WO2022224833A1

WO2022224833A1 - Living assistance system

Info

Publication number: WO2022224833A1
Application number: PCT/JP2022/017241
Authority: WO
Inventors: 貴史市原; 勝人小村; 拓也工藤; 祐美子須藤; 邦明田中; 和貴山本; 敦佐々木; 潤哉杉本
Original assignee: 日立グローバルライフソリューションズ株式会社
Priority date: 2021-04-19
Filing date: 2022-04-07
Publication date: 2022-10-27
Also published as: JP2022165216A

Abstract

This living assistance system is provided with a mobile body 2 that moves autonomously inside a house, and behavior assistance device (1) for controlling the moving body in accordance with environment information about the inside of the house or behavior information about a resident recognized on the basis of a sensor (21) of the mobile body or a sensor (3) inside the house. In particular, the behavior assistance device is provided with an behavior recognition unit for recognizing, as current behavior information, information about current behavior of the resident on the basis of the sensor information, and sequentially storing the recognized behavior information as time-series behavior information, and a mobile body instruction unit for diagnosing that the current behavior information has changed with respect to the time-series behavior information, and instructing the mobile body to carry out an operation for promoting an modification of the behavior of the resident, and, as one watching service, involvement with the resident is made so as to take a frailty countermeasure for the resident, or to restore the resident in a frail state to a healthy state.

Description

life support system

The present invention relates to life support systems.

Elderly people move from a healthy state to a state of aging and needing nursing care. In modern medicine, the intermediate state between a healthy state and a state requiring nursing care is called "frailty," and appropriate intervention for frail elderly people can restore them to a healthy state. It is said.

Currently, as part of home security and monitoring services, various sensor devices are installed in the home, and it is possible to detect the actions of people in the home. For example, Patent Literature 1 describes a person estimation unit 730 that estimates a person photographed in moving image data 610 (see FIG. 3), an action of the estimated person 320 (see FIG. 2), and an article related to the action. from the moving image data 610, and an action data generation unit 750 that generates action data 620 (see FIG. 1) based on the extracted information (see paragraph 0028). ), generating “behavior data” that associates “people” with “human behavior”.

JP 2019-185184 A

According to the above-mentioned prior art, it is possible to detect the behavior of people in the house. However, recovery from a frail state to a healthy state cannot be expected.

The purpose of the present invention is to promote the health of residents who are not in a frail state as one of the monitoring services, and to help them recover to a healthy state according to the behavior of the residents who are in a frail state. It is to provide a system.

In order to solve the above-mentioned problems, the life support system of the present invention includes a moving body that moves autonomously within a home, and resident behavior information recognized based on sensor information acquired by a sensor of the moving body or a sensor in the home. Alternatively, an action support device for controlling the moving body in accordance with indoor environment information is provided.

According to the present invention, it is possible to contribute to countermeasures against frailty for residents and recovery of frail residents to a healthy state, and to provide useful monitoring services for residents.

1 is a configuration diagram of a life support system according to an embodiment; FIG. 2 is a configuration diagram of hardware in which the action support device of the life support system of the embodiment operates; FIG. FIG. 10 is a flowchart of processing of the first embodiment that is periodically performed by the action support device; FIG. 11 is a flowchart of processing of the second embodiment that is periodically performed by the action support device; FIG. 11 is a flowchart of processing of the third embodiment that is periodically performed by the action support device; FIG. 12 is a flowchart of processing of the fourth embodiment that is periodically performed by the action support device; FIG. 11 is a flow diagram of processing of Example 5 periodically performed by the action support device; FIG. 14 is a flowchart of processing of Example 6 periodically performed by the action support device; FIG. 16 is a flowchart of processing of the seventh embodiment that is periodically performed by the action support device;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a configuration diagram of a life support system and an action support device according to an embodiment.

The life support system detects mobile objects 2 such as robot vacuum cleaners, robot air purifiers, home appliance robots, and pet robots that move in the home, and detects environmental information such as temperature, humidity, and airflow in the home, and monitors the behavior of residents. A plurality of in-home sensors 3 such as detecting cameras and motion sensors, household appliances such as a washing machine 4, a refrigerator 5, and an air conditioner 6, and an action support device 1 are connected via an in-home LAN 7. . In addition, the action support device 1 communicates via the Internet 8 with a resident terminal 9a such as a resident's smart phone and a watcher terminal 9b of a watcher such as a family member or care supporter.

Although the details will be described later, the action support device 1 recognizes based on the sensor information acquired by the sensor 21 of the moving body 2 autonomously moving in the house or the sensor information acquired by the in-home sensor 3 in the house, the behavior information of the resident or the environment in the house. It controls the moving body 2 according to the information.

