JP2008279012A - Moving assist system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To greatly improve the usability of a moving assist device. <P>SOLUTION: A plurality of voice sensors 13 and a plurality of communication devices 14 are scatteredly provided on a ceiling or near the ceiling of a habitable room 11, and voice signals detected by the voice sensors 13 and electric wave signals received by the communication devices 14 are sequentially input in a controller 17. The moving assist device 31 supports a user in a seated posture and has an automatically traveling constitution. The controller 17 determines a presence/absence of a use request of the moving assist device 31 from the user and, when determining to have a request, determines the user asking the request. Alternatively, the controller 17 controls the moving assist device 31 to travel to the location of the user determined. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a mobility assistance system having a mobility assistance device used in a house or hospital facility.

Conventionally, various mobility assistance devices have been proposed for use by persons with lower limb disabilities or persons with lower limb weakness (hereinafter simply referred to as “lower limb weak persons”), elderly people, etc. who are difficult to walk independently. As the movement assisting device, the user is supported in a standing posture, and when the user tries to walk on the walking surface, the walking assisting device (for example, refer to Patent Document 1) or the user is seated. 2. Description of the Related Art A movement assist device (for example, an electric wheelchair or the like) that supports a vehicle in a state and drives a wheel to automatically travel is known.
JP-A-10-216183

  By the way, in a nursing facility or a hospital where elderly people or the like move in, a mobility assist device is shared by a plurality of users. In such a case, the location of the movement assisting device changes variously, such as the location of the movement assisting device varies depending on the user who has previously used it. For this reason, when a user wants to use the movement assist device, there is a problem in that it is not easy to use because it is not in the vicinity and cannot be used as intended. Even in a general house, the same problem may occur when a plurality of users share a mobility assist device.

  In addition, even when the movement assistance device is not shared by a plurality of users, when the user tries to use the movement assistance device, if the movement assistance device is far away, there is a disadvantage that the usability is poor.

  The main object of the present invention is to provide a movement assistance system that can greatly improve the usability of the movement assistance apparatus.

  Hereinafter, means and the like effective for solving the above-described problems will be described while showing functions and effects as necessary. In the following, in order to facilitate understanding, a corresponding configuration example in the embodiment of the invention is appropriately shown in parentheses, etc., but is not limited to the specific configuration shown in parentheses.

  1st invention is provided with the movement assistance apparatus (movement assistance apparatus 31) for assisting the movement, supporting at least one part of a body when a user moves, The movement assistance which makes the movement assistance apparatus a control object A system for determining whether or not there is a request for using the mobility assist device from a user (controller 17), and for determining whether a request is made by the request determination means, determining a user who made the request And a control unit (controller 17) that causes the movement assisting device to travel to the location of the user determined by the user determination unit.

  According to the said structure, when a user uses a movement assistance apparatus, according to the user's request | requirement, a movement assistance apparatus can be drive | worked and it can draw near to a user vicinity. Therefore, regardless of the location of the movement assistance device, the movement assistance device can be used as intended. As a result, the usability of the movement assist device can be greatly improved.

  In a second aspect of the invention, the portable communication device (portable device 21) is carried by a user and given unique identification information (ID information) for each user, and the user determination means transmits from the portable communication device. The user who made the request is determined based on the identification information. Thus, for example, each time a user makes a request, the trouble of inputting data about his / her personal information can be omitted, and usability for the user who uses the movement assisting device can be further improved.

  In a third aspect of the present invention, the apparatus includes a storage device (memory of the portable device 21) that stores physical information of a user who possesses the portable communication device, and the control means includes the identification information received from the portable communication device and Based on the physical information stored in the storage device, a setting change is performed for the state of the movement assist device. Here, the user's physical information includes age, sex, height, weight, waist height, elbow height, audiovisual ability (visual acuity, hearing ability), and other lower limbs (lower limb disabled or lower limb weak) And / or information on rehabilitation (rehabilitation). And based on those information, setting changes, such as the height of the site | part which supports a user's body, a moving speed, are implemented about a movement assistance apparatus.

