JP2021115909A - Movable body - Google Patents

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JP2021115909A
JP2021115909A JP2020009042A JP2020009042A JP2021115909A JP 2021115909 A JP2021115909 A JP 2021115909A JP 2020009042 A JP2020009042 A JP 2020009042A JP 2020009042 A JP2020009042 A JP 2020009042A JP 2021115909 A JP2021115909 A JP 2021115909A
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user
route
moving body
moving
control unit
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JP7310620B2 (en
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裕記 若山
Hiroki Wakayama
裕記 若山
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Toyota Motor Corp
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  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

To provide a moving route and an opportunity to rest to a user more preferably in a guide service that an autonomously travelling movable body guides the user while moving along a route to a destination.SOLUTION: A movable body includes: an acquisition unit for acquiring biological information of a user; a route determination unit for determining a moving route to guide the user on the basis of the biological information; a rest point determination unit for determining a rest point on the basis of the biological information and surrounding circumstances while moving along the moving route; and a deformation mechanism deforming into a form that can be used as a resting tool at the rest point.SELECTED DRAWING: Figure 3

Description

本開示は、自律走行可能な移動体に関する。 The present disclosure relates to a mobile body capable of autonomous traveling.

携帯型装置や自律走行する移動体を用いて、ユーザーに対して各種サービスを提供することが多々提案されている。例えば、特許文献１は、道路地図情報、休憩地点情報、ユーザーに関する所定の情報（例えば、身体情報や行動履歴、嗜好情報、および移動方法に応じた推奨連続移動量）に基づいて、休憩地点を含めた推奨移動経路を探索することにより、ユーザーの健康面を考慮したルートの設定を行う携帯型のナビゲーション装置を開示している。また、特許文献２は、移動体の周辺に存在するユーザーを検知してユーザーのニーズを示す情報を取得し、ニーズに応じた情報を出力することで、物品の受け取り、集荷等、ユーザーのニーズに応じたサービスを提供可能な移動体を開示している。 It is often proposed to provide various services to users by using a portable device or an autonomously traveling mobile body. For example, Patent Document 1 sets a break point based on road map information, break point information, and predetermined information about a user (for example, physical information, behavior history, preference information, and recommended continuous movement amount according to a movement method). It discloses a portable navigation device that sets a route in consideration of the user's health by searching for a recommended travel route including the information. Further, Patent Document 2 detects a user existing in the vicinity of a moving body, acquires information indicating the user's needs, and outputs information according to the needs, so that the user's needs such as receipt of goods and collection of goods can be obtained. We disclose mobiles that can provide services according to the needs.

特開２０１２−１５９４１３号公報Japanese Unexamined Patent Publication No. 2012-159413 特開２０１９−１３１３６０号公報Japanese Unexamined Patent Publication No. 2019-131360

このようなサービスにおいて、ユーザーが感じる利用しやすさ、快適性、満足度等を含む、総合的なサービス体験の質、いわゆるユーザーエクスペリエンスには、まだ向上の余地がある。 In such services, there is still room for improvement in the overall quality of the service experience, the so-called user experience, including the ease of use, comfort, satisfaction, etc. that the user feels.

本開示は、上記課題を鑑みてなされたものであり、自律走行する移動体が目的地までの経路に沿って移動しながらユーザーを誘導する案内サービスにおいて、ユーザーに対して移動経路や休憩の機会をより好適に提供することを目的とする。 The present disclosure has been made in view of the above problems, and is an opportunity for a user to take a movement route or take a break in a guidance service in which an autonomously traveling moving body guides a user while moving along a route to a destination. It is an object of the present invention to provide more preferably.

上記課題を解決するために、本開示の一局面は、ユーザーの生体情報を取得する取得部と、生体情報に基づいて、ユーザーに案内する移動経路を決定する経路決定部と、移動経路に沿って移動中に、生体情報および周囲の状況に基づいて休憩地点を決定する休憩地点決定部と、休憩地点において、休憩器具として利用可能な形態に変形する変形機構とを備える、移動体である。 In order to solve the above problems, one aspect of the present disclosure includes an acquisition unit that acquires the biometric information of the user, a route determination unit that determines a movement route to be guided to the user based on the biometric information, and a movement route. It is a moving body including a resting point determining unit that determines a resting point based on biological information and surrounding conditions during movement, and a deformation mechanism that transforms into a form that can be used as a resting device at the resting point.

