JP2020015432A - Movable object system - Google Patents

Abstract

To enable a person to freely walk and run on water.SOLUTION: A movable object system includes three or more movable objects that move at least either in water or on a water surface by corresponding to a person who moves on water by alternately stepping forward the feet. At least two movable objects out of the three or more movable objects move to step-forward destinations of the feet, on the basis of information related to movement of the person's feet. When a first movable object out of the three or more movable objects is located at a position of a first foot of the person, and a second movable object out of the three or more movable objects is located at a position of a second foot of the person, a third movable object out of the three or more movable objects stands by at a position from which it is movable to a step-forward destination of the next step-forward foot out of the first foot and the second foot of the person.SELECTED DRAWING: Figure 28

Description

  The present invention relates to mobile systems.

A device for walking on water is known (for example, refer to Patent Literatures 1 to 3 below). Also, devices that move on or under water are known (for example, see Patent Documents 4 and 5 below).
[Prior art documents]
[Patent Document]
[Patent Document 1] Registered Utility Model No. 3118538 [Patent Document 2] Japanese Patent Application Laid-Open No. 48-36893 [Patent Document 3] Japanese Patent No. 2991289 [Patent Document 4] Japanese Patent Application Laid-Open No. 2007-50490 [Patent Document 5] JP-A-2000-247283

  When a large float is attached to the foot for walking on water, walking becomes difficult. It is desired to be able to walk and run freely on the water.

  According to a first aspect of the present invention, there is provided a mobile system. The moving body system includes three or more moving bodies that move on the water or at least one of the water surfaces corresponding to a person moving on the water by alternately stepping on the feet. At least two of the three or more moving objects may move to the stepping-out destination based on the information on the motion of the person's foot. The first of the three or more moving objects is at the position of the first foot of the person, and the second of the three or more moving objects is the position of the second foot of the person. , The third moving object of the three or more moving objects stands by at a position where it can move to the next step of the person's first foot and second foot that is to be stepped on. May be.

  In the case where the position of the first foot transitions from the standing phase to the swing phase, the third mobile unit may wait at the predicted position where the first foot is stepped on.

  The first moving body, the second moving body, and the third moving body may move so as to support a foot that transitions from the swing phase to the standing phase in a predetermined order.

  The third mobile unit may wait at a position where it is predicted that the person will reach his / her feet when he loses his / her posture.

  The third moving body may move to a position where the foot of the person who has lost his posture reaches when the person detects that the person has lost his posture.

  When the first moving body operates to move to the stepping-out destination of the first foot, and the second moving body operates to move to the stepping-out destination of the second foot, the third moving body is When the predetermined condition is satisfied, the user may move so as to maintain a predetermined position with respect to the position of the person in order to change the role with one of the first moving body and the second moving body. .

  When the energy stored in the battery included in the first moving body becomes smaller than a predetermined value, the third moving body moves to the destination of the first foot in place of the first moving body. An operation may be started to move.

  After the third mobile unit has begun to move to support the first foot on behalf of the first mobile unit, the first mobile unit is a predetermined one for retrieving the first mobile unit. You may return to the collection location.

  After the operation of the third moving body is started to move to the stepping-out destination of the first foot in place of the first moving body, the first moving body is stored in a battery provided in the first moving body. Provided that the amount of energy is greater than a predetermined amount of energy required to return to the collection location, the battery moves to maintain a predetermined position, and is stored in a battery provided in the first mobile unit. Returning to the collection location may be initiated based on a comparison of the amount of energy being consumed and the amount of energy required to return to the collection location.

  When the first moving body is moving so as to maintain the predetermined position, and when the amount of energy stored in the battery included in the second moving body becomes smaller than the predetermined value, , The first moving body may start moving to support the second foot on behalf of the second moving body.

  The first mobile unit, the second mobile unit, and the third mobile unit may adjust the amount of energy stored in each of the batteries included in each of the plurality of batteries.

  The first moving body, the second moving body, and the third moving body are in a first mode in which the stance phase moves to support the feet, and a second mode in which the stance phase moves without supporting the feet. Of the first moving body, the second moving body, and the third moving body, the plurality of moving bodies having the least amount of energy operate in the second mode. The amount of energy may be adjusted between batteries.

  During a period in which the first moving body is controlled to move to the stepping destination of the first foot and the second moving body is controlled to move to the stepping destination of the second foot, the first moving body is controlled to move to the stepping destination of the second foot. When the difference between the amount of energy provided and the amount of energy stored in the battery included in the second moving body changes to a predetermined value or more, the first moving body moves to the stepping destination of the second foot. Then, the energy may be adjusted between the first moving body and the second moving body by changing the role so that the second moving body moves to the stepping destination of the first foot.

  When the roles are switched between the first mobile unit and the second mobile unit, the third mobile unit temporarily replaces one of the first mobile unit and the second mobile unit with the swing phase. You may move to the stepping destination of the foot which transits from the stance phase to the stance phase.

  The first mobile unit and the second mobile unit may acquire information about the person based on the control information when supporting the feet of the person. The third moving body may acquire information about the person from at least one of the first moving body and the second moving body.

  The information on the person may include information indicating the weight of the person, the stride of the person, and the balance of the center of gravity when the person is standing on the moving body.

  The third mobile unit may wait at a position where the third mobile unit can move to the stepping destination of the next stepping foot based on the information regarding the person.

  The above summary of the present invention does not list all of the necessary features of the present invention. Further, a sub-combination of these feature groups can also be an invention.

3 schematically shows a usage environment of a mobile system 100 according to the first embodiment. This shows a case when viewed from a direction orthogonal to the traveling direction of the user 80 and the direction of gravity. A state in which the moving body 10 moves is schematically shown. The longitudinal section of mobile 10a is shown typically. The cross section of the mobile object 10a is shown typically. FIG. 2 is a block diagram illustrating a functional configuration of the moving body 10. FIG. 2 is a block diagram illustrating a functional configuration of the shoe 20. An image 800 captured by the imaging device 260 of the moving object 10 is schematically shown. An example of a temporal change in the relative speed of the moving body 10a with respect to the moving body 10b is shown. An example of a temporal change of the magnetic intensity generated by the magnetic generator 250 is schematically shown. A state in which the moving body 10 moves ahead of the stepping destination of the foot is schematically shown. An example of a temporal change of the relative speed of the moving object 10a when performing control ahead of the stepping-out destination is shown. A method for acquiring a load received from the user 80 as prior information is schematically shown. Another method of acquiring the load received from the user 80 as prior information is schematically shown. A scene in which the step of the user 80 is acquired as advance information is schematically shown. A scene in which energy management is performed in the mobile object 10 is schematically shown. A scene to be notified when the battery level becomes insufficient is schematically shown. This shows a state where the floating body 290 of the moving body 10a is expanded. A scene in which the mobile object 10 performs charging and discharging in a standby mode is schematically shown. A scene in which the moving body 10 moves in the standby mode is schematically shown. A scene in which the moving body 10a is levitating the user 80 in the levitating mode is schematically shown. The operating conditions of the movement mode, the standby mode, and the floating mode are shown in a table format. FIG. 7 is a diagram illustrating a scene in which attraction control between the moving body 10 and the foot of the user 80 is performed. FIG. 4 is a diagram illustrating a situation in which an attraction control between a moving object 10 and a foot is prohibited. One form of a method of moving the moving body 10 will be described. One embodiment of a method of moving the moving body 10b will be described. A state where charging and discharging between the moving body 10a and the moving body 10b are schematically illustrated. 7 schematically shows an example of the arrangement of a moving object 10 included in a moving object system according to a second embodiment. The state immediately after the shoe 20a is separated from the moving body 10a is shown. 13 shows another arrangement example in the mobile system of the second embodiment. 9 shows yet another arrangement example in the mobile system of the second embodiment.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all combinations of the features described in the embodiments are necessarily essential to the solution of the invention.

  FIG. 1 schematically illustrates a usage environment of a mobile system 100 according to the first embodiment. The mobile system 100 assists the user 80 walking or running on the water.

  The moving body system 100 includes a moving body 10a, a moving body 10b, shoes 20a, and shoes 20b. In the description of the present embodiment, the moving bodies 10a and 10b may be collectively referred to as a moving body 10. The shoes 20a and the shoes 20c may be collectively referred to as the shoes 20. The user 80 is a person. The shoes 20a are footwear for the left foot of the user 80. The shoes 20b are footwear for the right foot of the user 80. The shoes 20a and the shoes 20b are examples of a wearing object worn on the feet of the user 80.

  The moving body 10 moves on at least one of the water and the water surface in accordance with the user 80 who steps on the water alternately and moves on the water. The moving body 10a and the moving body 10b move underwater or at least one of the water surfaces separately. In the present embodiment, a description will be given assuming that the moving body 10 mainly moves in water. When the moving body 10 moves in the water near the water surface, a part of the moving body 10 may temporarily appear on the water surface due to the influence of the movement of the water surface. Further, when the moving body 10 moves on the water surface, the whole of the moving body 10 may be temporarily submerged in water due to the influence of the movement of the water surface. Of course, the moving body 10 may always move underwater or may constantly move on the water surface. The moving body 10a and the moving body 10b support different feet of the user 80. The moving body 10a supports the left foot of the user 80. The moving body 10b supports the right foot of the user 80.