  According to the said structure, a user's physical information can be reflected and the state of a movement assistance apparatus can be controlled appropriately. Thereby, even if the physical characteristics of each user who shares the movement assistance device are different from each other, the movement assistance device can be used in a state convenient for each user. In addition, unlike a configuration in which a user's physical characteristics are measured by a measurement unit such as a sensor and the setting of the movement assist device is changed based on the measurement result, controllability caused by measurement variations of the sensor or the like is reduced. In addition to being able to suppress, it becomes possible to easily cope with various needs of users.

  According to a fourth aspect of the invention, the information processing apparatus includes a storage device (memory of the portable device 21) that stores preference information of a user who possesses the portable communication device, and the control means includes the identification information received from the portable communication device and Based on the preference information stored in the storage device, a setting change is performed for the state of the movement assist device. Here, the user's preference information includes information such as the user's preferred posture and moving speed. And based on those information, setting changes, such as the height of the site | part which supports a user's body, a moving speed, are implemented about a movement assistance apparatus.

  According to the said structure, a user's preference information can be reflected and the state of a movement assistance apparatus can be controlled appropriately. Thereby, even if each user's preference which shares a movement assistance apparatus differs, the use of a movement assistance apparatus is attained in the state convenient for each user.

  Here, as in the fifth invention, the movement assist device may be a walking assist device that changes a moving speed by changing a friction degree of a wheel. Thereby, for example, the amount of walking load can be adjusted according to the degree of difficulty in walking the weak lower limbs or according to the rehabilitation situation of the user.

  According to a sixth aspect of the invention, there is provided speech recognition means (speech detector 13) for recognizing a voice uttered by a user, wherein the request determination means determines the presence or absence of the use request based on the voice recognized by the voice recognition means. To do. Thereby, it can be made to recognize that there exists a use request of a movement auxiliary device only by a user uttering voice.

  In the seventh invention, as the voice recognition means, a plurality of voice detectors are provided in a space where a user exists, and the use request is based on the voice intensities detected by the plurality of voice detectors. Is further provided with position specifying means (controller 17) for specifying the coordinate position of the user who issued In this case, the movement assist device can be reliably traveled (displaced) to the position where the user exists. Thereby, the usability for the user can be further improved.

  According to an eighth aspect of the invention, there is provided biological information acquisition means (biological information measuring instruments 43 and 47) for acquiring user biological information, wherein the request determination means is based on the biological information acquired by the biological information acquisition means. Determine whether there is a usage request. Here, it is desirable that the biological information acquired by the biological information acquisition unit includes information serving as an index indicating the health state of the user, for example, at least one of body weight, blood pressure, pulse, blood glucose level, and the like. It is.

  Accordingly, it is possible to automatically determine whether or not the movement assisting device is necessary based on the user's biological information (daily health condition). Can be directed.

  For example, a measuring instrument for measuring body weight, blood pressure, pulse, blood glucose level, etc. is provided in a bathroom or toilet, and when the user uses the bathroom or toilet, the weight, blood pressure, Measure pulse, blood sugar level, etc. And based on the measurement information, the presence or absence of the use request about a movement assistance apparatus is determined.

  Here, as in the ninth invention, the movement assisting device may be shared by a plurality of users. Even in such a case, the usability of the movement assist device can be improved as described above. Even if the use place (area) is different for each user and the place where the movement assisting device is placed varies, it is possible to draw the movement assisting device to a location convenient for the subsequent user.

  In a tenth aspect of the invention, if it is determined that there is a request by the request determination means, if the mobility assist device is being used by another user, the request is invalidated. Thereby, when the usage request is issued by a plurality of users, it is possible to clarify the actual target user and use the movement assist device without confusion.