Next, the configurations of the mobile body 2 and the action support device 1 will be described with reference to FIG.
The moving body 2 is configured to be able to move autonomously based on the map information in the home and the self-location detection means, and moves to the designated position based on the instruction from the action support device 1. 21 detects a resident. Also, the moving body 2 can communicate with the resident in close proximity.

Specifically, the moving body 2 is equipped with sensors 21 such as a camera, a floor ranging sensor, a ranging sensor, a millimeter wave radar, and a thermography, and a control unit 23 controls driving means 22 such as a motor based on map information 25. It can run autonomously in the house under control. At this time, the vehicle runs while avoiding surrounding obstacles detected by the sensor 21 .

The sensor 21 of the moving body 2 not only detects obstacles in the surrounding running, but also uses the camera image of the sensor 21 to identify the resident, follow the movement of the resident, change the direction of the resident, change the direction of the resident. It is possible to detect the behavior of a person, etc. Further, a sound sensor, a temperature sensor, a humidity sensor, an illuminance sensor, a microphone, or the like may be installed as the sensor 21 to detect indoor environmental information.

In addition, the moving body 2 is equipped with a housing heater 24 that raises the surface temperature of the housing, so that the temperature can be adjusted when the resident comes into contact with it, and the body temperature of the resident is high. Also, a speaker or a light-emitting unit (not shown) may be installed to output a message and serve as a human interface unit with the resident.

The moving body 2 notifies the action support device 1 of sensor information such as the camera image and the temperature distribution image detected by the sensor 21 to detect the action information of the resident and the environment information, and also receives the information from the action support device 1. Moves to a designated position in the house according to the movement instruction.

The action support device 1 includes an action recognition unit 11 that recognizes actions of a resident and obtains action information, and a time-series action information storage unit 12 that stores the resident action information recognized by the action recognition unit 11 in time series. Analyzes the state of the resident from the current behavior information of the resident recognized by the behavior recognition unit 11 and the time-series behavior information of the time-series behavior information storage unit 12, and selects an action that encourages behavior change of the resident or a support action. It is composed of a moving object instruction unit 13 for instructing the moving object 2 and a watching information notification unit 14 for notifying the terminal of the watching person of the resident of information on the behavior information of the resident.

Specifically, the person identification unit 111 of the action recognition unit 11 identifies the resident by recognizing the face image of the resident captured by the sensor 21 (camera) of the mobile body 2 (obtains the person identification information). Identification of a resident may be performed not only by face authentication but also by biometric authentication such as iris authentication using a face image.

The human behavior detection unit 112 of the behavior recognition unit 11 detects the behavior of each resident identified by the person identification unit 111 based on the sensor information of the sensor 21 of the moving body 2 and the sensor information of the indoor sensor 3. Infer and obtain behavioral information for a particular resident. Specifically, behavior information recognizes a person's movement from changes in the position of body parts such as the resident's head, hands, arms, feet, fingers, etc., and changes in body orientation and posture, etc. Actions such as "get up", "lie down", and "sit" are estimated and obtained from the combinations. Then, the human behavior detection unit 112 identifies the bedroom, the kitchen, and day/night based on the sensor information acquisition position and acquisition time, and performs actions such as “wake up”, “sleep”, “sit at the table”, and “relax”. is estimated and used as behavioral information.

Furthermore, the human behavior detection unit 112 acquires the environment information in the home based on the sensor information from the sensor 21 of the moving body 2 and the sensor information from the in-home sensor 3, and uses the environment information when analyzing the behavior of the resident. make it available for reference. Specifically, the operating states of the washing machine 4 and the air conditioner 6 are acquired as environmental information.

In addition, the human behavior detection unit 112 acquires the resident's activity level, walking speed, moving speed, rising speed, and falling state from the recognized human behavior, and uses them as behavior information.

The time-series behavior information storage unit 12 is a storage unit that stores, in chronological order, the resident's behavior information recognized by the behavior recognition unit 11 for each resident (person identification information) identified by the person identification unit 111 . In the time-series behavior information storage unit 12, the behavior recognition unit 11 periodically obtains the behavior information of the resident, and sequentially records the recognition time and the behavior information. Further, the time-series behavior information storage unit 12 may record the recognition time and the behavior information when the behavior information obtained by the behavior recognition unit 11 changes.

In the following description, the action information in the time-series action information storage unit 12 is called time-series action information, and the most recent action information recognized by the action recognition unit 11 is called current action information.

The behavior estimation unit 131 of the moving body instruction unit 13 compares the time-series behavior information and current behavior information for each resident, and analyzes the state of the resident. In addition, the behavior estimation unit 131 analyzes the state of the resident by adding the environmental information acquired based on the sensor information from the sensor 21 of the moving body 2 and the sensor information from the indoor sensor 3 .

