JP2010213828A - System and method for supporting excretion - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To support a movement of excretion of a user by using a robot capable of moving autonomously. <P>SOLUTION: An excretion movement supporting system 1 includes: an excretion requirement detecting means 2 for detecting that the user requires excretion; a user information obtaining means 3 for obtaining information about the user requiring excretion; a toilet information obtaining means 4 for obtaining information related to a toilet within an area where a robot can move; a reservation means 5 for specifying a toilet which can be used by the user based on the information detected by the excretion requirement detecting means 2, the information obtained by the user information obtaining means 3 and the toilet information obtaining means 4, and reserving the toilet to use; and a moving means 6 for making the robot perform to mount and carry the user to the reserved toilet. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a system and method for assisting an action accompanying excretion of a weak walking person or the like using a robot capable of autonomous movement.

  2. Description of the Related Art In recent years, nursing mobility robots for assisting movement, transportation, etc. of weak walkers have been developed in hospitals, nursing facilities, and the like. This robot can move autonomously with a user on it, and can be called, for example, on a bed where the user is sleeping, by a user's remote control operation or the like. Such a robot is used, for example, when a user moves to a toilet.

  In patent document 1, the wheelchair provided with the communication function with a toilet is disclosed. This wheelchair is mainly assumed to be used on trains, etc., and in the same document, the toilet that received communication from the wheelchair displays a reservation or changes the orientation of the toilet seat Is disclosed.

  Patent Document 2 discloses a method and apparatus for detecting and eliminating malodorous sources. In this method and apparatus, a plurality of sensors are arranged on the floor, the type and location of a bad odor source are specified based on the detection results of these sensors, and the bad odor source is removed by a self-propelled robot. .

  In Patent Document 3, a wheelchair-type nursing toilet is disclosed. This toilet is equipped with a sensor for sensing large and small urine, a simple toilet with a cleaning function, excretion processing function, deodorization function, and a drying function, and a local cover with a cleaning function and a drying function, on the seat of the wheelchair. It is.

  In Patent Document 4, an interactive virtual robot system is disclosed. The purpose of this system is to control the security of general households and the network consisting of multiple robots and digital home appliances. In this document, elderly people stayed in bathrooms and toilets for a long time. When this is detected, a configuration for reporting to the head of household, neighbors, fire department / police, etc. is disclosed.

  In patent document 5, the bathing apparatus using a conveyance vehicle is disclosed. In the same document, a configuration including an incontinence sensor for detecting excrement components in a transport vehicle and a signal generator for generating a notification signal or the like when the excrement components are detected is disclosed.

  In Patent Document 6, a home care management device is disclosed. This device comprises means for detecting whether the supervised person is in a sleeping state, means for detecting whether or not the person is in a general room, and means for detecting whether or not the person is in a toilet. The detection result is compared with a preset reference time range corresponding to the life rhythm of the managed person, and when the actual behavior is out of the reference time range, an abnormality is notified to the administrator.

JP 2002-45402 A JP-A-2005-61836 JP 2003-319975 A JP 2002-199470 A Japanese Patent Laid-Open No. 10-137312 JP-A-9-131382

  As described above, various techniques for assisting the excretion behavior of a weak walking person have been developed. However, in the system using the above-described mobility robot for care, a system that can sufficiently assist the behavior associated with the user's excretion has not been developed. In particular, there is room for improvement with respect to assistance in consideration of different situations for each user and each toilet, coping with incontinence, processing when there are multiple users, and the like.

  Then, this invention aims at providing the system and method which can assist the action accompanying a user's excretion action using the robot which can move autonomously.

  The present invention for solving the above-mentioned problems is an excretion action assisting system that assists an action associated with an excretion action of the user by using a robot capable of autonomously moving with the user on the user. An excretion request detecting means for detecting that an excretion action is requested, a user information obtaining means for obtaining information on a user who requests the excretion action, and a toilet in the movable range of the robot Based on the toilet information acquisition means for acquiring information, the information detected by the excretion request detection means, the information acquired by the user information acquisition means, and the information acquired by the toilet information acquisition means The toilet that the user can use is specified, the reservation means for reserving the use of the toilet, and the user is boarded and transported to the toilet reserved by the reservation means The operation that is intended and a moving means to be executed by the robot.