  Whether or not the movement assisting device is being used by another user may be determined based on a control signal output to the movement assisting device. Alternatively, it may be determined by a sensor or the like provided in the movement assist device. For example, the presence or absence of a previous user is determined based on the detection result of a seating sensor or a weight sensor (a weight sensor provided on a part that supports a part of the user's body) provided in the movement assist device.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment of the invention will be described with reference to the drawings. In this embodiment, it is embodied as a mobility assistance system applied in a nursing facility (so-called nursing home) or a hospital where elderly people or the like move in. In this mobility assistance system, for example, in a nursing facility, a plurality of residents The shared mobility assist device is suitably controlled according to the needs of the user. FIG. 1 is a diagram showing an outline of the present system, where (a) is a front view and (b) is a plan view.

  In FIG. 1, a common area 12 in which a table and chairs are installed is provided in a living room 11 (for example, a shared space in a care facility), and a user U (resident in a care facility) is provided in the common area 12. You can relax. In addition, a plurality of voice detectors 13 and a plurality of communication devices 14 are provided in the ceiling of the living room 11 or near the ceiling. In the configuration shown in the drawing, a total of nine voice detectors 13 are shown at predetermined intervals in the vertical and horizontal directions in the plan view of the living room 11, and two communication devices 14 are shown. The voice detector 13 and the communication device 14 are connected to the controller 17 via signal lines 15 and 16, respectively. The voice signal detected by the voice detector 13 and the radio signal received by the communication device 14 are the controller. 17 are sequentially input.

  In this embodiment, for convenience of explanation, only the voice detector 13 and the communication device 14 in the living room 11 are shown, but the voice detector 13 communicates with other rooms and spaces in the same floor of the building. The audio signal from the audio sensor 13 and the communication device 14 is sequentially input to the controller 17.

  The sound detector 13 includes a microphone and an amplifier circuit. The sound detector 13 detects the sound emitted by the user U with the microphone, amplifies the sound signal with the amplifier circuit, and transmits the amplified signal to the controller 17. The communication device 14 is capable of wireless communication with a portable device 21 (portable communication device) carried by each user U, and a plurality (two in the figure) of the communication devices 14 in the living room 11 can be communicated. The entire area can be covered as a communication area. Note that the installation location and the number of installation of the voice detector 13 and the communication device 14 are arbitrary, and can be changed to others. A voice sensor 13 may be provided on the table in the common area 12. The voice sensor 13 and the communication device 14 may be provided integrally.

  The controller 17 includes a microcomputer having a CPU, a memory, and the like, and performs various controls on the movement assist device 31 based on various information transmitted from the voice sensor 13 and the communication device 14.

  The portable device 21 is composed of a small portable device, and is not easily disturbed even if it is carried, and is easily provided. For example, a bracelet-type portable device with a wristband attached to the portable device, a pendant-type portable device with a neck chain attached to the portable device, or a badge with a spring hook or badge pin attached to the portable device. It can be realized as a portable mobile device. In addition, an electronic key used in the smart key system is used as the portable device 21, a cellular phone used daily is used as the portable device 21, or an IC card having a communication function is used as the portable device 21. Is also possible.

  The portable device 21 has a memory (not shown) as a storage unit. In the memory, unique ID information (identification information) for each user U who is an owner and a user-specific information regarding the body of each owner. Information is stored. The ID information is information that enables at least a plurality of users (residents) who are authenticated by this system and are subject to authentication to be individually identified. In addition, the user-specific information (here, in particular, physical information) is information such as age, sex, height, weight, visual ability, hearing ability, and other weak leg persons (lower limb handicapped or lower limb weak persons). Information, information on rehabilitation, and the like.

  Here, while the communication device 14 transmits the request signal constantly or at a predetermined time period, the portable device 21 enters the communicable area with the communication device 14 and receives the request signal. In response to this, ID information and user-specific information are transmitted to the communication device 14. The ID information and user-specific information received by the communication device 14 are sequentially output to the controller 17.