The instruction information generation unit 132 generates instruction information for an action that prompts behavioral change of the resident of the moving object 2 or an assisting action according to the analysis result of the action estimation unit 131 .

The instruction information notification unit 133 notifies the mobile object 2 of the instruction information generated by the instruction information generation unit 132 via the home LAN 7 .

The watching information notifying unit 14 transmits the information related to the analysis result of the behavior estimating unit 131 or the information of the resident acquired by instructing the moving object 2 to the resident terminal 9a or the watching person terminal 9b via the Internet 8. to notify.

The detailed operation of the moving body instruction unit 13 will be explained later with reference to the flowchart.

FIG. 2 is a configuration diagram of hardware on which the action support device 1 of FIG. 1 operates.
Action support device 1 is configured as computer 900 having CPU 901 , RAM 902 , ROM 903 , HDD 904 , communication I/F 905 , input/output I/F 906 and media I/F 907 .
Communication I/F 905 is connected to an external communication device 915 . Input/output I/F 906 is connected to input/output device 916 . A media I/F 907 reads and writes data from a recording medium 917 . Furthermore, the CPU 901 controls each processing unit by executing a program (also called an application or an app for short) read into the RAM 902 . This program can be distributed via a communication line or recorded on a recording medium 917 such as a CD-ROM for distribution.

In the action support device 1, the CPU 901 executes a program to implement the functions of the action recognition unit 11, the moving object instruction unit 13, and the watching information notification unit 14, and the time-series action information storage unit 12 is configured in the HDD 904. do.

Hereinafter, the operation of the action support device 1 of the embodiment will be described in detail.

<<Example 1>>
Since the time-series behavior information storage unit 12 stores behavior information such as the amount of activity, walking speed, moving speed, rising speed, and falling as time-series behavior information for each resident, the behavior estimation unit 131 By comparing time-series behavior information and current behavior information, lack of exercise, such as 〇% increase/decrease in time compared to 〇 months ago, 〇% increase/decrease in frequency compared to 〇 months ago, etc. and increased exercise can be analyzed.

In the present embodiment, the action support device 1 determines that exercise is insufficient or exercise is increased when the amount of change in the action information is equal to or greater than the threshold. According to the analysis result of lack of exercise or increase in exercise of the resident, the action support device 1 allows the moving body 2 to perform the exercise "You should do gymnastics." ” is generated as instruction information, and the instruction information is notified to the moving body 2 . Alternatively, instruction information may be sent to the moving body 2 so that the moving body 2 itself performs an exercise-related action to prompt the resident to change their behavior.

At this time, the action support device 1 notifies the resident terminal 9a or the watcher terminal 9b of changes in the resident's action information and the necessity of behavior modification as watching information. Furthermore, the resident terminal 9a or the watcher terminal 9b may be notified of the result of the behavioral change caused by the movement of the moving object 2 as watching information.

FIG. 3 is a flow diagram of processing periodically performed by the action support device 1 of the present embodiment.

At step S31, the action recognition unit 11 acquires sensor information from the moving body 2 and the in-home sensor 3.

In step S32, the person identification unit 111 recognizes the face image of the sensor information, obtains the person identification information of the resident, and identifies the resident.

In step S33, the human behavior detection unit 112 estimates the behavior of each resident identified by the person identification information based on the sensor information of the moving body 2 and the in-home sensor 3, and obtains the behavior information (current behavior information).

In step S34, the time-series behavior information storage unit 12 accumulates the behavior information acquired in step S33 as time-series behavior information.

In step S35, the behavior estimation unit 131 compares the time-series behavior information and current behavior information for each resident, and analyzes the amount of change in the resident's behavior information.

In step S36, the instruction information generation unit 132 determines whether or not the amount of change in the behavior information of the time-series behavior information and the current behavior information is equal to or greater than the threshold. , the resident proceeds to step S37 as lack of exercise or increased exercise. If the amount of change in behavior information is smaller than the threshold (No in S36), the process ends.

In step S<b>37 , the instruction information generation unit 132 performs a voice action (for example, “You should do gymnastics” to encourage behavioral change to overcome the lack of exercise according to the analysis result of the lack of exercise or the increase in exercise of the resident). yo”) is set as the instruction information to the moving body 2.

In step S38, the instruction information notification unit 133 notifies the moving object 2 of the instruction information set in step S37. At this time, the moving body 2 may be notified of an instruction to move to the location of the resident so as to move to the vicinity of the resident.

In step S39, the watching information notification unit 14 notifies the resident terminal 9a or the watching person terminal 9b of the amount of change in the behavior information of the resident and the need for behavior modification as watching information, and ends the process. do.

According to the processing of the action support device 1 described above, the life support system prompts the resident to maintain a certain amount of exercise, so it is possible to maintain the health of the resident.