  According to the present invention, an optimal toilet is selected and reserved based on information on a user who requests excretion and information on surrounding toilets. Then, the robot boardes the user and quickly moves to the reserved toilet. Thereby, the toilet used according to the situation for every user and every toilet can be selected and reserved accurately, and it can be taken to a toilet, without burdening users, such as a weak walk.

  In addition, the user information acquisition unit includes an urgent level determination unit that determines an urgent level indicating a limit at which the user can endure the excretion action, and the reservation unit includes a plurality of the users who request the excretion action. In this case, it is preferable to determine the priority order for the use of the toilet with reference to the degree of urgency.

  The limit that can withstand excretion varies from user to user depending on the medical condition. Therefore, when multiple users request excretion at the same time, even if the user who issued this request is delayed in time, the degree of urgency is higher than the user who issued it first In some cases, the later requester should be moved to the toilet first. According to the present invention, such a situation can be dealt with.

  Further, the user further includes means for transmitting a transfer signal indicating that the right to use the toilet owned by the user is preferentially transferred to another user, and the reservation means further refers to the transfer signal. It is then preferable to determine the priority for toilet use. Further, the user further includes means for transmitting a transfer request signal for requesting to transfer the right to use the toilet owned by another user to the user, and the reservation means further includes the transfer. It is preferable to determine the priority for the use of the toilet with reference to the request signal.

  As a result, the priority order can be determined in consideration of the user's intention display.

  Preferably, the robot further comprises incontinence detection means for detecting that the user has been incontinent on the robot, and incontinence countermeasure means for performing necessary countermeasures when incontinence is detected by the incontinence detection means. .

  Specifically, the incontinence handling means may notify a predetermined report destination that the user has been incontinent, or may move the robot to a predetermined location when the user is incontinent. preferable.

  Examples of the predetermined report destination include a nurse center. In addition, examples of the predetermined place include a shower room and the nearest wall.

  Moreover, when there is no toilet which the user can use because the toilet is in use, the user may further include use stop request means for requesting the user of the toilet to stop using the toilet.

  Specifically, it is preferable that the use cancellation requesting unit requests a toilet user who has been used beyond a set use limit time to stop the use.

  As a result, it is possible to prompt the user who has remained unnecessarily in the toilet to leave, and allow the user to use the toilet as described above.

  The present invention also provides an excretion action assisting method for assisting an action associated with an excretion action of the user by using a robot capable of autonomously moving with the user, wherein the user performs the excretion action. A first step of detecting that it is requesting, a second step of acquiring information relating to the user requesting the excretion action, and a step of acquiring information relating to a toilet within the movable range of the robot. 3 and a toilet usable by the user based on the information detected in the first step, the information acquired in the second step, and the information acquired in the third step. The robot performs the fourth step of reserving use of the toilet and the operation of causing the user to board and transporting to the toilet reserved by the fourth step. In which and a fifth step of.

  The effect by the said method is the same as that concerning the said system.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to fully assist the action accompanying excretion acts, such as a movement to a toilet, using the robot which can carry a user and move autonomously. Specifically, it is possible to realize a toilet reservation according to the urgency level of the user, a countermeasure after incontinence, an exit request for a user who remains unnecessarily in the toilet, and the like. As a result, it is possible to provide an excretion action assistance system and method that are extremely convenient overall.

FIG. 1 is a functional block diagram showing a configuration of an excretion action assisting system according to the present invention. FIG. 2 is a functional block diagram showing a specific configuration example of the excretion action assisting system according to Embodiment 1 of the present invention. FIG. 3 is a flowchart showing a flow of processing in the excretion action assisting system according to the first embodiment. FIG. 4 is a flowchart showing a flow of processing in the excretion action assisting system according to Embodiment 2 of the present invention. FIG. 5 is a diagram illustrating an example in which an urgency level of a user is pointed. FIG. 6 is a diagram illustrating an example in which the urgency level of other users is pointed. FIG. 7 is a flowchart illustrating a process when reservations are simultaneously made by a plurality of robots in the second embodiment. FIG. 8 is a functional block diagram showing a specific configuration example of the excretion action assisting system according to Embodiment 3 of the present invention.