  2 and 3 schematically show how the moving body 10 moves. FIG. 2 shows a case in which the user 80 is viewed from a direction orthogonal to the traveling direction and the direction of gravity. FIG. 3 shows a state viewed from a direction opposite to the direction of gravity. In the following description, a direction orthogonal to the traveling direction of the user 80 and the direction of gravity may be referred to as a “lateral direction” or the like. Further, the direction opposite to the direction of gravity may be described as “upward” or the like.

  The user 80 performs a walking or running motion by alternately stepping on the foot. The moving body 10a moves near the water surface according to the movement of the left foot of the user 80. The moving object 10a moves to the destination 30a where the user 80 steps on the left foot. The moving body 10b moves near the water surface in accordance with the movement of the right foot of the user 80. The moving body 10b moves to the destination 30b where the user 80 steps right. As shown in FIG. 2, the moving body 10a moves underwater so as to follow the movement of the shoes 20a, and the moving body 10b moves underwater so as to follow the movement of the shoes 20b. In addition, the moving body 10 may predict the stepping-out destination of each foot of the shoe 20, move ahead of the predicted stepping-out destination, and wait at the destination where the user has moved forward before the user 80's foot is attached. .

  FIG. 4 schematically shows a longitudinal section of the moving body 10a. FIG. 5 schematically shows a cross section of the moving body 10a.

  The mobile unit 10a includes a first propulsion unit 11-1, a first propulsion unit 11-2, a first propulsion unit 11-3, a first propulsion unit 11-4, and a second propulsion unit that generate thrust of the mobile unit 10a. And 12. The first propulsion unit 11-1, the first propulsion unit 11-2, the first propulsion unit 11-3, and the first propulsion unit 11-4 may be collectively referred to as the first propulsion unit 11. The first propulsion unit 11 applies a force in a direction orthogonal to the direction of gravity to the moving body 10a. For example, the first propulsion unit 11 applies a force to the moving body 10a by ejecting water drawn from around the moving body 10a in a direction orthogonal to the direction of gravity. The first propulsion unit 11 applies forces in different directions to the moving body 10a. As an example, each of the first propulsion units 11 may spray water from different positions on the side portion 17 of the moving body 10a. The direction and speed of the moving body 10a can be controlled by controlling the force applied by the first propulsion unit 11 to the moving body 10a.

  The second propulsion unit 12 applies a force in a direction opposite to the direction of gravity to the moving body 10a. The second propulsion unit 12 is provided on the lower surface 16 side of the moving body 10a. The second propulsion unit 12 applies a force in the direction opposite to the gravitational direction to the moving body 10a by injecting water sucked from around the moving body 10a in the gravitational direction. The second propulsion unit 12 may spray water from a lower surface 16 opposite to the upper surface 15 of the shoe 20a. The moving body 10 a supports the load received from the user 80 by the upward force given by the second propulsion unit 12. The direction in which the second propulsion unit 12 injects water may be variable. By controlling the direction in which the second propulsion unit 12 injects water, it is possible to obtain a thrust in the direction of gravity even when the moving body 10a is inclined.

  Note that the mobile object 10a includes a charging pad 14-1, a charging pad 14-2, a charging pad 14-3, and a charging pad 14-4. The charging pad 14-1, the charging pad 14-2, the charging pad 14-3, and the charging pad 14-4 may be collectively described as the charging pad 14. The charging pad 14 is used for charging and discharging with the mobile object 10b. Charging and discharging through the charging pad 14 is performed in a non-contact manner. The charging / discharging using the charging pad 14 will be described later.

  The moving body 10b has the same configuration as the moving body 10a. Therefore, the description of the specific configuration related to the propulsive force of the moving body 10b is omitted.

  According to the mobile system 100, the user 80 can move on the water as if walking on land without wearing a float on the foot. Therefore, it is possible to freely walk and run on the water.

  FIG. 6 is a block diagram illustrating a functional configuration of the moving object 10. The moving body 10a and the moving body 10b have the same functional configuration. Therefore, here, they are collectively referred to and described as a functional configuration of the moving object 10. The moving body 10 includes an imaging device 260, a processing unit 202, a storage unit 206, a sensor 208, a magnetic generation unit 250, a first propulsion unit 11, a second propulsion unit 12, a communication unit 204, a battery, 280, the charging pad 14, and the floating body 290.

  The battery 280 supplies energy necessary for the operation of each unit of the moving object 10. Battery 280 is charged by electric power supplied from charging pad 14.

  The communication unit 204 performs communication with the shoes 20. The communication unit 204 performs communication with another mobile unit 10. The communication unit 204 communicates with the shoes 20 and other moving objects 10 by radio waves or sound waves. In addition, the communication unit 204 transmits a warning signal to the surroundings.

  The processing unit 202 includes a control unit 200, a detection unit 230, a prediction unit 240, a motion information acquisition unit 210, and an advance information acquisition unit 270. The processing unit 202 is realized by a processor or the like. The storage unit 206 stores information for the communication unit 204 and the processing unit 202 to operate. For example, the storage unit 206 stores a program for operating the processing unit 202 and the communication unit 204. The storage unit 206 is realized by a storage medium such as a nonvolatile memory and a volatile memory. The functions of the mobile unit 10 are mainly realized by the processing unit 202 and the communication unit 204 operating based on a program stored in the storage unit 206. Thus, each function of the moving object 10 is realized by the computer.

  The sensor 208 includes a pressure sensor that detects the magnitude and direction of the force applied to the upper surface 15 of the moving body 10. Further, the sensor 208 includes a position sensor that detects geographical position information of the moving object 10 based on GPS information or the like. Information detected by the sensor 208 is output to the processing unit 202.

  The movement information acquisition unit 210 acquires information on the movement of the shoes 20 mounted on the feet of the user 80 or the feet of the person. When the foot of the user 80 is separated from the moving body 10, the control unit 200 moves the moving body 10 to the stepping-out destination of the foot based on the information acquired by the motion information acquiring unit 210.

  The movement information acquisition unit 210 receives from the shoes 20 information indicating the movement of the feet of the user 80 or the shoes 20. Information indicating the movement of the foot or shoes 20 of the user 80 may be referred to as “motion information”. Specifically, the motion information acquisition unit 210 receives the motion information from the shoe 20 via the communication unit 204. The control unit 200 moves the moving body 10 to a destination of the foot predicted from the motion information.

  For example, the position of the stepping destination of the foot is predicted by the prediction unit 240. For example, the prediction unit 240 may predict the stepping destination of the foot based on the information indicating the movement of the user 80 acquired from the shoes 20. The control unit 200 may move the moving body 10 to the position predicted by the prediction unit 240.

  The motion information may be, for example, information indicating at least one of the movement acceleration of the foot of the user 80, the movement direction of the foot, the movement speed of the foot, the position of the foot, and the posture of the foot. The motion information acquisition unit 210 may acquire information detected by a pressure sensor included in the sensor 208 as motion information.

  The detecting unit 230 detects the position of the foot of the user 80 or the position of the shoes 20. The control unit 200 may move the moving body 10 so as to follow the position of the foot or the shoe 20 detected by the detection unit 230.

  For example, the imaging device 260 captures an image of the upper side of the moving object 10. The detection unit 230 detects the position of the foot or the shoe 20 from the image obtained by the imaging device 260. The detection unit 230 may detect the position of the foot or the shoe 20 by detecting a predetermined mark attached to the foot or the shoe 20. The detection unit 230 may detect the position of the foot or the shoe 20 by detecting the position of light having a predetermined wavelength emitted from the foot or the shoe 20.

  The detection unit 230 may extract an index for identifying the right foot and the left foot from the image. The control unit 200 may move the moving body 10 based on the index detected by the detecting unit 230 so as to follow a predetermined foot set as a tracking target of the moving body 10.

  The magnetism generating unit 250 generates magnetism that generates a pulling force with the shoe 20. The controller 200 increases the strength of the magnetism generated by the magnetism generator 250 at least when the foot transitions from the swing phase to the standing phase. The control unit 200 reduces the intensity of the magnetism generated by the magnetism generating unit 250 at least when the foot transitions from the stance phase to the swing phase.

  The first propulsion unit 11 applies forces in a plurality of directions orthogonal to the direction of gravity to the moving body 10. The control unit 200 controls the force applied to the moving body 10 by each of the plurality of first propulsion units 11 based on the information acquired by the motion information acquiring unit 210, so that the moving body Move 10 The control unit 200 may control the direction of the force applied to the moving body 10 by the first propulsion unit 11 by controlling the amount of water injection by the first propulsion unit 11.

  The second propulsion unit 12 applies a force to the moving body 10 in a direction opposite to the direction of gravity. The control unit 200 may control the force applied by the second propulsion unit 12 to the moving body 10 based on the load applied from the user 80 to the moving body 10. The control unit 200 may control the direction of the force applied by the second propulsion unit 12 to the moving body 10 by controlling the direction in which the second propulsion unit 12 injects water.

  The sensor 208 includes an inclination sensor that detects the inclination of the moving body 10 with respect to the direction of gravity. The control unit 200 may control the force applied by the second propulsion unit 12 to the moving body 10 based on the inclination of the moving body 10 detected by the inclination sensor included in the sensor 208.