<<Example 2>>
Since time-series behavior information for each resident is stored in the time-series behavior information storage unit 12, the life rhythm of the resident (for example, every Sunday, wake up → turn on the microwave in the kitchen → sit at the dining table in the living room). to have breakfast).
Also, from the time-series behavior information and the current behavior information, it is possible to detect a sign of frailty by analyzing a decrease in the resident's walking speed and a decrease in the amount of physical activity.

In the present embodiment, when the action support device 1 recognizes that the estimated action of the resident is movement, the action support device 1 moves the moving object 2 ahead of the destination (for example, dining table) to support the resident. to In particular, when a sign of frailty is detected in the resident, the moving body 2 is instructed to perform an operation of photographing the resident's mouth after moving so that the state can be confirmed. In addition to the mouth, body movements that are manifested by signs of frailty may be photographed.

Further, the action support device 1 confirms that the resident has arrived at the destination ahead of the moving body 2, and performs a predetermined operation (notice of non-arrival, etc.) if the resident does not arrive within a predetermined time. The moving body 2 is instructed to

The arrival of the resident is detected by the indoor sensor 3 (human sensor) or by image recognition by the sensor 21 (camera) of the moving body 2.

When the mobile body 2 detects the arrival of the resident, it is preferable to make a call to confirm the resident, such as "Have you been out until now?" and "Have you been in another room?"

In addition, the action support device 1 notifies the resident terminal 9a or the watcher terminal 9b of the confirmation result of the movement of the resident and the photographed image of the resident as watching information.

FIG. 4 is a flow diagram of the process periodically performed by the action support device 1 of the present embodiment. Steps S31 to S35 in FIG. 4 are the same as those in FIG. 3, so description thereof will be omitted here.

In step S41, the instruction information generating unit 132 analyzes the time-series behavior information and the current behavior information to determine from the life rhythm of the resident whether or not the future estimated behavior will involve movement. If (No in S41), the process is terminated.

In step S42, the instruction information generation unit 132 analyzes the decrease in walking speed and the amount of physical activity of the resident in the time-series behavior information and the current behavior information, and determines the presence or absence of signs of frailty in the resident.

If there is a sign of frailty (Yes in S42), in step S43, the instruction information generation unit 132 sets the photographing operation including the mouth of the resident after movement to the instruction information of the moving body.

In step S44, the instruction information generation unit 132 estimates the destination position from the time series behavior information and the current behavior information. For example, in the life rhythm recognized by the time-series behavior information, if it is estimated from the current behavior information (the range is on in the kitchen) that ``I will sit at the dining table in the living room and have breakfast'' in the future, the movement destination Estimate the living as

In step S45, the instruction information generating unit 132 sets the movement to the estimated destination (living room) in the instruction information of the moving body 2. The instruction information for the moving body 2 is notified to the moving body 2 in step S47, which will be described later.

In step S46, the instruction information generation unit 132 confirms that the resident has arrived at the destination ahead of the moving body 2, and if the resident does not arrive within a predetermined time, performs a predetermined operation (non-arrival notification, etc.). The operation of confirming the movement of the resident who does this is set in the instruction information of the moving body 2 .

In step S47, the instruction information notification unit 133 notifies the moving object 2 of the instruction information set in steps S43, S45, and S46.

In step S48, the watching information notification unit 14 notifies the resident terminal 9a or the watching person terminal 9b of the confirmation result of the movement of the resident and the photographed image of the resident as watching information, and ends the process.

With the action support device 1 described above, the life support system can anticipate the estimated destination of the resident, so that the in-home sensor 3 can be complemented to grasp the state of the resident. In particular, by photographing the mouth of a resident with signs of frailty, it is possible to monitor whether the resident will aspirate. In addition, by estimating the number of times of mastication and mastication speed from the photographed image, it is possible to determine whether or not the muscles are weakened.

Further, in the above description, the action support device 1 preempts the movement destination of the resident and instructs the moving body 2 to confirm the movement of the resident and to perform the photographing operation including the mouth of the resident. In addition to this, the action support device 1 detects the indoor temperature at the destination by the sensor 21 (temperature sensor, thermography) of the moving body 2, and controls the air conditioner installed at the destination. You may do so. Further, the moving body 2 may perform an action to prompt the resident who has moved to operate the air conditioner.

<<Example 3>>
Since the time-series behavior information storage unit 12 stores the time-series behavior information for each resident, changes in the resident's physical condition (for example, fever, decreased meal frequency, and not getting up) can be detected from the current behavior information. can recognize.

In this embodiment, when the action support device 1 determines that the resident is in poor physical condition, the action support device 1 instructs the mobile body 2 to measure the condition of the resident with the sensor 21 (for example, thermography, camera) provided in the mobile body 2. do.
In addition, the action support device 1 instructs the mobile body 2 to change the set temperature of the housing heater 24 of the mobile body 2 according to the measured body temperature of the resident.