  Embodiments of the present invention will be described below with reference to the drawings. Note that, in different embodiments, portions having the same or similar operational effects are denoted by the same reference numerals and description thereof is omitted.

Embodiment 1
FIG. 1 shows a functional configuration of an excretion action assisting system 1 according to the present invention. The excretion action assisting system 1 assists the user's excretion action by using a robot that can move autonomously with the user, and includes an excretion request detecting means 2 and user information. An acquisition unit 3, a toilet information acquisition unit 4, a reservation unit 5, a movement unit 6, an emergency level determination unit 11, an incontinence detection unit 12, an incontinence handling unit 13, and a use stop request unit 14 are provided.

  The excretion request detection means 2 detects that the user is requesting an excretion action.

  The user information acquisition means 3 acquires the information regarding the user who is requesting the excretion action.

  The toilet information acquisition means 4 acquires information on toilets within the movable range of the robot.

  The reservation means 5 is a toilet that the user can use based on the information detected by the excretion request detection means 2, the information acquired by the user information acquisition means 3, and the information acquired by the toilet information acquisition means 4. And to reserve the use of this toilet.

  The moving unit 6 causes the robot to execute an operation of boarding the user and transporting the user to the toilet reserved by the reservation unit 5.

  The urgency level determination means 11 determines the urgency level indicating the limit at which the user can endure excretion.

  The incontinence detection means 12 detects that the user has been incontinent on the robot.

  The incontinence handling unit 13 performs necessary measures when incontinence is detected by the incontinence detection unit 13.

  The use stop requesting means 14 requests the user of the toilet to stop using the toilet when there is no toilet usable by the user because the toilet is in use.

  FIG. 2 shows a specific configuration example of the excretion action assisting system 1. This excretion action assisting system 1 is an example used in a hospital, and includes a robot 21, a toilet call transmitter 22, a receiving system 23, a toilet sensor 24, and a computer network 25.

  The robot 21 is capable of carrying a patient or the like in the hospital and moving within the hospital by autonomous control. The robot 21 includes a movable part such as a wheel and a leg-type mechanism, a riding part that holds a user's body, a driving part such as a motor that drives the movable part, the riding part, and an actuator, a movable part, a riding part, A control unit that controls the drive unit and the like. The control unit is constructed by a combination of a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), an input / output device (I / O device), a control program, and various logic circuits. . The robot 21 according to the present embodiment includes an ECU (Electronic Control Unit) 31, a user database (DB) 32, a patience level switch (SW) 33, a manure detection sensor 34, an odor sensor 35, and an output device 36.

  ECU31 performs various information processing based on the input signal from user DB32, patience level SW33, excrement detection sensor 34, smell sensor 35, etc., and outputs predetermined information to output devices 36, such as a speaker and a display.

  The user DB 32 is configured using a predetermined storage device such as a flash memory, and the name, age, gender, symptom, bed position, toilet use frequency, excretion patience time, mobile phone of each user who uses the system 1 Information such as telephone numbers is stored.

  The endurance level SW 33 includes an operation unit mounted on the robot 21 and disposed at a position where the user can operate, a transmission unit that transmits a signal notifying that the operation unit has been operated to the computer network 25, and the like. Is done. For example, the operation unit sets buttons, levers, and the like in a plurality of positions (for example, “LV1: can still endure”, “LV2: difficult”, “LV3: limit”, “LV4: leaked”). It has a possible configuration, and is able to indicate that the user is able to endure excretion (urgentness) or that he / she has incontinence.

  The manure detection sensor 34 and the odor sensor 35 are sensors for detecting the incontinence of the user on the boarding part of the robot 21, and are sensors for detecting the presence of a predetermined compound, temperature change, electrical resistance, optical It can be configured by a sensor or the like that monitors changes in the target information.

  The output device 36 is mounted on the boarding portion of the robot 21 and includes a speaker, a display, and the like, and transmits predetermined information to the user according to the output from the ECU 31.