  Prior information acquisition section 270 acquires prior information about user 80. The advance information includes information indicating the weight of the user 80, the stride of the user 80, and the balance of the center of gravity when the user 80 is standing on the mobile object 10. The control unit 200 controls the movement of the moving body 10 using the advance information.

  The advance information acquisition unit 270 acquires at least one of the weight and the center of gravity balance of the user 80 based on the balance of the force when the user 80 stands on the moving body 10 and stands still. The advance information acquisition unit 270 acquires the weight and the center of gravity balance of the user 80 based on the control amount by which the control unit 200 controls the second propulsion unit 12 so that the moving body 10 becomes substantially stationary. May be.

  The control unit 200 instructs the user 80 riding on the moving object 10 to perform a walking operation, and moves the moving object 10 following the walking operation of the user 80 performed according to the instruction. The stride of the user 80 may be acquired based on the amount of movement of the user.

  Battery 280 stores energy required for moving body 10 to move. Battery 280 stores electrical energy. The floating body 290 is deployed when the amount of energy stored in the battery 280 is lower than a predetermined value.

  The control unit 200 determines the difference between the amount of energy stored in the battery 280 and the amount of energy required to move the mobile object 10 from the current position to a predetermined location for collecting the mobile object 10 in advance. When the value becomes smaller than the predetermined value, the floating body 290 is deployed. The control unit 200 may prohibit the floating body 290 from being deployed when the distance to the predetermined place for collecting the moving body 10 is shorter than the predetermined distance.

  Next, an operation related to the operation mode of the moving object 10 will be described. The moving body 10 has a movement mode, a standby mode, and a floating mode as operation modes. The movement mode is an operation mode when the moving body 10 moves based on the movement of the user's 80 foot as described above. The control unit 200 operates the mobile unit 10 in the floating mode when the user 80 requests.

  The detecting unit 230 detects the foot or the shoe 20 of the user 80. When the detection unit 230 detects the foot or the shoe 20 within a predetermined range, the control unit 200 moves the moving body 10 in the movement mode of moving the moving body 10 to the stepping-out destination of the foot. The control unit 200 causes the moving body 10 to be in the standby mode when the foot or the shoe 20 is not detected within the predetermined range by the detection unit 230. The predetermined range is a range on the opposite side of the moving body 10 from the direction of gravity.

  The control unit 200 may move the moving body 10 according to the movement of the shoe 20 such that the moving body 10 is located within a predetermined range from the shoes 20 in the standby mode. In the standby mode, the control unit 200 may adjust the amount of stored energy with another moving body 10 supporting the other foot.

  The control unit 200 controls the other of the user 80 when the mobile unit 10 is moved to support one foot of the user 80 in the movement mode before the transition to the standby mode, and when the transition from the standby mode to the movement mode is performed. The moving body 10 may be moved so as to support the foot. For example, a large difference in power consumption may occur between the moving body 10 supporting the right foot and the moving body 10 supporting the left foot. For example, when the user 80 walks with one foot having a center of gravity, a large difference in power consumption may occur. In such a case, in the next movement mode, the amount of power stored in both batteries 280 may be able to be adjusted by exchanging the feet supported by moving body 10.

  The communication unit 204 receives a biological signal detected from the user 80 from the shoe 20. The control unit 200 determines whether or not the foot or shoe 20 has been detected within the predetermined range by the detection unit 230 and the biological signal received from the communication unit 204 satisfies the predetermined condition. 10. Put 10 in standby mode. The control unit 200 controls the mobile unit 10 in the levitation mode when the foot or the shoe 20 is not detected in the predetermined range by the detection unit 230 and the biological signal does not satisfy the predetermined condition. Make it work. The control unit 200 does not detect the foot or the shoe 20 within the predetermined range by the detection unit 230, and the distance from the predetermined location to the moving body 10 is equal to or longer than the predetermined distance. In this case, the mobile unit 10 is operated in the floating mode.

  In the floating mode, the control unit 200 may move the moving body 10 to support the body of the user 80 from below in the direction of gravity. The biological signal may include at least one of a heartbeat signal, a pulse signal, a respiration signal, an electroencephalogram signal, and a voluntary movement signal.

  Next, an operation of controlling the magnetic force generated by the magnetic generation unit 250 according to the stepping-out destination will be described. The control unit 200 causes the magnetism generation unit 250 to generate a force having a strength corresponding to the position of the stepping destination predicted by the prediction unit 240. The magnetism generating unit 250 generates magnetism that generates a pulling force with the shoe 20. The magnetism generating unit 250 is an example of a force generating unit that generates a force that attracts the shoes 20.

  For example, the control unit 200 can move the moving body 10 to the position predicted by the prediction unit 240 when the moving body 10 cannot be moved to the position predicted by the prediction unit 240. When the foot transitions from the stance phase to the swing phase, a strong force is generated by the magnetism generating unit 250. Further, when the water depth at the position predicted by the prediction unit 240 is shallower than the predetermined water depth at which the mobile unit 10 can be used, the control unit 200 determines the water depth at the position predicted by the prediction unit 240 in advance. As compared with the case where the water depth is equal to or greater than the given water depth, the magnetic generation unit 250 generates a stronger force when the foot transitions from the stance phase to the swing phase.

  Note that, when the mobile unit 10 cannot be moved to the position predicted by the prediction unit 240, the control unit 200 determines that the footsteps of the user 80 exist at the position predicted by the prediction unit 240. When the foot transitions from the stance phase to the swing phase, generation of force by the magnetism generating unit 250 is prohibited. The footstep may be a land or a structure such as a pier.

  Note that the control unit 200 may increase the force generated by the magnetic generation unit 250 when the foot transitions from the swing phase to the standing phase.

  As described above, the advance information acquired by the advance information acquisition unit 270 includes information indicating the weight of the user 80. When the mobile unit 10 cannot be moved to the position predicted by the prediction unit 240, the control unit 200 increases the force with which the foot transitions from the stance phase to the swing phase as the weight of the user 80 increases. May be generated by the magnetic generation unit 250. The advance information includes information indicating the stride of the user 80. The prediction unit 240 may predict the stepping destination of the foot based on the stride of the user 80.

  Next, an example of a moving mode when the moving body 10 moves will be described. The control unit 200 controls the second foot of the user 80 while rotating the mobile 10 in a plane parallel to the moving direction of the mobile 10 when the first foot of the user 80 is separated from the mobile 10. The moving body 10 may be moved to the stepping destination of the first foot along the side of the other moving body 10 supporting the moving body 10. When the first foot is the left foot of the user 80 who is moving forward, the control unit 200 moves the moving body 10 to the stepping-out destination of the first foot while rotating the moving body 10 clockwise, so that the first foot is If the right foot of the user 80 is moving forward, the moving body 10 may be moved to the destination where the first foot is stepped while rotating the moving body 10 counterclockwise. The moving body 10 preferably has a substantially cylindrical shape.

  The control unit 200 may move the moving body 10 to the first stepping-out destination while rotating the moving body 10 in a state where the side of the moving body 10 and the side of another moving body 10 are in contact with each other. . The control unit 200 may transfer electric energy between the moving body 10 and another moving body 10 through the side of the moving body 10 and the side of another moving body 10.

  FIG. 7 is a block diagram illustrating a functional configuration of the shoe 20. The shoes 20a and the shoes 20b have the same functional configuration. Therefore, here, they are generically described and described as a functional configuration of the shoe 20. The shoe 20 includes a sensor 300, a processing unit 302, a communication unit 304, a storage unit 306, a notification unit 330, a battery 380, and a magnet 350.

  The battery 380 supplies energy necessary for the operation of the storage unit 306, the processing unit 302, the communication unit 304, the notification unit 330, and the sensor 300. The magnetic force generated by the magnet 350 and the magnetic force generated by the magnetic generation unit 250 provided in the moving body 10 generate an attractive force between the magnet 350 and the magnetic generation unit 250. The magnet 350 is separately provided on the heel side and the toe side of the shoe 20.

  The processing unit 302 is realized by a processor or the like. The storage unit 306 stores information for operating the communication unit 304 and the processing unit 302. The storage unit 306 stores a program for operating the processing unit 302 and the communication unit 304. The storage unit 306 is realized by a storage medium such as a nonvolatile memory and a volatile memory. The function of the shoe 20 is mainly realized by the processing unit 302 and the communication unit 204 operating based on a program stored in the storage unit 306. Thus, each function of the shoe 20 is realized by the computer.

  The communication unit 304 performs communication with the mobile unit 10. The communication unit 304 transmits sensor information including information detected by the sensor 300 to the mobile unit 10.

  Sensor 300 includes an acceleration sensor. The information detected by the acceleration sensor is used to calculate the moving acceleration, the moving speed, and the position of the foot of the user 80 in the moving body 10. Therefore, the information detected by the acceleration sensor is an example of information indicating the moving acceleration, the moving speed, and the position of the foot of the user 80. Sensor 300 may include a plurality of acceleration sensors. Information detected by the plurality of acceleration sensors is used to calculate the posture of the foot of the user 80 in the moving body 10. Therefore, the information detected by the plurality of acceleration sensors is an example of information indicating the posture of the foot of the user 80. The sensor 300 includes a biological sensor that detects biological information. The biological information includes at least one of a heartbeat signal, a pulse signal, and a voluntary movement signal.