本開示によれば、移動体は、ユーザーの生体情報に基づいて、移動経路や休憩地点を決定し、また、休憩器具として利用できる形態に変形するので、ユーザーの生体情報に応じた移動経路や休憩の機会をより好適に提供することができる。 According to the present disclosure, the moving body determines a moving route and a resting point based on the biometric information of the user, and is transformed into a form that can be used as a resting device. The opportunity for a break can be provided more favorably.

一実施形態に係る移動体の機能ブロックを示す図The figure which shows the functional block of the moving body which concerns on one Embodiment 一実施形態に係る移動体の移動可能である状態の形態を示す図The figure which shows the mode of the movable state of the moving body which concerns on one Embodiment. 一実施形態に係る移動体の休憩器具として利用可能な状態の形態を示す図The figure which shows the mode of the state which can be used as the resting device of the moving body which concerns on one Embodiment. 一実施形態に係る処理を示すフローチャートFlowchart showing processing according to one embodiment

（実施形態）
本開示技術の一実施形態に係る移動体においては、ユーザーの生体情報に基づいて、移動経路を決定し、また、ユーザーの生体情報や周囲の状況に基づいて、休憩地点を決定する。これにより、ユーザー自身が自己の体調や疲労度を自覚していなくても、ユーザーの現在の体調や疲労度に応じて快適に移動できるよう、移動経路や休憩機会を好適に提供することができる。また、移動体が休憩に適した場所で休憩器具として利用できる形態に変形するので、ベンチのような休憩できる設備がなくても、休憩の機会を好適に提供することができる。以下、本実施形態について、図面を参照しながら詳細に説明する。 (Embodiment)
In the moving body according to the embodiment of the present disclosure technique, the moving route is determined based on the biometric information of the user, and the resting point is determined based on the biometric information of the user and the surrounding situation. As a result, even if the user himself / herself is not aware of his / her physical condition and fatigue level, he / she can preferably provide a movement route and a break opportunity so that he / she can move comfortably according to the user's current physical condition and fatigue level. .. Further, since the moving body is transformed into a form that can be used as a resting device at a place suitable for a break, it is possible to suitably provide a break opportunity even if there is no equipment for resting such as a bench. Hereinafter, the present embodiment will be described in detail with reference to the drawings.

＜構成＞
図１に、本実施形態に係る移動体１０の機能ブロックを示す。移動体１０は、ユーザーの生体情報を取得する取得部１１、ユーザーからの操作入力を受け付けるタッチパネルや、移動体１０の位置を検出するＧＰＳセンサ、移動体１０の周囲の路面の勾配や物体あるいはユーザーや他の人を検知するカメラ等の各種センサを含むセンサ部１２、ユーザーに各種情報を提供するスピーカーや表示画面を含む通知部１３、経路を決定する経路決定部１４、休憩地点を決定する休憩地点決定部１５、移動体１０の形状を変形させる変形機構１６、移動体１０を移動させる移動機構１７、これらを制御する制御部１８を含む。 <Structure>
FIG. 1 shows a functional block of the moving body 10 according to the present embodiment. The moving body 10 includes an acquisition unit 11 that acquires the biometric information of the user, a touch panel that receives operation input from the user, a GPS sensor that detects the position of the moving body 10, a slope or object of the road surface around the moving body 10, or the user. Sensor unit 12 including various sensors such as a camera that detects other people, notification unit 13 including speakers and display screens that provide various information to the user, route determination unit 14 that determines the route, break that determines the rest point The point determination unit 15, the deformation mechanism 16 that deforms the shape of the moving body 10, the moving mechanism 17 that moves the moving body 10, and the control unit 18 that controls these are included.

図２に、移動体１０の移動可能な形態の一例を示す。移動体１０は、車輪または無限軌道等を含む移動機構１７により、制御部１８の制御によって自律的に移動することができる。 FIG. 2 shows an example of a movable form of the moving body 10. The moving body 10 can move autonomously under the control of the control unit 18 by a moving mechanism 17 including wheels or tracks.