  The movement assist device 31 has a configuration that supports the user in a sitting posture and can automatically travel. An electric wheelchair can be used as the movement assist device 31. The movement assist device 31 includes a seating seat portion 32 on which a user is seated, a travel drive portion 33 having a drive source such as an electric motor and wheels, and a wireless communication portion 34 capable of wireless communication with the controller 17. ing.

  The movement assisting device 31 has a seat height adjustment function that makes the height of the seating seat portion 32 variable, and a speed adjustment function that makes the running speed variable, and a seating seat portion based on a control command from the controller 17. The height and running speed of 32 are adjusted appropriately. In addition, what adjusts speed by changing the friction degree of a wheel is applicable as a structure for adjusting driving speed.

  It is also possible to change the movement auxiliary device 31 to another configuration. For example, as the movement assist device 31, it is possible to use an electric walking assist device that holds the user in a standing state and assists the user's walking motion. In the case of the walking assist device, the height of the grip, the height of the waist support portion, the traveling speed, and the like are appropriately adjusted for each user. In short, the movement assist device may be any device that assists the movement while supporting at least a part of the body when the user moves. In the walking assist device, if a configuration is adopted in which the moving speed is changed by changing the friction degree of the wheels, the walking load amount is adjusted according to, for example, the degree of difficulty in walking the weak leg weak person or according to the rehabilitation situation of the user. be able to.

  In this system, a function (request determination function) for determining the presence / absence of a request for use of the mobility assistance device 31 from a user, and a function for determining a user who has made a request when it is determined that there is a request (user determination function) And a function for changing the state of the movement assisting device 31 based on the ID information and the user-specific information for each user (setting (travel control function)) Each of these functions is realized by the controller 17. Details will be described in order below.

(1) Request Determination Function The controller 17 inputs the user's voice information through the plurality of voice detectors 13 in the living room 11, and determines whether or not there is a use request for the movement assist device 31 based on the voice information. Specifically, when a user who wants to use the movement assist device 31 utters a voice such as “wheelchair, over here”, the voice information is input to the controller 17 through the voice sensor 13, and the controller 17 In addition to the analysis, it is determined from the analysis result that the use of the movement assisting device 31 is requested.

  In this case, in particular, the controller 17 specifies the coordinate position of the user who issued the use request based on the sound intensity detected by each of the plurality of sound detectors 13. That is, as shown in FIG. 2, when the user U is at the position A in the figure, the voice uttered by the user U is detected by a plurality of voice detectors 13 existing around the user U. Specifically, the voice uttered by the user U is detected by the voice detectors 13a, 13b, 13c, and 13d in FIG. However, at this time, the distances L1, L2, L3, and L4 between the user U and each of the sound detectors 13a to 13d are different, and the sound detection levels (in the sound detectors 13a to 13d ( (Sound intensity) is different. Therefore, by comparing the sound detection level (sound intensity) of each of the sound detectors 13a to 13d, it is possible to specify the coordinate position of the user U who has made the sound, that is, the user U who has made a use request.

(2) User determination function Based on the ID information of each user input through the communication device 14, the controller 17 determines who is the user who issued the use request.

(3) Traveling control function The controller 17 moves the movement assistance apparatus 31 to the user's location determined by the user determination function mentioned above. At this time, a control command signal is output from the controller 17, and the control command signal is transmitted to the movement assist device 31 through the communication device 14.

(4) Setting Change Function The controller 17 performs various setting changes related to the movement assist device 31 based on user-specific information input together with ID information through the communication device 14. Specifically, the height and size of the seating seat portion 32 of the movement assisting device 31 are adjusted based on the physique data such as the user's height and weight. Further, based on the information that the user is a weak leg person, the posture is changed to a state where it is easy to get on and off (the seat height is lowered when getting on and off, etc.). Furthermore, when the user is performing rehabilitation, the state of the movement assistance apparatus 31 is changed according to the degree of the rehabilitation. In addition, in the case of a user with low visual ability or a user with low hearing ability, in order to notify the presence of the movement assisting device 31, it is easy to recognize by driving a lamp device or an audio device attached to the movement assisting device 31. You may do it.