  Note that a plurality of sensors may be provided at a plurality of parts of the limb of the user 80. Information obtained by the plurality of sensors may be transmitted to the shoe 20 and transmitted to the mobile unit 10 through the communication unit 304. For example, acceleration sensors may be provided on a plurality of parts of the limb of the user 80. Information detected by these acceleration sensors is used to calculate the posture of the user 80. In addition, biometric sensors may be provided at a plurality of parts of the limb of the user 80. Examples of the information detected by these biological sensors include a respiratory signal and an electroencephalogram signal.

  The notification unit 330 notifies the user 80 of the information. For example, the notification unit 330 notifies the user 80 of the information by generating a vibration of a predetermined pattern according to the information notified to the user 80.

  Note that the shoe 20 of the present embodiment is an example of a wearing object worn on the foot of the user 80. The wearing object may be any object other than the shoes 20. For example, the attachment may be a ring or the like attached to the foot of the user 80.

  FIG. 8 schematically shows an image 800 captured by the imaging device 260 of the moving object 10. The image 800 is used to detect the position of the foot of the user 80.

  In the moving body 10a, the detection unit 230 detects the position of the shoe 20a by detecting an image 810 of the shoe 20a by image recognition from the image 800 captured by the imaging device 260. With the movement of the foot, the position of the shoe 20a detected from the image is displaced. In the mobile unit 10a, the control unit 200 controls the first propulsion unit 11 to move the mobile unit 10a such that the position of the center of gravity of the shoe 20a detected from the image is included in the predetermined range 820 in the image. .

  In addition, a mark for detecting the foot of the user 80 is provided on the bottom surfaces of the shoes 20a and the shoes 20b. The detection unit 230 may detect the position and orientation of the foot by detecting the mark from the image 800. For example, the detection unit 230 of the moving body 10a may detect the position and orientation of the foot by detecting the position and orientation of the predetermined mark image 830 and the image 840 from the image 800.

  The mark formed on the shoe 20a may have a predetermined shape indicating that it is a left foot. The mark formed on the shoe 20b may have a predetermined shape indicating the right foot. Further, the mark formed on the shoe 20a may be formed of a substance that emits light of a predetermined color indicating that the shoe is the left foot. The mark formed on the shoe 20b may be formed of a substance that emits light of a predetermined color indicating that the shoe is the right foot. The mark formed on the shoe 20a may be formed of a substance that emits light of a predetermined wavelength indicating that the shoe is the left foot. The mark formed on the shoe 20b may be formed of a substance that emits light of a predetermined wavelength indicating that the shoe is a right foot.

  Accordingly, in each of the moving bodies 10a and 10b, the detecting unit 230 can detect the position of the foot to be followed by each moving body 10 by detecting the mark image from the image 800. it can.

  Note that the detection unit 230 may detect the position of the foot based on the acceleration information included in the sensor information transmitted from the shoe 20. The detection unit 230 may detect the position of the foot based on the acceleration information and the image 800.

  FIG. 9 shows an example of a temporal change in the relative speed of the moving body 10a with respect to the moving body 10b. At time t1, the left leg of the user 80 is at the end of the stance phase, and the right leg of the user 80 is at the stage of transition from the swing phase to the stance phase. At time t2, the left foot of the user 80 is in the swing phase, and the right foot of the user 80 is in the stance phase. At time t3, the left foot of the user 80 is in the transition from the swing phase to the standing phase, and the right foot of the user 80 is in the standing phase.

  When both feet of the user 80 are in the stance phase, the respective control units 200 of the moving bodies 10a and 10b maintain their respective positional relationships between the moving bodies 10a and 10b so as to maintain a predetermined positional relationship. The speed of the moving body 10a is controlled.

  When moving the moving body 10a so as to follow the movement of the left foot, when the left foot of the user 80 transitions from the standing phase to the swing phase after time t1, the control unit 200 of the moving body 10a follows the left foot of the user 80. The moving body 10a is moved so as to perform the operation. At time t3, when the left leg of the user 80 transitions from the swing phase to the standing phase, the control unit 200 of the moving object 10a causes the moving object 10a to maintain a predetermined positional relationship with the moving object 10b. The speed of the moving body 10a is controlled. The control unit 200 of the moving body 10b controls the moving body 10b to follow the movement of the right foot by performing the same control as the control unit 200 of the moving body 10a.

  Note that the control unit 200 may determine that the foot of the user 80 has transitioned from the stance phase to the swing phase when the foot is detected from the image captured by the imaging device 260. The control unit 200 may determine that the foot of the user 80 has transitioned from the stance phase to the swing phase based on the magnitude of the pressure detected by the sensor 208.

  FIG. 10 schematically illustrates an example of a temporal change of the magnetic intensity generated by the magnetic generation unit 250. The times t1 to t3 mean the same times as the times t1 to t3 described with reference to FIG. At time t4, the left foot of the user 80 is in the stance phase, and the right foot of the user 80 is in the stage of transition from the stance phase to the swing phase. Time t4 is the time when the left foot of the user 80 is about to enter the middle stage of the stance phase.

  In the moving body 10a, the control unit 200 increases the magnetic intensity generated by the magnetic generation unit 250 before the left leg of the user 80 transitions from the swing phase to the standing phase. By increasing the magnetic intensity generated by the magnetism generating unit 250, the attractive force between the magnet 350 provided in the shoe 20a and the magnetism generating unit 250 increases. Thereby, the moving body 10a and the shoes 20a can be adsorbed.

  In the moving body 10a, the control unit 200 reduces the magnetic force generated by the magnetic generation unit 250 during a period from time t3 to time t4. The control unit 200 reduces the magnetic intensity generated by the magnetic generation unit 250 to substantially zero before at least before the left foot transitions from the stance phase to the swing phase.

  FIG. 11 schematically illustrates a state in which the moving body 10 moves ahead of the stepping destination of the foot. In the mobile unit 10a, the prediction unit 240 predicts a stepping destination of the left foot of the user 80. For example, the prediction unit 240 predicts the stepping destination of the left foot of the user 80 based on the direction in which the user 80 is currently walking, the direction of the pressure detected by the sensor 208 of the moving object 10a, and the stride of the user 80. By controlling the first propulsion unit 11, the control unit 200 of the moving body 10 a quickly moves the moving body 10 a to the stepping destination of the left foot of the user 80 predicted by the prediction unit 240.

  Similarly, in the mobile unit 10b, the prediction unit 240 predicts the destination of the right step of the user 80. For example, the prediction unit 240 of the moving object 10b determines the stepping destination of the right foot of the user 80 based on the direction in which the user 80 is currently walking, the direction of the pressure detected by the sensor 208 of the moving object 10a, and the stride of the user 80. Predict. Then, the control unit 200 of the mobile unit 10b controls the first propulsion unit 11 of the mobile unit 10b to quickly move the mobile unit 10b to the destination of the right foot of the user 80 predicted by the prediction unit 240. The mobile unit 10a and the mobile unit 10b support the feet that the user 80 alternately steps on by repeating the above operation.

  FIG. 12 shows an example of a temporal change in the relative speed of the moving object 10a when performing control ahead of the stepping destination of the foot. The times t1 to t3 mean the same times as the times t1 to t3 described with reference to FIG. Here, differences from the control described with reference to FIG. 9 will be mainly described.

  After the time t1, when the left foot of the user 80 transitions from the standing phase to the swing phase, the control unit 200 of the moving object 10a moves the left foot predicted by the prediction unit 240 to the stepping destination of the left foot. As shown in FIG. 12, at time t2, the moving object 10a is located ahead of the left leg of the user 80 in the traveling direction. After the mobile unit 10a arrives at the predicted stepping-out position, the control unit 200 of the mobile unit 10a performs acceleration of the left foot included in the sensor information transmitted from the shoes 20a until the left foot reaches the mobile unit 10a. Based on the position information of the left foot detected from the image captured by the imaging device 260, the position of the moving object 10a is finely corrected. Then, at time t3, when the left leg of the user 80 transitions from the swing phase to the standing phase, the control unit 200 of the moving body 10a causes the moving body 10a to maintain a predetermined positional relationship with the moving body 10b. Next, the speed of the moving body 10a is controlled. The control unit 200 of the moving body 10b performs the same control as the control unit 200 of the moving body 10a, thereby moving the moving body 10b ahead of the destination of the right foot.

  FIG. 13 schematically illustrates a method of acquiring a load received from the user 80 as advance information. Before the user 80 starts walking using the moving bodies 10a and 10b, the moving bodies 10a and 10b stand with the left and right feet of the user 80 attached to the moving bodies 10a and 10b. Instruct the user 80 to take a posture. For example, the processing units 302 of the shoes 20a and 20b cause the notification unit 330 to generate a pattern vibration corresponding to the instruction to take a standing posture.

  The control unit 200 of the moving body 10a and the moving body 10b controls each of the moving body 10a and the moving body 10b so that the load of the user 80 and the thrust generated by the second propulsion unit 12 of the moving body 10a and the moving body 10b are balanced. The second propulsion unit 12 is controlled. In the moving bodies 10a and 10b, the advance information acquisition unit 270 calculates the thrust generated by the second propulsion units 12 of the moving bodies 10a and 10b based on the control information of the second propulsion unit 12. Prior information acquisition section 270 calculates the load applied to moving body 10a and moving body 10b based on the calculated thrust and the buoyancy of moving body 10a and moving body 10b. The load includes the weight of the body of the user 80 and the weight of the load carried by the user 80.