図３に、移動体１０の休憩器具として利用可能な形態の一例を示す。移動体１０は、背もたれやシートを折り畳んで内蔵しており、車体が水平方向に分離して、分離した車体間に、広げられた背もたれやシートを出現させることによって、ユーザーが座って休憩できる形態に変形できる。 FIG. 3 shows an example of a form that can be used as a resting device for the moving body 10. The moving body 10 is built in by folding the backrest and the seat, and the vehicle body is separated in the horizontal direction, and the spread backrest and the seat are made to appear between the separated vehicle bodies so that the user can sit and rest. Can be transformed into.

変形機構１６は、制御部１８の制御によって図２に示す形態と図３に示す形態との間で移動体１０を変形させる。このように、移動体１０は、移動時には、狭い廊下や室内であっても移動しやすいよう、比較的幅の狭いコンパクトな形態をとることができ、休憩時には、ユーザーが快適に休憩できるよう、比較的幅の広い形態をとることができる。 The deformation mechanism 16 deforms the moving body 10 between the form shown in FIG. 2 and the form shown in FIG. 3 under the control of the control unit 18. In this way, the moving body 10 can take a relatively narrow and compact form so that it can be easily moved even in a narrow corridor or indoors when moving, and the user can rest comfortably during a break. It can take a relatively wide form.

＜処理＞
図４に、移動体１０の制御部１８が行う処理の例を説明するフローチャートを示す。本処理は例えば、制御部１８が、センサ部１２からの情報によって予め登録されたユーザーのパスワード、顔、声等による認証が成功し、ユーザーを特定した時に開始される。以下に本フローチャートに沿って処理の例を説明する。 <Processing>
FIG. 4 shows a flowchart illustrating an example of processing performed by the control unit 18 of the moving body 10. This process is started, for example, when the control unit 18 succeeds in authenticating with the user's password, face, voice, etc. registered in advance based on the information from the sensor unit 12 and identifies the user. An example of processing will be described below according to this flowchart.

（ステップＳ１０１）
制御部１８は、センサ部１２を介して、ユーザーから目的地の入力を受け付ける。受け付け方法は限定されず、例えば音声入力や、タッチパネルへのタッチ入力を採用できる。制御部１８は、取得部１１を制御してユーザーの生体情報を取得させる。生体情報は、例えば心拍数である。なお、生体情報は、ユーザーの疲労の程度の高さを表す疲労度を推定できる情報であれば限定されず、心拍数に加えて、あるいは心拍数の代わりに、呼吸数等であってもよい。生体情報の取得方法は限定されず、ユーザーの身体に接触するバイタルセンサから無線通信等によって取得してもよいし、センサ部１２が備えるカメラが、ユーザーを撮影し、脈拍によるユーザーの顔の光反射率の変化や呼吸によるユーザーの体の動き等から導出することで取得してもよい。 (Step S101)
The control unit 18 receives an input of a destination from the user via the sensor unit 12. The acceptance method is not limited, and for example, voice input or touch input to the touch panel can be adopted. The control unit 18 controls the acquisition unit 11 to acquire the biometric information of the user. The biometric information is, for example, the heart rate. The biological information is not limited as long as it is information that can estimate the degree of fatigue indicating the degree of fatigue of the user, and may be a respiratory rate or the like in addition to the heart rate or instead of the heart rate. .. The method of acquiring biometric information is not limited, and it may be acquired from a vital sensor that comes into contact with the user's body by wireless communication or the like, or the camera provided in the sensor unit 12 photographs the user and the light of the user's face by the pulse. It may be obtained by deriving from the change in reflectance or the movement of the user's body due to respiration.