  FIG. 3 is a flowchart showing a processing procedure of movement assist control using the movement assist device 31. This process is executed by the controller 17 at a predetermined time period.

  In FIG. 3, in step S <b> 11, it is determined whether or not there has been a request for use of the movement assistance device 31 from the user. This determination is performed by recognizing the voice uttered by the user as described above. In step S12, it is determined whether or not ID information is received from the portable device 21. If both steps S11 and S12 are YES, that is, if there is a request from the user and ID information is received from the portable device 21, the process proceeds to the subsequent step S13.

  In step S13, based on the ID information received each time, it is determined who is the user who issued the use request. In subsequent step S <b> 14, the permission determination is performed based on whether or not the user who has made the use request is a user who is permitted to use the movement assisting device 31. At this time, if the user is permitted to use, the use permission is determined.

  However, when a use request is issued by a certain user, if the mobility assistance device 31 is already used by another user, the request is invalidated and step S14 is denied (use is not permitted). It is good also as a structure. Thereby, when the usage request is issued redundantly by a plurality of users, it is possible to clarify the actual target user and use the movement assisting device 31 without confusion.

  Whether or not the movement assisting device 31 is being used by another user may be determined based on a control command signal output to the movement assisting device 31. Alternatively, for example, a seating sensor or a weight sensor may be provided in the seat portion of the movement assisting device 31, and the presence or absence of the previous user may be determined based on the detection result of the sensor.

  Thereafter, in step S15, the user position, that is, the movement destination (target position) of the movement assisting device 31 is confirmed. In the present embodiment, as described above, the position of the user is confirmed based on the plurality of sound signals simultaneously detected by the plurality of sound detectors 13, and the user position is set as the target position.

  Thereafter, in step S16, the movement assisting device 31 is commanded to move to the user position confirmed in step S15. At this time, when a movement command signal is output from the controller 17, the movement command signal is transmitted to the movement assistance device 31 via the communication device 14. Finally, in step S17, various setting changes related to the movement assistance device 31 are performed based on the user-specific information received together with the ID information. At this time, as described above, for example, a command signal for adjusting the height of the seating seat portion 32 up and down is output. At this time, the height adjustment or the like of the seating seat portion 32 is performed during the movement until the movement assisting device 31 reaches the user position.

  When the movement assisting device 31 actually reaches the user position and the user is seated on the movement assisting device 31, the movement speed of the movement assisting device 31 (movement with the user placed on the user is based on the user-specific information of the user). Speed) is adjusted. Incidentally, the movement assisting device 31 is provided with a manual operation unit, and when the user touches the manual operation unit and performs a manual operation, the movement assisting device 31 is operated (moved) in accordance with the intention of the user. Can be done.

  According to the embodiment described in detail above, the following excellent effects can be obtained.

  A configuration for determining whether or not there is a request for use of the mobility assist device 31 from a user, determining a user who has made the request when it is determined that there is a request, and causing the mobility assist device 31 to travel to the location of the user did. As a result, when a certain user uses the movement assisting device 31, the movement assisting device 31 is located in any location (in other words, in any area where the control command signal from the controller 17 can be received). Can be used as intended by drawing them to the vicinity of the user. As a result, it is possible to improve the usability of the mobility assistance device 31 shared by a plurality of users.

  Since the movement assistance device 31 can be suitably used by a plurality of users, even if the number of the movement assistance devices 31 is small with respect to the number of users to be used, it is possible to meet the user's needs. This is also suitable when it is desired to reduce the number of movement assisting devices 31.

  Since the configuration is such that the user who issued the request is determined based on the ID information transmitted from the portable device 21, for example, each time the user makes a request, the trouble of inputting data about his / her personal information can be omitted, and mobility assistance Usability for the user who uses the apparatus can be further improved.