  In the moving bodies 10a and 10b, the control unit 200 calculates the center of gravity of the user 80 based on the thrust of the second propulsion unit 12 of the moving body 10a and the thrust of the second propulsion unit 12 of the moving body 10b. I do. This makes it possible to acquire in advance whether the load is applied by the left foot or the right foot. Therefore, for example, the standing habit of the user 80 can be acquired in advance. In addition, it is possible to acquire in advance the deviation of the weight of the baggage borne by the user 80. The control unit 200 may use the position of the center of gravity acquired as the advance information as a correction value when estimating the moving direction of the user 80.

  In the mobile unit 10a and the mobile unit 10b, the control unit 200 determines the thrust to be output to the second propulsion unit 12 when the foot of the user 80 transitions to the stance phase or when the foot of the user 80 is in the stance phase. The calculation is performed using the load information acquired by the acquisition unit 270. Thereby, when the foot of the user 80 arrives at the moving body 10, it is possible to suppress the moving body 10 from sinking greatly and the moving body 10 from jumping largely out of the water. The control unit 200 may adjust the magnitude of the force opposing the force applied to the moving body 10 by the kicking foot by adjusting the thrust of the second propulsion unit 12.

  As described above, by obtaining the load received from the user 80 as the advance information before use, it is possible to obtain the weight and the center of gravity of the user 80 including the attachment and the luggage. As a result, more accurate information can be acquired as compared with a method of registering the weight and the like of the user 80 as advance information.

  FIG. 14 schematically shows another method for acquiring a load received from the user 80 as advance information. The method for obtaining the load shown in FIG. 14 differs from the method shown in FIG. 13 in that the user 80 stands on one foot. The moving body 10a instructs the user 80 to take a standing posture with one left foot on the moving body 10a. For example, the processing unit 302 of the shoe 20a causes the notification unit 330 to generate a pattern vibration corresponding to an instruction to take a standing posture with the left foot.

  The control unit 200 of the mobile unit 10a controls the second propulsion unit 12 of the mobile unit 10a such that the load of the user 80 and the thrust generated by the second propulsion unit 12 of the mobile unit 10a are balanced. In the mobile unit 10a, the advance information acquisition unit 270 calculates the thrust generated by the second propulsion unit 12 of the mobile unit 10a based on the control information of the second propulsion unit 12. Prior information acquisition section 270 calculates the load applied to moving body 10a based on the calculated thrust and the buoyancy of moving body 10a. The control unit 200 of the moving body 10a transmits information indicating the load acquired by the advance information acquiring unit 270 to the moving body 10b. Thereby, the load information can be shared between the moving body 10a and the moving body 10b.

  FIG. 15 schematically shows a scene in which the step of the user 80 is acquired as advance information. The user 80 is instructed to start walking slowly from the state shown in FIG. For example, the processing unit 302 of the shoe 20a and the shoe 20b causes the notification unit 330 to generate a pattern vibration corresponding to the walking start instruction. In this case, the vibration may be generated only in the notification unit 330 of the shoe 20 mounted on the foot to be walked.

  When walking with the right foot, the control unit 200 of the moving body 10b causes the moving body 10b to follow the movement of the right foot. The advance information acquisition unit 270 of the moving body 10b acquires the stride L of the user 80 based on the position of the moving body 10b when the right foot is separated and the position of the moving body 10b when the right foot reaches the moving body 10b. I do. The control unit 200 of the moving object 10b transmits the information indicating the stride acquired by the advance information acquiring unit 270 to the moving object 10a. Thereby, the step information can be shared between the moving object 10a and the moving object 10b. The step information acquired by the advance information acquisition unit 270 is used by the prediction unit 240 to predict the stepping destination of the foot.

  FIG. 16 schematically illustrates a situation where energy management is performed in the mobile object 10. In FIG. 16, the user 80 has started walking using the moving object 10 with the pier 1600 as a starting point. The pier 1600 is an example of a collection place where the moving object 10 is collected.

  In each of moving body 10a and moving body 10b, control unit 200 stores the SOC of battery 280 at the start of walking. After starting walking using the moving body 10, the control unit 200 sequentially acquires the current SOC of the battery 280. The control unit 200 calculates the power consumption from the start of walking to the present based on the SOC at the start of walking and the current SOC.

  The control unit 200 uses the moving body 10 to walk to the pier 1600 or the shore 1610 based on the distance D1 from the current position to the pier 1600 or the distance D2 from the current position to the shore 1610 detected by the sensor 208. Calculate the required power amount. When the difference between the current stored power amount of battery 280 calculated from the current SOC and the required power amount becomes smaller than a predetermined first power amount, control unit 200 decreases the remaining battery power. The user 80 is notified of the fact. For example, the control unit 200 notifies the user 80 by vibrating one of the notification units 330 of the shoes 20a and 20b in a predetermined pattern.

  FIG. 17 schematically shows a scene in which a notification is made when the battery level becomes insufficient. In each of mobile unit 10a and mobile unit 10b, control unit 200 moves to pier 1600 and shore 1610 based on distance D3 from the current position of mobile unit 10 to pier 1600 and distance D4 from the current position to pier 1610. The amount of power required to walk using the body 10 is calculated. The control unit 200 notifies the user 80 of the insufficient remaining battery power when the current stored power of the battery 280 calculated from the current SOC becomes smaller than the required power. For example, the control unit 200 notifies the user 80 by vibrating the notification unit 330 of one of the shoes 20a and 20b in a predetermined pattern indicating a power shortage. After notifying the user 80 of the power shortage, the control unit 200 deploys the floating body 290.

  FIG. 18 shows a state where the floating body 290 of the moving body 10a is expanded. The control unit 200 deploys the floating body 290 when the amount of power stored in the battery 280 becomes smaller than the required amount of power. The floating body 290 may be deployed, for example, by a method similar to the method of deploying an airbag.

  When the floating body 290 is deployed, the floating body 290 expands into a boat shape. The floating body 290 has a concave portion 292 that can accommodate the user 80 in the unfolded state. In a state where the floating body 290 is deployed, the floating body 290 and the moving body 10 can travel with the thrust obtained by the first propulsion unit 11.

  FIG. 19 schematically illustrates a situation where the mobile unit 10 performs charging and discharging in the standby mode. The moving body 10 has a movement mode and a standby mode as operation modes. The movement mode is an operation mode of moving to a stepping destination of a foot which is alternately stepped as described above. For example, when the user 80 separates from the moving body 10 and breaks on the water surface or starts diving, the moving body 10 enters a standby state in the standby mode.

  For example, the mobile unit 10a and the mobile unit 10b transition to the standby mode when a predetermined time elapses after the feet of the user 80 are no longer detected above the mobile unit 10. For example, the moving body 10a outputs a non-detection signal indicating that the foot can no longer be detected when a predetermined time elapses after the detection unit 230 cannot detect the foot from the image captured by the imaging device 260. 10b. Similarly, the mobile unit 10b transmits a non-detection signal to the mobile unit 10a when a predetermined time elapses after the detection unit 230 cannot detect the foot of the user 80.

  The mobile unit 10a transits to the standby mode when transmitting the non-detection signal to the mobile unit 10b and receiving the non-detection signal from the mobile unit 10b. Similarly, when the mobile unit 10b transmits a non-detection signal to the mobile unit 10a and receives a non-detection signal from the mobile unit 10a, the mobile unit 10b transitions to the standby mode.

  When detecting that both of the mobile units 10a and 10b are in the standby mode, the control units 200 of the mobile units 10a and 10b charge and discharge the battery 280 between each other. For example, when the stored power amount of the battery 280 of the moving body 10a is smaller than the stored power amount of the battery 280 of the moving body 10b, the control unit 200 of the moving body 10a acquires power from the moving body 10b and The battery 280 is charged. When the stored power amount of the battery 280 of the moving body 10b is smaller than the stored power amount of the battery 280 of the moving body 10a, the control unit 200 of the moving body 10b obtains the power from the moving body 10a and obtains the battery 280 of the moving body 10b. To charge.

  Charging and discharging between the moving body 10a and the moving body 10b are performed through the charging pad 14 facing the moving body 10a. The control units 200 of the moving body 10a and the moving body 10b communicate with each other, and adjust the position and the direction of the charging pad 14 so that the charging pad 14 approaches the opposing position. FIG. 19 shows a state where the charging pad 14-4 of the moving body 10a and the charging pad 14-2 of the moving body 10b face each other. The control unit 200 of the mobile unit 10a and the control unit 200 of the mobile unit 10b compare the stored power amounts of the batteries 280 to determine which of the battery 280 of the mobile unit 10a and the battery 280 of the mobile unit 10b is to be charged. When one battery 280 is determined to be charged, charging from the other battery 280 to one battery 280 is started. The charge / discharge between the moving body 10a and the moving body 10b ends when the difference in the amount of stored power of the batteries 280 included in both the moving bodies 10 is less than a predetermined value.