Furthermore, when the action support device 1 determines that the resident is in poor physical condition, it notifies the resident terminal 9a or the watcher terminal 9b of the physical condition information of the resident as watching information.

FIG. 5 is a flowchart of processing periodically performed by the action support device 1 of the present embodiment.
Steps S31 to S35 in FIG. 5 are the same as those in FIG. 3, and thus description thereof is omitted here.

In step S51, the instruction information generation unit 132 determines whether or not the resident is in poor physical condition by analyzing the time-series behavior information and the current behavior information. exit.

If the physical condition is poor (Yes in S51), in step S52, the instruction information generation unit 132 instructs the sensor 21 (thermography, camera) mounted on the moving body 2 to measure the condition of the resident. As the operation of the moving body 2, it is set in the instruction information. Thereby, the action support device 1 can know the body temperature of the resident and observe the state of the resident.

In step S53, the instruction information notification unit 133 notifies the moving object 2 of the instruction information set in step S52.

In step S54, when the body temperature of the resident is notified from the moving body 2, the instruction information generation unit 132 changes the set temperature of the housing heater 24 of the moving body 2 according to the body temperature of the resident. , is set to the instruction information of the moving object. For example, if the body temperature of the resident is higher than the normal temperature, the surface temperature of the moving body 2 is raised.

In step S55, the instruction information notification unit 133 notifies the moving object 2 of the instruction information set in step S54.

In step S56, the watching information notification unit 14 notifies the resident terminal 9a or the watching person terminal 9b of the physical condition information of the resident as watching information.

With the action support device 1 described above, the life support system can notify the resident of poor physical condition (fever) without forcing the resident to act.

<<Example 4>>
In the action support device 1 of the embodiment described with reference to FIG. 4, it has been described that the moving body 2 anticipates the destination and provides life support by photographing the resident and confirming the movement. You may make it Specifically, when the estimated action of meal preparation of the resident is analyzed from the current action information based on the life rhythm recognized from the time-series action information, the action support device 1 moves to the meal preparation time. The body 2 is installed in the kitchen ahead of the kitchen, and photographs the opening and closing operation of the door of the refrigerator whose position information is recorded in the map information 25, or photographs the inside of the refrigerator, and manages foodstuffs and automatically orders. be able to provide assistance.

The location information of the refrigerator installed in the kitchen is acquired by photographing the QR code indicating the identification information of the refrigerator attached to the refrigerator with the sensor 21 (camera). More specifically, the identification information of the refrigerator is recognized by analyzing the photographed image of the QR code. Calculate the location information of the refrigerator. The refrigerator whose position information has been specified is recorded in the map information 25 of the moving body 2 .
In addition to refrigerators, household appliances such as televisions, air conditioners, and microwave ovens can similarly acquire installation positions in the home. In addition, the resident may input the grounding position of each home appliance to the map information 25 via the resident terminal 9a without using the QR code.

FIG. 6 is a flowchart of processing periodically performed by the action support device 1 of the present embodiment.
Steps S31 to S35 of FIG. 6 are the same as those of FIG. 3, so description thereof is omitted here.

In step S61, the instruction information generating unit 132 analyzes the time-series behavior information and the current behavior information to determine whether or not the future behavior estimated from the life rhythm of the resident is moving to the kitchen of the resident. If it is not movement (No in S61), the process is terminated.

In the case of movement to the kitchen (Yes in S61), the instruction information generation unit 132 sets the movement operation to the kitchen in the instruction information of the moving body 2 in step S62.

In step S63, the instruction information generation unit 132 sets the instruction information of the moving body 2 to the photographing operation of opening and closing the door of the refrigerator installed in the kitchen or the photographing operation of the inside of the refrigerator.

In step S64, the instruction information notification unit 133 notifies the moving object 2 of the instruction information set in steps S62 and S63.

With the action support device 1 described above, the life support system can provide life support such as food management and automatic ordering for residents.

<<Example 5>>
In the action support device 1 described above, an example has been described in which instruction information is notified to the moving object 2 based on the action information of the resident. A case of notifying the moving object 2 of the instruction information will be described.

Specifically, when the action support device 1 acquires the operating state of the washing machine 4 as the environmental information and estimates the end of washing, the action support device 1 obtains the estimated action from the resident's time-series action information and the action information, It is determined whether or not the estimated behavior of the resident can be changed to the behavior of hanging the laundry, and if the behavior can be changed, the moving body 2 performs an action to prompt the resident to change the behavior to hang the laundry.

FIG. 7 is a flowchart of processing periodically performed by the action support device 1 of the present embodiment.
Steps S31 to S34 in FIG. 7 are the same as in FIG. 3, and thus description thereof is omitted here.