  The toilet call transmission device 22 is a device for notifying the user that he / she wants to go to the toilet, and is disposed, for example, in a bed or a lobby where the user is sleeping. The toilet call transmission device 22 includes an operation unit such as a button and a lever that are spontaneously operated by a user, a transmission unit that transmits a signal notifying that the operation unit has been operated to the computer network 25, and the like. Further, this transmission includes identification information, and it is possible to specify the user who operated it, the place where it was operated, and the like. Furthermore, the user's mobile phone can be replaced with the toilet call transmitter 22. For example, it is possible to obtain the same operation as that of the toilet call transmission device 22 by calling from a user's mobile phone to a telephone number set for calling the robot 21.

  The reception system 23 is provided, for example, in a nurse center where a nurse is stationed, and receives and notifies emergency information and the like. The receiving system 23 includes an ECU 41, an output device 42, and the like.

  The ECU 41 receives signals from the robot 21, the toilet call transmitter 22, the toilet sensor 24, and the like via the computer network 25, and outputs various output information based on these received signals to an output device 42 such as a speaker and a display. Output to. For example, a notification that the toilet call transmitter 22 has been operated, a notification that the user has been incontinent on the robot 21, a notification that an abnormality has occurred in the toilet, and the like can be given.

  The toilet sensor 24 is installed in a toilet existing within the movement range of the robot 21 and detects the status of each toilet, for example, whether it is in use, the elapsed time from the start of use, or the like. For example, an ultrasonic sensor, a thermal sensor, an infrared sensor, a counter device, or the like can be used. Each toilet is provided with an output device such as a speaker and a display. In the present embodiment, this output device is used to request the toilet user to stop using the toilet. This point will be described later.

  The computer network 25 is a system that enables transmission and reception of signals between a plurality of computers. In the present embodiment, a wireless LAN (Local Area Network) and a CAN (Campus Area Network) using Ethernet (registered trademark) are used in this embodiment. Is preferred. It is also possible to use the Internet, BLUETOOTH (registered trademark), or the like.

  FIG. 3 shows an example of the flow of processing in the excretion action assisting system 1 having the above configuration. First, when the user presses the button of the toilet call transmitter 22 (S100), the ECU 31 of the robot 21 searches for an empty toilet based on the signal from the toilet sensor 24 and the identification output by the toilet call transmitter 22 is output. Based on the information, information in the user DB 32, and other appropriate information, information on the user who operated the toilet call transmission device 22 is acquired (S101). Based on the information on the user or the toilet call transmitter 22, the robot 21 moves to the user (toilet call transmitter 22) (S 102) and places the user on board.

  Here, it is determined whether there is an empty toilet from the empty toilet information acquired in step S101 (S103), and if it is determined that there is (YES), the closest empty toilet is selected from the user's source. Then, the time to reach the toilet is calculated and the content is notified by the output device 36 provided in the robot 21 (S105).

  Next, the ECU 31 of the robot 21 compares the allowable time of the user with the toilet arrival time calculated in step S105, and determines whether or not it is in time (S106). If it is determined in this step S106 that it is in time (YES), the robot 21 starts moving to the selected toilet (S107). On the other hand, if it is determined in step S106 that it is not in time (NO), the output device 36 warns that there is a possibility that it will not be in time (S108), and then starts moving to the toilet (S107). The permissible time can be set in advance for each user based on past behavior and stored in the user DB 32.

  When the movement to the toilet is started, the ECU 31 of the robot 21 monitors the state of the excrement detection sensor 34, the odor sensor 35, and the endurance level SW33 (S109). Then, it is determined whether or not the endurance level SW33 is at MAX, that is, whether or not the user has indicated that he / she has reached the limit capable of suppressing the excretion (S110). Is detected (S111). In step S110, if the patience level SW33 is not MAX (NO) and no incontinence is detected by the sensors 34 and 35 in step S111 (NO), the robot 21 arrives at the selected toilet (S112). On the other hand, if the endurance level SW33 is MAX in step S110 (YES) or if incontinence is detected by the sensors 34 and 35 in step S111 (YES), countermeasures suitable for each situation are executed (S113). ). For example, turning on the deodorizing function, performing a nurse call (notifying the receiving system 23), sending a cleaning call requesting cleaning, sending the position information of the robot 21 to the receiving system 23, or incontinence The generated time is recorded, or the robot 21 is moved to the shower room or the nearest wall.