  FIG. 20 schematically illustrates a scene in which the moving body 10 moves in the standby mode. The control unit 200 of the moving body 10a and the moving body 10b extracts position information of each shoe 20 from signals transmitted from the shoes 20a and 20b, respectively. The control unit 200 moves toward the position indicated by the position information of the shoe 20. Thereby, even when the user 80 starts to dive away from the moving body 10, it moves following the user 80. Therefore, when the user 80 stops diving and ascends, the moving body 10 is present near the position where the user ascended. Therefore, it is possible to prevent the user 80 from losing sight of the moving body 10. In addition, the labor for the user 80 to search for the mobile unit 10 can be omitted.

  The mobile system 100 may further include a remote controller 90 for remotely controlling the mobile 10 from underwater. The user 80 may dive while wearing or holding the remote controller 90. When the user 80 is underwater, the remote controller 90 may emit a signal indicating the position information of the remote controller 90. The control unit 200 of the moving objects 10a and 10b extracts the position information of the remote controller 90 from the signal transmitted from the remote controller 90, and moves the moving object 10 toward the position indicated by the position information. Good. The remote controller 90 may include a button 92 for receiving a floating request from the user 80. The operation when a floating request from the user 80 is received will be described with reference to FIG.

  FIG. 21 schematically shows a scene in which the mobile unit 10a has levitated the user 80 in the levitating mode. The moving body 10 has, as operation modes, a floating mode in which the user 80 floats on the water in addition to the moving mode and the standby mode. The moving body 10 floats the user 80 when the user 80 is in the water and the user 80 requests floating on the water. For example, when the user 80 presses the button 92 of the remote controller 90, the remote controller 90 transmits a rising request signal. Upon receiving the ascent request signal from the remote controller 90, the mobile unit 10 transitions from the standby mode to the ascent mode. For example, in the levitation mode, the control unit 200 of the mobile unit 10a controls the second propulsion unit 12 to move the mobile unit 10a below the user 80 and support the user 80 with the mobile unit 10a from below. The user 80 on the water.

  Note that the mobile unit 10 may transition to the floating mode when the user 80 is underwater and a biological signal satisfying a predetermined condition cannot be obtained. When the shoe 20a and the shoe 20b are detected under the water surface, the control unit 200 of the moving body 10a acquires a biological signal from a signal transmitted from the shoe 20a or the shoe 20b. Then, the control unit 200 determines whether a biological signal satisfying a predetermined condition is obtained. For example, the control unit 200 may determine whether the pulse rate per minute is larger than a predetermined value. The control unit 200 may determine whether the heart rate per minute is larger than a predetermined value. The control unit 200 may determine whether the respiratory rate per minute is larger than a predetermined value.

  If the control unit 200 determines that a biological signal satisfying a predetermined condition has not been obtained, the control unit 200 may operate in the floating mode. In this case, the control unit 200 may cause the communication unit 204 to transmit an alarm signal to the surroundings.

  Note that the moving body 10a may move while supporting the body of the user 80 while the user 80 is gripped by the arm in the floating mode. Further, the moving body 10a may move while supporting the user 80's standing swim in the floating mode. Further, the moving body 10a and the moving body 10b may move in a state where the user 80 is supported in cooperation.

  FIG. 22 shows, in a table format, operating conditions of the movement mode, the standby mode, and the flying mode. The control unit 200 operates in the movement mode when the foot of the user 80 is detected above the moving body 10.

  When the feet of the user 80 are not detected above the moving body 10 and the user 80 is located near the water surface, the control unit 200 operates the moving body 10 in the standby mode. Whether or not the user 80 is located near the water surface may be determined from the position of the source of the sound wave signal transmitted from the shoes 20. When operating in the standby mode, control unit 200 transmits an alarm signal to the surroundings when the biological signal transmitted from shoe 20 does not satisfy a predetermined condition.

  If the feet of the user 80 are not detected above the moving body 10 and the biological signal satisfying the predetermined condition is detected when the user 80 is underwater, the moving body 10 In standby mode.

  The case where the feet of the user 80 are not detected above the moving body 10 and the biological signal that satisfies the predetermined condition when the user 80 is located in the water will be described. If the current position of the moving body 10 is less than a predetermined distance to the shore, the control unit 200 operates the moving body 10 in the standby mode and transmits an alarm signal to the surroundings. When the current position of the moving body 10 is equal to or greater than the predetermined distance to the shore, the control unit 200 may operate the moving body 10 in the floating mode and transmit an alarm signal to the surroundings.

  FIG. 23 is a diagram illustrating a scene in which attraction control between the moving object 10 and the foot of the user 80 is performed. FIG. 23 shows a stage in which the left foot is in the stance phase and the right foot transitions from the swing phase to the stance phase. The left foot of the user 80 is in the stage of entering the end of the stance phase.

  The prediction unit 240 of the moving object 10a predicts the position 2310 of the stepping destination of the left foot. Control unit 200 determines whether or not mobile unit 10a can be moved to predicted position 2310. For example, when the rocky place 2300 exists at the predicted position 2310, the control unit 200 determines that the moving body 10a cannot be moved. Further, when the water depth at predicted position 2310 is less than a predetermined water depth required for movement of moving body 10a, control unit 200 determines that moving body 10a cannot be moved.

  The information indicating the position where the rocky place is located and the water depth are stored in the storage unit 206. The control unit 200 refers to the information stored in the storage unit 206 and determines whether the mobile unit 10a can be moved.

  The control unit 200 increases the magnetic intensity generated by the magnetic generation unit 250 when the mobile unit 10a cannot be moved to the predicted position 2310. By increasing the magnetic intensity generated by the magnetic generation unit 250, the force of attracting between the magnet 350 provided on the shoe 20 and the magnetic generation unit 250 increases. Thereby, the user 80 notices that the shoe 20 does not move in the traveling direction because the shoe 20 is hard to separate from the moving body 10a.

  The control unit 200 may determine the magnitude of the magnetic intensity to be generated by the magnetic generation unit 250 according to the load of the user 80 obtained as the advance information. For example, as the load of the user 80 increases, the magnetic intensity generated by the magnetic generation unit 250 may be increased. In general, it is expected that the heavier the weight of the user 80, the stronger the leg strength of the user 80. Therefore, by increasing the magnetic strength as the load of the user 80 obtained as the advance information is larger, it is possible to prevent the shoes 20 from easily coming off the moving body 10a even when the user 80 has strong leg strength.

  Note that the magnetic intensity generated by the magnetic generation unit 250 located on the heel side and the magnetic intensity generated by the magnetic generation unit 250 located on the toe side may be individually controlled. For example, the control unit 200 may increase the magnetic intensity generated by the magnetic generation unit 250 located on the heel side, and then increase the magnetic intensity of the magnetic generation unit 250 located on the toe side. This makes it difficult for the toe side of the shoe 20a to separate from the moving body 10a after the heel side of the shoe 20a separates from the moving body 10a.

  FIG. 24 is a diagram illustrating a situation where the control of the attraction between the moving object 10 and the foot is prohibited. As shown in FIG. 24, a pier 2400 exists at a predicted position 2410 where the user 80 steps out of the left foot. The moving object 10a cannot be moved to the predicted position 2410, but the user 80 can walk on the pier 2400. In such a case, the control unit 200 prohibits the magnetism generating unit 250 from generating magnetism.

  As described above, even when the moving body 10 cannot move to the predicted position 2410, if the predicted position 2410 is a valid place as a stepping foot, the control unit 200 transmits the magnetic field to the magnetic generation unit 250. Is prohibited.

  FIG. 25 illustrates one mode of a method of moving the moving body 10. In FIG. 25, the positions of the moving bodies 10a and 10b at the stage when the left leg of the user 80 transitions from the standing phase to the swing phase are indicated by solid lines. With reference to FIG. 25, the movement control of the moving body 10a will be described.

  When the left foot shifts to the swing phase, the moving body 10a starts moving to the position 2504 where the left foot is stepped on. In this case, first, the control unit 200 of the moving body 10a linearly moves the moving body 10a toward the position 2504 of the stepping destination. When the moving body 10a contacts the moving body 10b (position 2501), the control unit 200 controls the first propulsion unit 11 so that the moving body 10a rotates clockwise when viewed from above. Accordingly, the moving body 10a moves to the position 2503 through the position 2502 while rotating along the side of the moving body 10b. Then, control unit 200 moves linearly from position 2503 to position 2504.

  FIG. 26 illustrates one mode of a method of moving the moving body 10b. With reference to FIG. 26, the movement of the moving body 10b after the moving body 10a has moved to the position 2504 in FIG. 25 will be described. In FIG. 26, the positions of the moving bodies 10a and 10b when the right foot of the user 80 transitions from the standing phase to the swing phase are shown by solid lines.

  When the right foot shifts to the swing phase, the moving body 10b starts moving to the position 2604 where the right foot is stepped on. In this case, the control unit 200 of the moving body 10b first linearly moves the moving body 10b toward the position 2604 of the stepping destination. When the moving body 10b contacts the moving body 10a (position 2601), the control unit 200 controls the first propulsion unit 11 so that the moving body 10b rotates counterclockwise when viewed from above. Accordingly, the moving body 10b moves to the position 2603 through the position 2602 while rotating along the side of the moving body 10a. Then, control unit 200 moves linearly from position 2603 to position 2604.