In step S71, the human behavior detection unit 112 estimates the operation state of the washing machine 4 installed in the home based on the sensor information of the moving body 2 and the home sensor 3 for each resident identified by the person identification information. environmental information such as the end of washing (current environmental information). For example, the operating sound and notification sound of the washing machine 4 are recognized from the indoor environmental sound detected by the indoor sensor 3 (microphone), and the washing state and the completion of washing are estimated.

In step S72, the behavior estimation unit 131 compares the time-series behavior information for each resident with the current behavior information/environmental information, and analyzes the resident's state.

In step S73, the instruction information generation unit 132 determines whether or not the current environment information indicates that washing has ended. If the washing has not ended (No in S73), the process ends.

If the washing is finished (Yes in S73), in step S74, the instruction information generation unit 132 determines whether the future estimated behavior of the resident analyzed based on the time-series behavior information and the current behavior information is the behavior of hanging the laundry. If it is determined that the action is to hang the laundry (Yes in S74), the process is terminated.

In step S75, the instruction information generation unit 132 determines whether the resident's current action information can be changed to the action of hanging the laundry, and if the change is not possible (No in S75), the process ends. In other words, the priority of the current action and the action of hanging the laundry is determined, and if the priority of the current action is higher, the process ends. For example, if the current behavior is in a relaxed state, it is determined that continuation of the relaxed state has a higher priority, and the process ends. Whether or not to give priority to the relaxed state may be determined based on the resident's past behavior information stored in the time-series behavior information storage unit 12 . For example, if the resident has not been in a relaxed state recently, the relaxed state may be prioritized.

In step S76, the instruction information generation unit 132 sets, in the instruction information of the moving body 2, an action that prompts the resident to change his/her behavior to hang the laundry. Specifically, the moving body 2 is made to output the message "Washing is finished. Please hang the laundry to dry."

At step S77, the instruction information notification unit 133 notifies the moving object 2 of the instruction information set at step S76.

With the action support device 1 described above, the life support system can prevent the resident from forgetting to take out the laundry from the washing machine 4 .
Also, the action support device 1 may be applied to a clothes dryer to prevent the resident from forgetting to take out the dried clothes from the dryer at the end of drying.
Also, the action support device 1 may be applied to a microwave oven to prevent the resident from forgetting to take out the heated food from the microwave oven at the end of heating.
In the action support device 1, the operations of home appliances such as a washing machine, a clothes dryer, and a microwave oven are referred to as home appliance tasks. , etc., are referred to as home appliance task completion.

<<Example 6>>
Next, when the environmental state of the house set by the estimated behavior of the resident (for example, turning on the air conditioner) analyzed based on the time-series behavior information and the current behavior information is different from the environmental state indicated by the current environmental information, , an embodiment for instructing the moving body 2 to perform an operation to prompt the resident to perform an estimated action will be described.
Specifically, when the estimated behavior is behavior related to the operation of the air conditioner 6, if the air conditioner 6 is not in operation, the moving body 2 causes the resident to change the behavior to the behavior of operating the air conditioner 6. urge residents to do so.

FIG. 8 is a flowchart of processing periodically performed by the action support device 1 of the present embodiment.
Steps S31 to S34 in FIG. 8 are the same as those in FIG. 3, so descriptions thereof are omitted here.

In step S81, the human behavior detection unit 112 detects the operating state of the air conditioner 6 installed in the home based on the sensor information of the moving body 2 and the home sensor 3 for each resident identified by the person identification information. Estimate and acquire environment information (current environment information) such as during operation. For example, the operation sound of the air conditioner 6 is recognized from the room temperature and the environmental sound detected by the indoor sensor 3 (microphone, temperature sensor), and the operating state of the cooling and heating operation is estimated.

In step S82, the behavior estimation unit 131 compares the time-series behavior information for each resident with the current behavior information/environmental information, and analyzes the resident's state.

In step S83, the instruction information generation unit 132 determines whether the future behavior of the resident analyzed based on the time-series behavior information and the current behavior information is behavior related to the operation of the air conditioner 6. It is determined whether or not the action corresponds to the current operating state of the air conditioner 6 indicated by the current environment information. Specifically, if the estimated action is to operate cooling and the air conditioner 6 is in the cooling operation, the process ends.

In step S84, the instruction information generating unit 132 determines whether or not the current action information of the resident is in a relaxed state, and if it is in a relaxed state (Yes in S84), the process ends. In other words, if the current behavior information of the resident is in a relaxed state, the moving body 2 is not instructed to act to change the behavior by operating the air conditioner 6 in step S85.

If it is not in the relaxed state (No in S84), in step S85, the instruction information generation unit 132 sets the instruction information of the moving body 2 to prompt the resident to operate the air conditioner. Specifically, the moving body 2 outputs the message "Please operate the air conditioner".