  If it is determined in step S103 that there is no empty toilet (NO), a call such as “Please give me” is transmitted from the output device of the toilet in use (S120). This increases the possibility that a user of a toilet with a low degree of urgency will stop using it and leave the toilet. Thereafter, it is determined again whether there is an empty toilet (S121). If there is (YES), the process proceeds to step S104. If not (NO), a toilet that can be forcibly transferred is searched (S122). ). The compulsory transferable toilet here is, for example, a toilet whose predetermined time has passed since the start of use of the toilet. Also, the toilet user is identified, the average usage time of the specified user's toilet is compared with the actual usage time of the toilet, and if the actual usage time exceeds the average usage time, forced transfer It is also possible to judge it as a possible toilet. This average use time can be set in advance from the user's past toilet use record, etc., and stored in the user DB 32 or the like.

  Then, it is determined whether or not there is a toilet that can be forcibly transferred (S123), and if there is (YES), after performing a forced transfer process for forcibly leaving the user from the toilet (S124), The process proceeds to step S105. On the other hand, if it is determined in step S123 that there is no compulsory transferable toilet (NO), after notifying the user that there is no empty toilet through the output device 36 of the robot 21 (S108), the above step The process proceeds to S107.

  By the said structure, it becomes possible to convey a user to the toilet which can reach | attain most quickly. In addition, it is possible to cope with the urgency of each user. Furthermore, in the case of incontinence, processing that reduces the burden on the user as much as possible can be executed. Furthermore, when there is no empty toilet, the user of the toilet can be asked to leave. Thereby, it becomes possible to provide the excretion action assistance system 1 that is extremely convenient overall.

  2 shows a configuration in which each of the robot 21, the toilet call transmitter 22, and the reception system 23 is single, the present invention is not limited to this, and the robot 21, toilet call transmitter, and the like. Of course, a plurality of receiving systems 23 may exist.

Embodiment 2
FIG. 4 shows an example of the flow of processing in the excretion action assisting system 1 according to the second embodiment. In this processing flow, steps S201 and S202 are newly added.

  Step S201 is executed after the selection (reservation) of an empty toilet in step S104. In step S201, it is determined whether or not the same toilet is selected as a reservation candidate by the plurality of robots 21 at the same time. If it is determined in step S201 that there is no simultaneous reservation (YES), step S106 is executed. If it is determined that there is a simultaneous reservation (NO), step S202 is executed.

  In step S202, it is determined whether or not the self-reserved toilet can be used preferentially over other robots 21 (users). This determination is performed by the ECU 31 of each robot 21 in the present embodiment. If it is determined in step S202 that the own device can be used preferentially (YES), step S106 is executed. If it is determined that the device cannot be used preferentially (NO), step S104 is executed. Is executed.

  The determination of the priority order as described above is performed based on the urgency level of the user, the positional relationship between the robot 21 and the toilet, the user's will display, and the like. 5 and 6 show an example in which the urgency levels of the two users A and B are pointed. In this example, the types of excretion (stool, urine, etc.), the user's personal data, the distance to the toilet selected as the second candidate, and the user's permissible time The distance to the toilet selected as the first candidate is used. A priority level is set for each of these elements. For example, the priority level of stool is higher than that of urine, and the priority level of patience time is higher as it is closer to the “limit”. Others are as illustrated. In this embodiment, since the total point of user A is 28 and the total point of user B is 30, it is determined that user B can use the toilet preferentially.

  FIG. 7 shows an example of processing for determining the priority order. In the present embodiment, this process is performed in the ECU 31 of each robot 21. When the simultaneous reservation of the toilet as described above occurs (S301), as shown in FIGS. 5 and 6, the degree of urgency is converted into points (S302) and compared with the points of other robots 21 (S303). This step S303 is realized by mutual communication between the plurality of robots 21 using an appropriate computer network 25.

  Then, it is determined whether or not the point of the own device is larger than the other robot 21 (S304). If it is determined that the point of the own device is large (YES), the user presses the “call to give” button. It is determined whether or not it is ON (S305). This "transfer call" indicates that the user on the aircraft will transfer the right to use his / her toilet to another user by knowing that a simultaneous reservation has been made. It is an intention expression. In order to transmit this “call to be transferred”, for example, an appropriate button or the like may be provided on the boarding portion of the robot 21.

  If the “call to yield” is OFF in step S305 (NO), the reservation destination of the toilet selected in step S104 (see FIG. 4) is determined, and the process proceeds to step S106 (S306). . On the other hand, if the “call to be transferred” is ON in step S305 (YES), the ECU 21 determines whether or not the transmission of the “call to transfer” is appropriate (S307). That is, the ECU 31 refers to the above points and determines whether or not to accept a “call to yield”. If it is determined in step S307 that the “call to yield” call is not appropriate (NO), step S306 is executed. In other words, even when the user is pressing the “call to give” button, the right to use the toilet is not given to others. On the other hand, if it is determined in this step S307 that the “call to be transferred” is appropriate (YES), a “call to be transferred” is transmitted (S308), and the above-mentioned step S104 is performed in order to reselect the toilet. Migrate to

  In step S304, if it is determined that the point of the own device is smaller than that of the other robot 21 (NO), it is determined whether or not there is a “transfer call” from the other robot 21 ( S309), if yes (YES), the process proceeds to step S306. On the other hand, if there is no “transfer call” from another robot 21 in step S309 (NO), whether or not the user boarding the aircraft has issued a “transfer call” call. Is determined (S310). This “transfer call” is a statement of intention that a user requests another user who is competing for the use of the toilet to transfer the preferential use right to the user. In order to transmit this “Please yield” call, for example, an appropriate button or the like may be provided on the boarding portion of the robot 21.

  In the above step S310, when the “call to give” call is not sent (NO), the process proceeds to the above step S311. When the call is sent (YES), “transfer” from another robot 21 is given. The presence / absence of “call” is determined (S312). If it is determined in step S312 that there is a “call to be transferred” (YES), the process proceeds to step S306. If it is determined that there is no call (NO), the process proceeds to step S311. .

  With the above configuration, when a plurality of robots 21 (users) are requested to use a toilet at the same time, the optimal priority is given in consideration of the urgency of the user, the positional relationship with the toilet, the user's intention display, etc. It becomes possible to determine the ranking.

Embodiment 3
FIG. 8 shows another specific configuration example of the excretion action assisting system 50 according to the present invention. In the excretion action assisting system 50, the user DB 32 is provided in a management system 53 installed in a nurse center or the like. In addition, the ECU 71 of the management system 53 outputs a control signal for controlling the operation of each robot 51. Further, an output device 72 such as an electric bulletin board for displaying the use status of the toilet is provided in a hospital lobby, each room, and the like. An output signal to the output device 72 is generated and transmitted by the ECU 71 of the management system 53.

  With such a configuration, the management system 53 can centrally manage the output devices 72 that inform the situation of the plurality of robots 51 and toilets. This is particularly suitable when a relatively large number of robots 51 are used.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1,50 Excretion action assistance system 2 Excretion request detection means 3 User information acquisition means 4 Toilet information acquisition means 5 Reservation means 6 Movement means 11 Urgent degree determination means 12 Incontinence detection means 13 Incontinence countermeasure means 14 Use stop request means 21, 51 Robot 22 Toilet call transmitter 23 Receiving system 24 Toilet sensor 31 (Robot) ECU
32 User database 33 Endurance level switch 34 Manure detection sensor 35 (Robot) output device 41 (Reception system) ECU
42 (Reception / Management System) Output Device 53 Management System 71 (Management System) ECU
72 (Lobby etc.) Output device

Claims (18)

An excretion action assisting system for assisting an action associated with the excretion action of the user by using a robot capable of autonomously moving with the user,
Excretion request detecting means for detecting that the user is requesting an excretion action;
User information acquisition means for acquiring information about a user who is requesting the excretion;
Toilet information acquisition means for acquiring information on toilets within the movable range of the robot;
Based on the information detected by the excretion request detection means, the information acquired by the user information acquisition means, and the information acquired by the toilet information acquisition means, the toilet that the user can use is specified, Reservation means for reserving use of the toilet;
Moving means for causing the robot to perform an operation of boarding the user and transporting to the toilet reserved by the reservation means;
Excretion behavior assistance system comprising. The user information acquisition means includes urgency determination means for determining an urgency indicating a limit at which the user can endure excretion,
The reservation means, when there are a plurality of users who request the excretion action, to determine the priority for the use of the toilet with reference to the urgency,
The excretion action assistance system according to claim 1. The user further comprises means for transmitting a transfer signal indicating that the right to preferentially use a toilet owned by the user is transferred to another user,
The reservation means further refers to the transfer signal to determine a priority order for use of the toilet;
The excretion action assistance system according to claim 2. The user further comprises means for transmitting a transfer request signal for requesting to transfer the right to use a toilet preferentially held by another user to the user,
The reservation means further refers to the transfer request signal to determine a priority order for use of the toilet;
The excretion action assistance system according to claim 3. Incontinence detecting means for detecting that the user is incontinent on the robot;
Incontinence handling means for performing necessary measures when incontinence is detected by the incontinence detection means;
The excretion action assistance system according to any one of claims 1 to 4, further comprising: The incontinence handling means reports to a predetermined report destination that the user has been incontinent.
The excretion action assistance system according to claim 5. The incontinence handling means moves the robot to a predetermined location when the user is incontinent.
The excretion action assistance system according to claim 5 or 6. Use stop request means for requesting the user of the toilet to stop using the toilet when the user does not have a toilet available because the toilet is in use;
The excretion action assistance system according to any one of claims 1 to 7, further comprising: The use stop request means requests the user of the toilet that has been used beyond the set use limit time to stop the use.
The excretion action assistance system according to claim 8. An excretion action assisting method for assisting an action associated with an excretion action of the user by using a robot capable of autonomous movement with the user on the board,
A first step of detecting that the user is requesting an excretion;
A second step of obtaining information about the user requesting the excretion;
A third step of acquiring information about a toilet in the movable range of the robot;
Based on the information detected by the first step, the information acquired by the second step, and the information acquired by the third step, the toilet that can be used by the user is identified, A fourth step to reserve the use of the toilet;
A fifth step of causing the robot to execute an operation of boarding the user and transporting the user to the toilet reserved in the fourth step;
An excretion action assisting method comprising: Determining an urgency level indicating a limit at which the user can withstand excretion;
Determining a priority for use of the toilet with reference to the urgency level when there are a plurality of users who request excretion; and
The excretion action assistance method according to claim 8, further comprising: The user further comprises a step of transmitting a transfer signal indicating that the right to use the toilet owned by the user is preferentially transferred to another user,
In the fourth step, a priority order for use of the toilet is further determined with reference to the transfer signal.
The method of assisting excretion behavior according to claim 11. The user further comprises a step of transmitting a transfer request signal for requesting to transfer the right to use a toilet preferentially held by another user to the user,
In the fourth step, a priority order for use of the toilet is further determined with reference to the transfer request signal.
The excretion action assisting method according to claim 12. Detecting that the user is incontinent on the robot;
Taking necessary actions when incontinence is detected,
The excretion action assistance method according to any one of claims 10 to 13, further comprising: Notifying a predetermined reporting destination that the user has been incontinent,
The excretion action assisting method according to claim 14. Moving the robot to a predetermined location when the user is incontinent;
The excretion action assistance method according to claim 14 or 15. Requesting the user of the toilet to stop using the toilet when there is no toilet available to the user because the toilet is in use;
The excretion action assistance method according to any one of claims 10 to 16, further comprising: Require users of toilets that have been used beyond the set usage limit time to stop using them,
The excretion action assisting method according to claim 17.

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