  Based on the ID information received from the portable device 21 and the user-specific information (physical information), the configuration of the state of the movement assisting device 31 is changed. Therefore, the movement assisting device 31 reflects the user's physical information. The state can be controlled appropriately. Thereby, even if the physical characteristics of the users who share the same movement assisting device 31 are different, the movement assisting device 31 can be used in a convenient state for each user. In addition, unlike the configuration in which the user's physical characteristics are measured by a measuring unit such as a sensor and the setting of the movement assist device 31 is changed based on the measurement result, the controllability is reduced due to measurement variations of the sensor or the like. Can be suppressed, and it is possible to easily cope with various needs of users.

  Since it is configured to determine whether or not there is a usage request from the user based on the voice recognized by the voice sensor 13, it is possible to recognize that there is a usage request for the mobility assist device 31 only by the user uttering a voice.

  Since the coordinate position of the user who issued the use request is specified based on the sound intensity sensed by each of the plurality of sound detectors 13, the movement assisting device 31 is reliably driven to the position where the user exists ( Displacement). Thereby, the usability for the user can be further improved.

  The present invention is not limited to the description of the above embodiment, and may be implemented as follows, for example.

  The preference information of each user may be stored in the memory of the portable device 21, and the setting of the movement assisting device 31 may be changed based on the ID information and user preference information received from the portable device 21. . Here, the user's preference information includes information such as the user's preferred posture and moving speed. And based on those information, setting changes, such as the height of the site | part which supports a user's body, a moving speed, about the movement assistance apparatus 31, are implemented. According to this structure, a user's preference information can be reflected and the state of the movement assistance apparatus 31 can be controlled appropriately. Thereby, even if the preference of each user who shares the same movement assistance apparatus 31 is different, the movement assistance apparatus 31 can be used in a state convenient for each user.

  Biological information acquisition means (biological information measuring instrument) for acquiring the user's biological information is provided in a washroom or a toilet used by the user, and the movement assist device based on the biological information acquired by the biological information acquisition means It is good also as a structure which determines the presence or absence of 31 use requests. Such a configuration will be described with reference to FIG. FIG. 4 is a plan view showing a washroom and a toilet.

  In FIG. 4, a wash basin 42 including a storage shelf, a mirror, a wash basin, and the like is installed in a wash basin 41, and the floor on the front side of the wash basin 42 is the same as when the user uses the wash basin 42. A biological information measuring instrument 43 that measures the biological information of the user is provided. In addition, a toilet 46 is installed in the toilet 45, and a biological information measuring instrument 47 that measures biological information of the user when the user uses the toilet 46 is provided in the toilet 46 or in the vicinity thereof. The biological information measuring instruments 43 and 47 acquire, for example, at least one of biological information such as weight, blood pressure, pulse, blood glucose level, etc. when the user uses the washstand 42 or the toilet 46. The measurement results by the devices 43 and 47 are sequentially input to the controller 17.

  The controller 17 determines the health state of the user based on the biological information measured by the biological information measuring devices 43 and 47, and determines whether or not the user requests use of the movement assist device 31 according to the health state. To do. For example, even if the user walks to the bathroom 41 or the toilet 45 by himself / herself, the controller 17 requests use of the movement assist device 31 when it is determined that the health condition of the user is deteriorated (bad change). The movement assisting device 31 is traveled to the user position (here, the bathroom 41 or the toilet 45). Thereby, it is possible to prompt the user who is assumed to be in a deteriorated (bad) state of health to use the movement assist device 31. At this time, the movement assisting device 31 may be provided with medicine or the like, and the medicine or the like may be delivered to the user.

  According to the above configuration, it is possible to automatically determine whether or not the movement assisting device 31 is necessary based on the user's biological information (daily health condition). Immediately the movement assisting device 31 can be directed.