制御部１８は、経路決定部１４を制御して、地図情報と生体情報とに基づいて現在地から目的地までの移動経路を決定させる。経路決定部１４は、例えば、生体情報が、心拍数が高い等、ユーザーの疲労度が高いことを表している場合は、例えば高低差の少ない、あるいは、勾配の小さい、負荷の比較的小さい移動経路を決定し、そうでない場合は、移動距離あるいは移動時間が比較的短い移動経路を決定する。このような処理を行うため、例えば、経路決定部１４は、過去にユーザーに提示した移動経路とその移動経路に沿って移動中のユーザーの生体情報とを記憶しておき、現在の生体情報と過去の生体情報とを比較することで、ユーザーの現在の疲労度や負荷に対する疲労度の高くなりやすさを精度よく推定し、推定結果に応じて疲労度が第１レベル以下に収まると予想できる範囲で、移動距離あるいは、移動時間が最小となる移動経路を決定する。 The control unit 18 controls the route determination unit 14 to determine the movement route from the current location to the destination based on the map information and the biological information. When the biometric information indicates that the user has a high degree of fatigue, such as a high heart rate, the routing unit 14 moves, for example, with a small height difference, a small gradient, or a relatively small load. Determine the route, otherwise determine the travel route with a relatively short travel distance or travel time. In order to perform such processing, for example, the route determination unit 14 stores the movement route presented to the user in the past and the biometric information of the user moving along the movement route, and the current biometric information and the biometric information of the user. By comparing with past biometric information, it is possible to accurately estimate the user's current fatigue level and the likelihood that the fatigue level will increase with respect to the load, and it can be expected that the fatigue level will fall below the first level according to the estimation result. In the range, the travel distance or the travel route that minimizes the travel time is determined.

（ステップＳ１０２）
制御部１８は、移動機構１７を制御して、移動経路に沿って移動体１０を移動させ、ユーザーへの案内を開始する。以降案内中、制御部１８は、取得部１１を制御して、常時、あるいは、周期的に、ユーザーの生体情報を取得する。また、制御部１８は、センサ部１２のカメラが撮影した画像等に基づいて、ユーザーが移動体１０についてきていることを確認しながら、移動体１０を移動させる。 (Step S102)
The control unit 18 controls the moving mechanism 17 to move the moving body 10 along the moving path, and starts guiding the user. After that, during the guidance, the control unit 18 controls the acquisition unit 11 to acquire the biometric information of the user at all times or periodically. Further, the control unit 18 moves the moving body 10 while confirming that the user is following the moving body 10 based on an image or the like taken by the camera of the sensor unit 12.

（ステップＳ１０３）
制御部１８は、目的地に到着したか否か判定する。目的地に到着した場合は、ステップＳ１１０に進み、到着していない場合、ステップＳ１０４に進む。 (Step S103)
The control unit 18 determines whether or not the vehicle has arrived at the destination. If it has arrived at the destination, the process proceeds to step S110, and if it has not arrived, the process proceeds to step S104.

（ステップＳ１０４）
制御部１８は、取得部１１が取得するユーザーの生体情報に基づいて、休憩の要否を判定する。そのために、制御部１８は、例えば生体情報が表す疲労度が、休憩することが必要なレベルとして定められた第２レベル以上であるか否か判定する。疲労度が第２レベル以上である場合、ステップＳ１０５に進み、そうでない場合、本ステップの処理を繰り返す。なお、第２レベルと上述の第１レベルの大小は限定されない。 (Step S104)
The control unit 18 determines whether or not a break is necessary based on the biometric information of the user acquired by the acquisition unit 11. Therefore, the control unit 18 determines, for example, whether or not the fatigue level represented by the biological information is equal to or higher than the second level defined as the level at which it is necessary to take a break. If the degree of fatigue is the second level or higher, the process proceeds to step S105, and if not, the process of this step is repeated. The size of the second level and the above-mentioned first level is not limited.

（ステップＳ１０５）
制御部１８は、休憩地点決定部１５を制御して、休憩地点を決定させる。休憩地点決定部１５は、センサ部１２の各種センサから、移動体１０の周辺の一定範囲内で、路面の勾配や人や物体の数や動きのような周囲の状況を取得し、周囲の状況に基づいて、休憩に適した地点、例えば安定して変形できる程度に路面の勾配が小さい地点で、かつ、一定期間停止しても影響のない、人や物体の比較的少ない地点を見つけ、その地点を休憩地点として決定する。 (Step S105)
The control unit 18 controls the break point determination unit 15 to determine the break point. The rest point determination unit 15 acquires the surrounding conditions such as the slope of the road surface, the number of people and objects, and the movement within a certain range around the moving body 10 from various sensors of the sensor unit 12, and obtains the surrounding conditions. Based on, find a point suitable for a break, for example, a point where the slope of the road surface is small enough to be deformed stably, and there is no effect even if it is stopped for a certain period of time, and a point where there are relatively few people or objects is found, and the point is found. Determine the point as a resting point.

（ステップＳ１０６）
制御部１８は、移動機構１７を制御して、休憩地点に移動体１０を移動させる。なお、制御部１８は、取得部１１が取得するユーザーの生体情報に基づいて、生体情報が表す疲労度が一定程度低下するまで、移動体１０を停止させ、その後、休憩地点に移動体１０を移動させてもよい。 (Step S106)
The control unit 18 controls the moving mechanism 17 to move the moving body 10 to the resting point. The control unit 18 stops the moving body 10 based on the user's biological information acquired by the acquiring unit 11 until the degree of fatigue represented by the biological information drops to a certain extent, and then moves the moving body 10 to a resting point. You may move it.

（ステップＳ１０７）
制御部１８は、変形機構１６を制御して、移動体１０を休憩器具として利用可能な形態に変形させる。また、制御部１８は、通知部１３を制御して、ユーザーに休憩を促す通知を行わせてもよい。ユーザーは通知に応じて移動体１０に腰掛ける等により、休憩を開始する。 (Step S107)
The control unit 18 controls the deformation mechanism 16 to transform the moving body 10 into a form that can be used as a resting device. Further, the control unit 18 may control the notification unit 13 to notify the user to take a break. The user starts a break by sitting on the moving body 10 or the like in response to the notification.

（ステップＳ１０８）
制御部１８は、取得部１１が取得するユーザーの生体情報に基づいて、休憩を終了するか否かを判定する。そのために、制御部１８は、例えば生体情報が表す疲労度が、十分に休憩でき、休憩を終了してもよいと判断できるレベルとして定められた第３レベル以下であるか否か判定する。疲労度が第３レベル以下である場合、ステップＳ１０９に進み、そうでない場合、本ステップの処理を繰り返す。なお、第３レベルは、上述の第２レベルより小さい。なお、制御部１８は、休憩を終了するか否かを、生体情報に基づかずに判定してもよく、例えば、休憩開始からの経過時間が一定時間以上となれば休憩を終了すると判定してもよい。 (Step S108)
The control unit 18 determines whether or not to end the break based on the biometric information of the user acquired by the acquisition unit 11. Therefore, the control unit 18 determines whether or not, for example, the degree of fatigue represented by the biological information is equal to or lower than the third level defined as a level at which it is possible to sufficiently take a break and determine that the break may be completed. If the degree of fatigue is the third level or less, the process proceeds to step S109, and if not, the process of this step is repeated. The third level is smaller than the above-mentioned second level. The control unit 18 may determine whether or not to end the break without being based on biological information. For example, the control unit 18 determines that the break is ended when the elapsed time from the start of the break is a certain time or more. May be good.

（ステップＳ１０９）
制御部１８は、変形機構１６を制御して、移動体１０を移動可能な形態に変形させる。制御部１８は、これに先立ち、通知部１３を制御して、ユーザーに移動体１０から離れることを促す通知を行わせることが好ましい。ユーザーは通知に応じて立ち上がり移動体１０から離れる。制御部１８は、その後、移動機構１７を制御して、移動体１０を移動経路に沿って移動させ、ユーザーへの案内を再開する。その後、処理は、ステップＳ１０３に進む。 (Step S109)
The control unit 18 controls the deformation mechanism 16 to deform the moving body 10 into a movable form. Prior to this, the control unit 18 preferably controls the notification unit 13 to notify the user to move away from the moving body 10. The user stands up and leaves the moving body 10 in response to the notification. After that, the control unit 18 controls the moving mechanism 17, moves the moving body 10 along the moving path, and resumes guidance to the user. After that, the process proceeds to step S103.

（ステップＳ１１０）
制御部１８は、例えば、移動機構１７を制御して、移動体１０を停止させ、ユーザーへの案内を終了する。また、制御部１８は、通知部１３を制御して、ユーザーに目的地に到着したことを表す通知を行わせてもよい。以上で、フローチャートの処理は終了する。 (Step S110)
The control unit 18 controls, for example, the moving mechanism 17, stops the moving body 10, and ends the guidance to the user. Further, the control unit 18 may control the notification unit 13 to notify the user that the user has arrived at the destination. This completes the flowchart processing.

＜効果＞
移動体１０は、ユーザーの現在や過去の生体情報に基づいて、移動経路を決定し、また、ユーザーの現在の生体情報や周囲の状況に基づいて、休憩地点を決定する。これにより、ユーザー自身が自己の体調や疲労度を自覚していなくても、ユーザーの現在の疲労度に応じて快適に移動できるよう、移動経路や休憩機会を好適に提供することができる。また、移動体が休憩に適した場所で休憩器具として利用できる形態に変形するので、ベンチのような休憩できる設備がなくても、休憩の機会を好適に提供することができる。これらにより、移動体による案内サービスにおける、ユーザーエクスペリエンスを向上することができる。 <Effect>
The mobile body 10 determines a movement route based on the user's current and past biometric information, and determines a resting point based on the user's current biometric information and surrounding conditions. As a result, even if the user himself / herself is not aware of his / her physical condition and fatigue level, he / she can preferably provide a movement route and a break opportunity so that he / she can move comfortably according to the user's current fatigue level. Further, since the moving body is transformed into a form that can be used as a resting device at a place suitable for a break, it is possible to suitably provide a break opportunity even if there is no equipment for resting such as a bench. These can improve the user experience in the mobile guidance service.

以上、本開示技術の一実施形態を説明したが、本開示技術は、移動体だけでなく、情報移動体が備えるコンピューター（プロセッサ）が実行する方法、プログラムおよびプログラムを記憶したコンピューター読み取り可能な非一時的な記録媒体として捉えることができる。 Although one embodiment of the present disclosure technique has been described above, the present disclosure technique is not limited to a mobile body, but a method, a program, and a computer-readable non-computer that stores a program and a computer (processor) included in the information mobile body. It can be regarded as a temporary recording medium.

本開示は、自律走行可能な移動体に有用である。 The present disclosure is useful for mobiles capable of autonomous travel.

１０ 移動体
１１ 取得部
１２ センサ部
１３ 通知部
１４ 経路決定部
１５ 休憩地点決定部
１６ 変形機構
１７ 移動機構
１８ 制御部 10 Mobile 11 Acquisition unit 12 Sensor unit 13 Notification unit 14 Route determination unit 15 Break point determination unit 16 Deformation mechanism 17 Movement mechanism 18 Control unit

Claims (1)

ユーザーの生体情報を取得する取得部と、
前記生体情報に基づいて、ユーザーに案内する移動経路を決定する経路決定部と、
前記移動経路に沿って移動中に、前記生体情報および周囲の状況に基づいて休憩地点を決定する休憩地点決定部と、
前記休憩地点において、休憩器具として利用可能な形態に変形する変形機構とを備える、移動体。 The acquisition unit that acquires the user's biometric information,
A route determination unit that determines a movement route to guide the user based on the biometric information,
A break point determination unit that determines a break point based on the biometric information and the surrounding conditions while moving along the movement path.
A moving body including a deformation mechanism that transforms into a form that can be used as a resting device at the resting point.
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Citations (3)

* Cited by examiner, † Cited by third party
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JP2017157070A (en) * 2016-03-03 2017-09-07 パイオニア株式会社 Search device, search method, search program and record medium, and navigation device
JP2018177188A (en) * 2017-04-11 2018-11-15 株式会社デンソー Controlling apparatus
JP2019164685A (en) * 2018-03-20 2019-09-26 トヨタ自動車株式会社 Work support system, information processing method and program

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Publication number Priority date Publication date Assignee Title
ATE524784T1 (en) 2005-09-30 2011-09-15 Irobot Corp COMPANION ROBOTS FOR PERSONAL INTERACTION
JP2007139710A (en) 2005-11-22 2007-06-07 Advanced Telecommunication Research Institute International Walking-aid robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017157070A (en) * 2016-03-03 2017-09-07 パイオニア株式会社 Search device, search method, search program and record medium, and navigation device
JP2018177188A (en) * 2017-04-11 2018-11-15 株式会社デンソー Controlling apparatus
JP2019164685A (en) * 2018-03-20 2019-09-26 トヨタ自動車株式会社 Work support system, information processing method and program

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