At step S86, the instruction information notification unit 133 notifies the moving object 2 of the instruction information set at step S85.

With the above action support device 1, it is possible to prevent the resident from forgetting to operate the air conditioner 6.

<<Example 7>>
In this embodiment, the action support device 1 compares the estimated action estimated from the resident's time-series action information with the current action state, and if the action is different or abnormal, the sensor 21 of the moving body 2 The moving body 2 is instructed to photograph the behavior of the resident.

Specifically, the action support device 1 uses the estimated action of "sleeping" estimated from the time-series action information of relaxing at night→moving bedroom→bedroom, and the action of waking up outside of bedtime or trying to get out of bed. It compares the recognized current action information of "going to the toilet" and instructs the moving body 2 to photograph the behavior of the resident with the sensor 21 (camera) of the moving body 2 because of the different behavior.

Furthermore, the action support device 1 compares the action information of the resident photographed by instructing the moving body 2 and the past action information of the resident, and determines that there is a certain change over time (decline or improvement). In that case, the communication terminal of the resident or the guardian of the resident will be notified to that effect. A constant change over time is, for example, a change in posture motion or walking motion.

FIG. 9 is a flowchart of processing periodically performed by the action support device 1 of the present embodiment.
Steps S31 to S35 in FIG. 9 are the same as in FIG. 3, and thus description thereof is omitted here.

In step S91, the instruction information generation unit 132 determines whether or not the estimated behavior of the resident estimated from the time-series behavior information is different from the current behavior information. end the process. Specifically, the estimated behavior of "sleep" is compared with the current behavior information of "going to the bathroom".

In step S92, the instruction information generation unit 132 sets the instruction information of the moving body 2 to the action of photographing the resident.

In step S93, the instruction information notification unit 133 notifies the moving object 2 of the instruction information set in step S92.

In step S94, the action recognition unit 11 acquires sensor information captured by the sensor 21 (camera) of the moving body 2 as the action image of the resident.

In step S95, the behavior estimation unit 131 compares the resident behavior information acquired in step S94 with past resident behavior information.

In step S96, the instruction information generation unit 132 determines the resident's frailty risk from the comparison of the behavior information, and when it is determined that there is no constant change over time (decline or improvement) (No in S96), the process is performed. finish.

In step S97, the watching information notification unit 14 notifies the resident terminal 9a or the watching person terminal 9b of the resident's constant change over time as watching information.

With the above-described action support device 1, it is possible to notify a resident of a resident's constant change over time as monitoring information.

In the action support system described above, life support for the resident is provided by the moving body 2 based on the time-series action information and the current action information. can.

For example, in a robot cleaner as the moving body 2, cleaning route information is accumulated, and based on the detection status of obstacles in traveling, the position information of the garbage that causes the resident to fall is specified, and the garbage is mounted. An image is taken by the sensor 21 (camera). Then, the moving body 2 calls out to the resident for attention. In addition, the resident terminal 9a or the guardian terminal 9b is notified of the location information of the garbage and the photographed image of the garbage as the watching information.

In addition, the change in the degree of dirtiness in the house is obtained from the time-series information of the amount of dust sucked by the robot cleaner as the moving body 2, and when the degree of dirtiness increases, it is determined that the resident has a sign of frailty. Also, changes in the degree of tidying up in the house are obtained from the time-series information of obstacle detection by the robot cleaner, and when the degree of tidying up is declining, it is determined that the resident has signs of frailty. The resident terminal 9a or the watcher terminal 9b is notified of the degree of dirtiness and the degree of tidying up as watching information.

The present invention is not limited to the above-described examples, and includes various modifications. The above embodiments have been described in detail to facilitate understanding of the present invention, and are not necessarily limited to those having all the described configurations. Also, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment.

1 action support device 2 moving object 3a home sensor 3b home sensor 4 washing machine 5 refrigerator 6 air conditioner 7 home LAN
8 Internet 9a Resident terminal 9b Watcher terminal 21 Sensor 22 Driving means 23 Control unit 24 Case heater 25 Map information 11 Action recognition unit 111 Person identification unit 112 Human action detection unit 12 Time-series action information storage unit 13 Moving body instruction unit 131 action estimation unit 132 instruction information notification unit 14 watching information notification unit