  In the said embodiment, although user determination and the state setting of the movement assistance apparatus 31 were implemented based on ID information and user specific information (physical information or preference information) transmitted from the portable device 21, this configuration is described below. It may be changed as follows. For example, the information transmitted from the portable device 21 may be only ID information. Further, a system configuration in which the portable device 21 is not used may be configured such that the user is determined based on the voice uttered by the user, or the user is determined by a biometric authentication technique using a fingerprint or an iris.

  In the above embodiment, the presence / absence of a request for use of the movement assist device 31 is determined based on the sound information sensed by the sound sensor 13, but this is changed. For example, use request devices (usage request buttons, etc.) are installed in a plurality of locations in the living room 11 and the like, and a request signal is transmitted to the controller 17 when the user operates the use request device, and the controller 17 has a use request. May be determined.

  If it is determined that there is a request for use of the mobility assistance device 31, if the mobility assistance device 31 is in use by another user, the priority order of the user who made the request at that time is compared with the other users, and the result The use-permitted user may be determined according to the above. For example, if a user who has made a use request later has higher priority, it may be communicated to the currently used user by voice or the like that the higher priority person has made a use request. The structure which prescribe | regulates the user who should be prioritized for every time slot | zone may be sufficient.

  In the said embodiment, although application in a nursing care facility, a hospital, etc. was illustrated, it is also possible to apply in a general house besides this. In addition, the movement assistance device is not limited to being shared by a plurality of users, and one movement assistance device may be assigned to each user.

The block diagram which shows the outline | summary of a movement assistance system. The figure for demonstrating specifying a user position with a some audio | voice sensor. The flowchart which shows the process sequence of movement assistance control. The top view which shows a toilet and a toilet.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 11 ... Living room, 13 ... Audio | voice sensor, 14 ... Communication apparatus, 17 ... Controller, 21 ... Portable machine, 31 ... Movement assistance apparatus, 43, 47 ... Biometric information measuring device.

Claims (10)

A movement assistance system comprising a movement assistance device that assists movement while supporting at least a part of the body when the user moves, and the movement assistance device is a control target,
Request determining means for determining whether or not the user has requested to use the mobility assist device;
User determination means for determining a user who has issued the request when the request determination means determines that there is a request;
Control means for causing the movement assisting device to travel to the location of the user determined by the user determining means;
A mobility assistance system comprising: A portable communication device that is carried by a user and provided with unique identification information for each user,
The mobility assistance system according to claim 1, wherein the user determination unit determines a user who has made the request based on the identification information transmitted from the portable communication device. A storage device for storing physical information of a user who possesses the portable communication device;
The said control means implements a setting change about the state of the said movement assistance apparatus based on the said identification information received from the said portable communication apparatus, and the said physical information memorize | stored in the said memory | storage device. Mobility aid system. A storage device for storing preference information of a user who possesses the portable communication device;
The said control means implements a setting change about the state of the said movement assistance apparatus based on the said identification information received from the said portable communication apparatus, and the said preference information memorize | stored in the said memory | storage device. The mobility assistance system as described in.   The movement assistance system according to any one of claims 1 to 4, wherein the movement assistance device is a walking assistance device that changes a moving speed by changing a friction degree of a wheel. Voice recognition means for recognizing the voice uttered by the user,
The movement assistance system according to any one of claims 1 to 5, wherein the request determination unit determines the presence or absence of the use request based on the voice recognized by the voice recognition unit. As the voice recognition means, a plurality of voice detectors are provided in a space where a user exists,
The movement assistance system according to claim 6, further comprising position specifying means for specifying the coordinate position of the user who has issued the use request based on the sound intensity detected by each of the plurality of sound detectors. Comprising biometric information acquisition means for acquiring biometric information of the user,
The movement assistance system according to any one of claims 1 to 7, wherein the request determination unit determines the presence or absence of the use request based on the biological information acquired by the biological information acquisition unit.   The movement assistance system according to any one of claims 1 to 8, wherein the movement assistance device is shared by a plurality of users.   The mobility assistance system according to claim 9, wherein when the request determination unit determines that there is a request, the request is invalidated if the mobility assistance device is being used by another user.

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