  The moving body 10a and the moving body 10b move to the stepping destination of the user 80 by alternately repeating the movement modes described with reference to FIGS. Thereby, the moving body 10 can move to the stepping-out destination in the shortest distance in the horizontal plane, and can reduce the resistance of water received during the movement. Note that the moving body 10a and the moving body 10b of the present embodiment are separate moving bodies. In another embodiment, the moving body 10a and the moving body 10b may be connected to each other at a peripheral portion so as to be capable of relative rotation.

  FIG. 27 schematically illustrates a state where charging and discharging are performed between the moving body 10a and the moving body 10b. FIG. 27 shows a state where the moving body 10a is moving while rotating along the side of the moving body 10b.

  As shown in FIG. 27, the charging pad 14-1 of the moving body 10a is in a state of being close to the charging pad 14-1 of the moving body 10b. The control unit 200 of the mobile unit 10a and the control unit 200 of the mobile unit 10b connect the battery 280 of the mobile unit 10a and the mobile unit via the charging pad 14-1 of the mobile unit 10a and the charging pad 14-1 of the mobile unit 10b. Charge / discharge with the battery 280 of 10b is performed. For example, when the stored power of the battery 280 of the mobile 10a is smaller than the stored power of the battery 280 of the mobile 10b, the battery 280 of the mobile 10b is connected via the charging pad 14-1 of the mobile 10a and the mobile 10b. Charging of the battery 280 of the mobile object 10a from.

  As described above, the moving body 10a and the moving body 10b can be charged and discharged while relatively moving. Therefore, the user 80 can suppress a difference in the amount of stored power between the moving bodies 10 while walking using the moving bodies 10.

  FIG. 28 schematically illustrates an example of the arrangement of the moving object 10 included in the moving object system according to the second embodiment. FIG. 28 shows a state where the arrangement of the moving body 10 at a certain time is viewed from above.

  The moving body system according to the second embodiment includes a moving body 10a, a moving body 10b, and a moving body 10c as moving bodies. The moving body 10c has the same functional configuration as the moving bodies 10a and 10b. The mobile system of the second embodiment is different from the mobile system 100 of the first embodiment in that the content of the movement control of the mobile 10 is different. Therefore, the differences will be mainly described, and the description of the other points will be omitted.

  In FIG. 28, the left leg of the user 80 is in the stage of transition from the standing phase to the swing phase. The right foot of the user 80 is in the stance phase. At this point, the mobile unit 10c is at the predicted position 2801 where the left foot is stepped on. In this way, the mobile unit 10c is waiting one step ahead of the left foot.

  FIG. 29 shows a state immediately after the shoe 20a has left the moving body 10a. When the shoe 20a separates from the moving body 10a and the left foot transitions to the swing phase, the control unit 200 of the moving body 10a moves the moving body 10a toward the predicted position 2802 of the next stepping destination of the right foot of the user 80. . For example, the control unit 200 of the moving body 10a moves the moving body 10 to the predicted position 2802 through the route 2850 that bypasses the moving body 10b in the horizontal plane. The control unit 200 of the moving body 10a may move the moving body 10 to the predicted position 2802 through a path 2860 passing below the moving body 10b.

  According to the moving system in the second mode, at the time when both feet of the user 80 are in the standing phase, the moving body 10c is present at the predicted position of the next one step. Therefore, it is possible to suppress the possibility that the movement of the moving body 10 cannot be made in time when the rotation of the user 80's foot is accelerated. In addition, since the moving body 10 supports the right foot and the left foot alternately, an increase in the difference in power consumption between the moving bodies 10 may be suppressed in some cases.

  FIG. 30 shows another arrangement example of the moving object 10 in the moving object system of the second embodiment. 30, as in FIG. 28, the left leg of the user 80 is in the stage of transition from the stance phase to the swing phase, and the right leg of the user 80 is in the stance phase. At this point, the moving body 10c is at a predetermined position with respect to the moving body 10a. Specifically, the moving body 10 exists at a position 3001 where it is predicted that the user 80 will wear the left foot when the user 80 has lost his posture while the left foot is in the swing phase. Thereby, the possibility that the user 80 falls can be reduced.

  Note that after the state illustrated in FIG. 30, when it is predicted that the user 80 moves the predicted position of the stepping destination of the left foot without losing the posture, the moving body 10 c moves from the position 3001 to the position of the stepping destination of the left foot. You may move to the predicted position. As another control method, after the left leg of the user 80 transitions from the stance phase to the swing phase, the moving body 10c moves to the predicted position where the left foot is stepped on while the state where the moving body 10c is present at the position 3001 is maintained. May be moved.

  FIG. 31 shows still another arrangement example of the moving object 10 in the moving object system of the second embodiment. FIG. 31 shows a stage in which the left leg of the user 80 transitions from the stance phase to the swing phase, as in FIG. 30, and the right leg of the user 80 is in the stance phase. At this point, the moving body 10c is at a predetermined position with respect to the moving body 10b. Specifically, the moving body 10 exists at a position 3101 where it is predicted that the user 80 will wear a right foot when the user 80 has lost his posture to the right rear from the state shown in FIG. Thereby, the possibility that the user 80 falls can be reduced.

  The arrangement of the moving body 10c is not limited to the arrangement example described with reference to FIGS. For example, the moving body 10c may follow the moving body 10a and the moving body 10b while maintaining a predetermined interval. Then, when the amount of power stored in the battery 280 of the moving body 10a becomes less than the amount of power stored in the battery 280 of the moving body 10c, the moving body 10c moves to the stepping destination of the left foot of the user 80 instead of the moving body 10a. Control may be performed. When the moving body 10c replaces the moving body 10a, the moving body 10c waits at the predicted position at one tip of the left foot as described with reference to FIG. Then, after the left foot of the user 80 arrives at the moving body 10c, the control may be performed so that the moving body 10c moves to the stepping-out destination of the left foot of the user 80.

  As described above, by using the moving body 10c, the role of the moving body 10 can be changed without stopping the walking of the user 80. After the role of the moving body 10a is switched with the moving body 10c, the moving body 10a may leave the moving body 10b and the moving body 10c and return to the collection place of the moving body 10a. The collection place may be, for example, the pier 1600 described with reference to FIG. 16 and the like. Further, the moving body 10a may follow the moving body 10b and the moving body 10c after being replaced with the moving body 10c. Then, when the stored power amount of the battery 280 of the moving body 10b becomes less than the stored power amount of the battery 280 of the moving body 10a, the moving body 10a replaces the moving body 10b with the destination of the right foot of the user 80. It may be controlled to move.

  When the difference between the amount of power stored in the battery 280 of the mobile unit 10a and the amount of power stored in the battery 280 of the mobile unit 10b becomes larger than a predetermined value, the roles of the mobile unit 10a and the mobile unit 10b are switched. Then, the control may be switched to the control in which the moving body 10a moves to the stepping destination of the right foot and the moving body 10b moves to the stepping destination of the left foot. Thereby, the amount of stored power can be adjusted between the moving body 10a and the moving body 10b. Also in this case, when the roles of the mobile unit 10a and the mobile unit 10b are switched, the mobile unit 10c can be used temporarily. For example, as described with reference to FIG. 29, the moving body 10a switches to the control of moving to the stepping destination of the right foot of the user 80 after moving to the stepping destination of the right foot. Then, in the state shown in FIG. 29, when the right foot of the user 80 separates from the moving body 10b, the moving body 10b switches to the control of moving to the stepping destination of the left foot of the user 80 after moving to the stepping destination of the left foot.

  As described with reference to FIGS. 28 to 31, the mobile system of the second embodiment includes three or more mobiles 10 that move underwater to support the feet of the user 80. At least two of the three or more moving bodies 10 move to the place where the user steps on the foot based on the information on the movement of the user's 80 foot. The moving body 10a of the three or more moving bodies 10 is located at the position of the first foot of the user 80, and the moving body 10b of the three or more moving bodies 10 is located at the position of the second foot of the user 80. , The third moving body 10 of the three or more moving bodies 10 can move to the stepping-out destination of the next foot of the first foot and the second foot of the user 80. Waiting in a suitable position.

  Specifically, when the position of the first foot transitions from the standing phase to the swing phase, the moving body 10c waits at the predicted position of the stepping destination of the first foot. Then, the moving body 10a, the moving body 10b, and the moving body 10c move so as to support the foot that transitions from the swing phase to the standing phase in a predetermined order.

  In addition, as described with reference to FIGS. 30 and 31, the predetermined position may be a position at which it is predicted that the user 80 will wear a foot when he loses his / her posture. When detecting that the user 80 has lost his / her posture, the moving body 10c may move to a position where his / her feet arrive when the user 80 has lost his / her posture.

  When the moving body 10a operates to move to the stepping destination of the first foot and the moving body 10b operates to move to the stepping destination of the second foot, the moving body 10c satisfies a predetermined condition. Is satisfied, the user moves so as to maintain a predetermined position with respect to the position of the user 80 in order to change the role with one of the moving body 10a and the moving body 10b. For example, when the energy stored in the battery 280 included in the moving body 10a becomes smaller than a predetermined value, the moving body 10c moves to the first stepping destination instead of the moving body 10a. To start. When moving body 10c is moving so that moving body 10a maintains a predetermined position, the amount of energy stored in battery 280 of moving body 10b is smaller than a predetermined value. In this case, the moving body 10a may start moving to support the second foot in place of the moving body 10b.

  After the moving object 10c starts moving to support the first foot on behalf of the moving object 10a, the moving object 10a may return to a predetermined collection place for collecting the moving object 10a. Further, after starting the movement of the moving body 10c in place of the moving body 10a, the moving body 10a recovers the energy amount stored in the battery 280 of the moving body 10a. The movement may be performed so as to maintain the above-mentioned predetermined position, provided that it is greater than a predetermined amount of energy required to return to the place. Then, the return to the collection location may be started in accordance with the result of the comparison between the amount of energy stored in the battery 280 of the mobile object 10a and the amount of energy required to return to the collection location. For example, when the difference between the amount of energy stored in the battery 280 of the moving object 10a and the amount of energy required to return to the collection location becomes smaller than a predetermined value, the return to the collection location is started. May do it.

  The moving object 10a, the moving object 10b, and the moving object 10c adjust the amount of energy stored in each battery 280 among a plurality of batteries included in each of the moving objects. For example, the moving body 10a, the moving body 10b, and the moving body 10c move in a first movement mode in which the foot of the stance phase is supported, and a second movement mode in which the movement of the stance phase is not supported. Having. The moving body 10 having the smallest energy amount among the moving bodies 10a, 10b, and 10c operates in the second movement mode, thereby adjusting the energy amount among the plurality of batteries. For example, in the scene described with reference to FIGS. 30 and 31, the moving mode of the moving body 10a and the moving body 10b corresponds to the first moving mode, and the moving mode of the moving body 10c corresponds to the second moving mode. I do.

  During the period in which the moving body 10a is controlled to move to the stepping destination of the first foot and the moving body 10b is controlled to move to the stepping point of the second foot, the energy amount of the moving body 10a and the moving body When the difference between the amount of energy stored in the battery 280 of the battery 10b and the energy of the battery 280 has changed to a predetermined value or more, the moving object 10a moves to the stepping destination of the second foot, and the moving object 10b moves to the first position. The energy is adjusted between the moving body 10a and the moving body 10b by changing roles so as to move to the stepping destination of the foot. In this case, when the roles are switched between the moving body 10a and the moving body 10b, the moving body 10c temporarily transitions from the swing phase to the standing phase instead of one of the moving bodies 10a and 10b. Move to where your feet are. Thus, the energy amount of the battery 280 can be adjusted without stopping the walking of the user 80.

  Note that, as described in relation to the operation of acquiring the advance information in the mobile body system 100 of the first embodiment, the mobile body 10a and the mobile body 10b include the first propulsion unit 11 for supporting the feet of the user 80. And, based on the control information of the second propulsion unit 12, the prior information about the user 80 is acquired. On the other hand, the mobile unit 10c may acquire prior information regarding the user 80 from at least one of the mobile unit 10a and the mobile unit 10b.

  According to the mobile system described above, the user 80 can freely walk or run on the water without wearing a large floating tool on the foot for walking on the water. In the mobile system described above, the shoes 20 may be omitted. The mobile system described above can be applied to a place having at least a water surface, such as a sea, a lake, and a pool, or a place where another liquid is stored and has a liquid surface.

  As described above, the present invention has been described using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is apparent to those skilled in the art that various changes or improvements can be made to the above embodiment. It is apparent from the description of the appended claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

  The order of execution of processes such as operations, procedures, steps, and steps in the apparatuses, systems, programs, and methods shown in the claims, the description, and the drawings is particularly “before”, “before” It should be noted that they can be realized in any order as long as the output of the previous process is not used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, or the like for convenience, it means that it is essential to implement in this order. Not something.

10 Moving body
Reference Signs List 20 shoes 11 first propulsion unit 12 second propulsion unit 14 charging pad 15 top surface 16 bottom surface 17 side portion 20 shoes 30 step-out destination 80 user 90 remote controller 92 button 100 mobile system 200 control unit 202 processing unit 204 communication unit 206 storage unit 208 Sensor 210 Motion information acquisition unit 230 Detection unit 240 Prediction unit 250 Magnetic generation unit 260 Imaging device 270 Prior information acquisition unit 280 Battery 290 Floating body 292 Depression 300 Sensor 302 Processing unit 304 Communication unit 306 Storage unit 330 Notification unit 350 Magnet 380 Battery 800 Image 810 Image 820 Range 830, 840 Image 1600 Pier 1610 Shore 2300 Rocky area 2310 Position 2400 Pier 2410 Predicted position 2501, 2502, 2503, 2504 Position 2601, 2602, 2603, 2604 Position 28 01, 2802 Predicted position 2850, 2860 Route 3001, 3101 Position

Claims (17)

Equipped with three or more moving bodies that move on the water or at least one of the water surfaces corresponding to a person moving on the water by alternately stepping on the feet,
At least two of the three or more moving objects move to the stepping-out destination of the foot based on information on the motion of the person's foot,
A first moving object of the three or more moving objects is located at a position of a first foot of the person, and a second moving object of the three or more moving objects is a second person of the person. When the third moving body of the three or more moving bodies is located at the position of the foot of the person, the third moving body of the three or more moving bodies A mobile system that stands by at a movable position. 2. The moving body according to claim 1, wherein when the position of the first foot transitions from a standing phase to a swing phase, the third moving body waits at a predicted position where the first foot is stepped on. 3. system. The said 1st moving body, the said 2nd moving body, and the said 3rd moving body move so that it may support the leg | foot which changes from a swing phase to a standing phase in predetermined order. A mobile system as described. The mobile body system according to claim 1, wherein the third mobile body waits at a position where it is predicted that the person will reach a foot when the person loses his / her posture. The moving body system according to claim 4, wherein the third moving body moves to a position where a foot of the person who has lost his posture arrives when detecting that the person has lost his posture. When the first moving body is operating to move to the stepping destination of the first foot, and the second moving body is operating to move to the stepping destination of the second foot, The moving object of No. 3 is the predetermined position with respect to the position of the person so as to take over the role of one of the first moving object and the second moving object when a predetermined condition is satisfied. The mobile system according to claim 1, wherein the mobile system moves so as to maintain the following. When the energy stored in the battery provided in the first moving body becomes smaller than a predetermined value, the third moving body replaces the first moving body with the first foot. The mobile body system according to claim 6, wherein an operation is started to move to a stepping destination of the vehicle. After the third mobile unit starts moving to support the first foot on behalf of the first mobile unit, the first mobile unit recovers the first mobile unit. 8. The mobile system according to claim 7, wherein the mobile system returns to a predetermined collection place. After the third mobile unit starts operating to move to the stepping-out destination of the first foot in place of the first mobile unit, the first mobile unit is provided with the first mobile unit Moving to maintain the predetermined position, provided that the amount of energy stored in the battery is greater than a predetermined amount of energy required to return to the collection location; 9. The moving body according to claim 8, wherein returning to the collecting place is started in accordance with a comparison result between an amount of energy stored in a battery included in the moving body and an amount of energy necessary for returning to the collecting place. system. When the first moving body is moving so as to maintain the predetermined position, the amount of energy stored in the battery included in the second moving body becomes smaller than a predetermined value. The mobile body system according to claim 9, wherein the first mobile body starts moving to support the second foot in place of the second mobile body when the first mobile body has moved. The first mobile unit, the second mobile unit, and the third mobile unit adjust the amount of energy stored in each battery among a plurality of batteries included in each of the first mobile unit, the second mobile unit, and the third mobile unit. The mobile system according to claim 10. A first mode in which the first moving body, the second moving body, and the third moving body move to support a stance phase foot, and move without supporting a stance phase foot; A second mode that has the lowest energy amount among the first mobile unit, the second mobile unit, and the third mobile unit in the second mode. The mobile body system according to claim 11, wherein the energy amount is adjusted among the plurality of batteries by operating the mobile body. In a period in which the first moving body is controlled to move to the stepping-out destination of the first foot, and the second moving body is controlled to move to the stepping-out destination of the second foot, When the difference between the amount of energy of the first moving body and the amount of energy stored in the battery of the second moving body changes to a predetermined value or more, the first moving body is The first moving body and the second moving body are moved to a stepping destination of a second foot, and the role is changed so that the second moving body moves to a stepping destination of the first foot. The mobile body system according to claim 11, wherein the energy amount is adjusted between the mobile body system and the mobile terminal. When the role is switched between the first mobile unit and the second mobile unit, the third mobile unit is temporarily replaced with one of the first mobile unit and the second mobile unit. The mobile body system according to claim 13, wherein the body moves to a stepping destination of a foot that transitions from a swing phase to a standing phase. The first moving body and the second moving body acquire information on the person based on control information when supporting the feet of the person,
The mobile body system according to claim 1, wherein the third mobile body acquires information about the person from at least one of the first mobile body and the second mobile body. The mobile body system according to claim 15, wherein the information about the person includes information indicating a weight of the person, a stride of the person, and a center of gravity balance when the person is standing on the mobile body. 17. The mobile body system according to claim 15, wherein the third mobile body waits at a position where the third mobile body can move to a stepping destination of the next stepping foot based on the information about the person.

Images