Claims

a moving body that moves autonomously in the home;
an action support device that controls the mobile object according to behavior information of the resident or environment information inside the home, which is recognized based on sensor information acquired by a sensor of the mobile object or a sensor in the home;
A life support system characterized by comprising:
In the life support system according to claim 1,
The action support device is
A behavior recognition unit that recognizes current behavior information of a resident as current behavior information based on sensor information acquired by a sensor of the moving body or a sensor in the home, and sequentially stores the recognized behavior information as time-series behavior information. When,
A moving body instruction for analyzing that the current behavior information has changed with respect to the time-series behavior information, and instructing the moving body to perform an action that prompts behavior modification of the resident when the amount of change in the behavior information is equal to or greater than a threshold. Department and
A life support system characterized by comprising:
In the life support system according to claim 2,
The action support device further includes:
a watching information notification unit that notifies the communication terminal of the resident or the watcher of the resident of the information about the change in the behavior information of the resident and the information about the behavior change;
A life support system characterized by comprising:
In the life support system according to claim 1,
The action support device is
A behavior recognition unit that recognizes current behavior information of a resident as current behavior information based on sensor information acquired by a sensor of the moving body or a sensor in the home, and sequentially stores the recognized behavior information as time-series behavior information. When,
a moving object instruction unit that instructs the moving object to move to a place where the resident is estimated to move based on the time-series behavior information and the current behavior information;
A life support system characterized by comprising:
In the life support system according to claim 4,
The moving body instruction unit
A life support system, wherein when signs of frailty of a resident are detected based on the time-series behavior information and the current behavior information, a moving object is instructed to move to a place where the resident is estimated to move.
In the life support system according to claim 4 or 5,
The moving body instruction unit instructs the moving body to perform a predetermined action for the resident when the resident cannot be recognized at the destination even after a predetermined time has passed after the moving body moves. A life support system characterized by:
In the life support system according to claim 1,
The action support device is
A behavior recognition unit that recognizes current behavior information of a resident as current behavior information based on sensor information acquired by a sensor of the moving body or a sensor in the home, and sequentially stores the recognized behavior information as time-series behavior information. When,
A moving body instruction for instructing the moving body to measure the condition of the resident with the sensor provided in the moving body when the physical condition of the resident is determined based on the time-series behavior information and the current behavior information. Department and
A life support system characterized by comprising:
In the life support system according to claim 7,
The moving body instruction unit further
A life support system, wherein an instruction is given to a moving body to change a set temperature of a housing heater of the moving body according to the body temperature of the resident.
In the life support system according to claim 4,
The moving body instruction unit
In addition to instructing the moving object to move to the installation location of the refrigerator,
After the movement, the moving body is instructed to perform a predetermined action including an action of photographing the opening/closing action of the refrigerator by the resident or an action of photographing the inside of the refrigerator by the sensor of the moving body. life support system.
In the life support system according to claim 1,
The action support device is
Based on the sensor information acquired by the sensor of the mobile object or the sensor in the house, the current behavior information of the resident is recognized, and the task state of the home appliance is recognized as environmental information in the house, and the recognized behavior of the resident an action recognition unit that sequentially stores information as time-series action information;
When the environment information indicates that the task of the home appliance is completed, it is determined whether the current behavior information of the resident can be changed to the behavior associated with the completed home appliance task, and the behavior of the resident is changed to the behavior associated with the completed home appliance task. a moving object instruction unit that instructs the moving object to perform an action that encourages behavior modification;
A life support system characterized by comprising:
In the life support system according to claim 10,
The life support system, wherein the moving body instruction unit does not instruct the moving body to perform an action that encourages the behavior change of the resident if the current behavior information of the resident is in a relaxed state.
In the life support system according to claim 1,
The action support device is
Based on the sensor information acquired by the sensor of the moving body or the sensor in the house, the resident who recognizes the current behavior information of the resident and recognizes the operating state of the air conditioner as environmental information in the house. an action recognition unit that sequentially stores the action information of as time-series action information;
If the future estimated behavior of the resident analyzed based on the time-series behavior information and the current behavior information is behavior related to the operation of the air conditioner, depending on the environmental information indicating the current operating state of the air conditioner , a moving object instruction unit for instructing the moving object to perform an action prompting an action to operate the air conditioner;
A life support system characterized by comprising:
In the life support system according to claim 12,
The life support system, wherein the mobile body instruction unit does not instruct the mobile body to perform an action to activate the air conditioner if the current behavior information of the resident is in a relaxed state.
In the life support system according to claim 1,
The action support device is
A behavior recognition unit that recognizes current behavior information of a resident as current behavior information based on sensor information acquired by a sensor of the moving body or a sensor in the home, and sequentially stores the recognized behavior information as time-series behavior information. When,
a moving object instruction unit that instructs the moving object to take an image of the resident when it is determined that the estimated behavior estimated from the time-series behavior information is different from the current behavior information;
A life support system characterized by comprising:
In the life support system according to claim 14,
The action support device further includes:
When it is determined that there has been a certain change over time by comparing the behavior information of the resident photographed by instructing the moving object and the behavior information of the past resident, the resident or the resident is notified to that effect. a monitoring information notification unit that notifies the communication terminal of the person watching over the person;
A life support system characterized by comprising: