embodiment, the computer 42 (CPU 42a) of the wheelchair robot 10 executes the processes shown in FIGS. 7 and 8. However, the present invention is not limited to this. These processes may be executed by another computer such as the computer 104 of the measuring apparatus 102, and control data for automatic traveling and information presentation may be transmitted from the other computer to the wheelchair robot 10.

  In the above-described embodiment, the behavior information of the wheelchair robot 10 and the surrounding environment information are presented as the relaxation information for relieving the user's stress. However, the present invention is not limited to this. The relaxation information presented to the user may be interest information that is not related to the behavior information of the wheelchair robot 10 and the surrounding environment information. Here, the interest information refers to information for diverting the user's attention from automatic driving, that is, information for attracting the user's attention so that the user does not care about the behavior of the wheelchair robot 10. Specifically, the interest information includes video images, news information, music, and the like that the user is interested in. By presenting the interest information and drawing the user's attention, it is possible to prevent the user riding the wheelchair robot 10 from feeling uneasy.

  Furthermore, although the wheelchair robot was illustrated as a moving body which carries a user and carries out automatic traveling in the above-mentioned Example, it is not limited to this. The moving body may be anything that automatically travels regardless of the driving operation of the riding user, and may be a golf cart or the like.

  Furthermore, in the above-described embodiment, during learning for learning the presentation mode (location or situation) of relaxation information, data related to the physiological index of the subject when automatically traveling without information presentation is acquired. In addition to this, it is more preferable to acquire data related to the physiological index of the subject when the vehicle automatically travels with the presentation of information.

  As a result, for example, in places or situations where the degree of stress does not change between when information is not presented and when information is presented, it is possible to determine that information presentation is not required. Where it increases, it is possible to determine that information is not presented.

  In addition, when acquiring data related to a physiological index when information is presented, it is preferable to obtain data when the information presentation timing is changed even if information is presented at the same place or situation. For example, in a place where a left turn is made, the physiological index when the timing of information presentation is changed, such as 3m before the left turn point, 4m before, 5m before, 2 seconds before the left turn, 3 seconds before, 4 seconds before Get data about. And it is good to employ | adopt the timing when the stress level became the lowest as a timing which shows information. Similarly, as the content to obtain data on the physiological index when the content to be presented is changed (for example, which is better, wheelchair robot behavior information or interest information) and present the content with the lowest stress level Adopt it.

  In this way, if data related to a physiological index of a subject when information is presented in various presentation modes (location, situation, timing and content, or a combination thereof) is also acquired, the presentation mode of relaxation information can be changed. Learn more appropriately. Therefore, mitigation information can be more appropriately presented to the user, and the user's comfort can be further improved.

  Furthermore, when acquiring data related to the physiological index of the subject at the time of learning, for the first time when riding the wheelchair robot 10 and for the second time or later, or when passing the movement route for the first time and for the second time or later, etc. It is good to learn in different cases. This is because the user is considered to change the place or situation where information presentation is required depending on the experience (experience). By learning according to the case as described above, relaxation information can be presented to the user more appropriately, and the comfort of the user can be further improved.

  As another embodiment of the present invention, the wheelchair robot (moving body) 10 may include a sensor for detecting a physiological index of a user such as a heart rate sensor or a sweat sensor. That is, in the above-described embodiment, the sensor for detecting the physiological index is attached to the subject only at the time of learning, and the user at the time of practical use is not equipped with the sensor for detecting the physiological index. A user may be provided with a sensor for detecting a physiological index, and a physiological index for determining the degree of stress may be acquired from a user in practical use.

  When detecting the physiological index of the user, the computer 42 of the wheelchair robot 10 also functions as an adjustment unit that adjusts the presentation mode of the relaxation information by the information presentation device 12, and based on the acquired physiological index of the user. The mode of presentation of relaxation information (location, situation, timing, content, etc.) is adjusted. For example, the computer 42 of the wheelchair robot 10 detects, based on the physiological index, that the user's stress level is high during automatic traveling even in a place or situation that is not stored (registered) in the relaxation information presentation data 204f. Then, the relaxation information is presented from the information presentation device 12 at that time. This makes it possible to present information more appropriately on a travel route that travels for the first time, and to improve the comfort of the user.

  In addition, such a user's physiological index may be stored as appropriate, and the stored data may be used for subsequent presentation of relaxation information of the user. In this case, the user is also one of the subjects.

  It should be noted that the specific numerical values shown in the above-described embodiments are merely examples, and can be appropriately changed according to needs such as product specifications.

10 ... Wheelchair robot (moving body)
DESCRIPTION OF SYMBOLS 12 ... Information presentation device 20 ... Seat 22a, 22b ... Front wheel 24a, 24b ... Rear wheel 30a, 30b, 106 ... Distance sensor 42,104 ... Computer 42a ... CPU
42b ... RAM
42c HDD
46a, 46b ... Motor driver 48a, 48b ... Motor 50a, 50b ... Encoder 100 ... Wheelchair control system 102 ... Measuring device

Claims (5)

In a mobile object that automatically travels with a user on it,
Comprising information presenting means for presenting relaxation information for the user to relieve the user's stress during automatic driving;
The mobile body according to claim 1, wherein the information presenting means presents the relaxation information based on a physiological index during automatic driving acquired in advance from a subject.   The mobile object according to claim 1, wherein the relaxation information includes behavior information of the mobile object and surrounding environment information.   The mobile object according to claim 1, wherein the relaxation information includes interest information for diverting the user's attention from automatic driving. The sensor according to any one of claims 1 to 3, further comprising: a sensor that detects a physiological index of the user; and an adjustment unit that adjusts a presentation mode of the relaxation information by the information presentation unit based on a physiological index detected by the sensor. The moving body according to Crab. A mobile body that automatically travels with a user is an information presentation method for presenting relaxation information for relieving stress to the user during automatic traveling,
A first step of acquiring a physiological index during automatic driving from a subject, and relaxation information for reducing the stress of the user during automatic driving based on the physiological index acquired in the first step. An information presentation method including a second step of presenting the information.

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