JP2021157504A - Guiding device and guiding control program - Google Patents

Abstract

To provide a guiding device and a guiding control program with which user's attentiveness is less likely to be decreased.SOLUTION: A movement detecting device 110 detects a user's location. A body mounted apparatus 200 is mounted on the user's body, and can provide a leftward guiding moment which assists the user's leftward movements and a rightward guiding moment which assists the user's rightward movements, around the user's joints. An upper-level control device 120 realizes a moving route of the user close to an ideal route by repeatedly performing: a process of selecting, using a result of detection by the movement detecting device 110 and ideal route data 122a indicating an ideal route which is an ideal moving route of the user, a state to be realized from a leftward guiding state in which the leftward guiding moment is larger than the rightward guiding moment and a rightward guiding state in which the rightward guiding moment is larger than the leftward guiding moment; and control of causing the body mounted apparatus 200 to realize the selected state.SELECTED DRAWING: Figure 1

Description

The present invention relates to a guidance device and a guidance control program.

As disclosed in Patent Documents 1-4, a guidance device that guides a user in a direction in which the user should proceed is known. These guidance devices apply an external force to the user for the purpose of notifying the user of the direction in which the user should proceed. The user knows the direction to proceed by the direction of the external force received from the guidance device. Therefore, even a visually impaired user can correct the movement route by himself / herself in the correct direction.

Special Table 2018-510420 Japanese Unexamined Patent Publication No. 2011-224136 JP-A-2002-243493 JP-A-2007-248478

In the conventional guidance device, the user must keep his / her consciousness focused on the direction of the external force received from the guidance device during movement. That is, the user's attention is deprived of the recognition of force. Therefore, it is difficult for the user to pay sufficient attention to the walking or sprinting motion, grasping the surrounding environment, and the like while being guided by the guiding device.

An object of the present invention is to provide a guidance device and a guidance control program that do not easily deprive the user of attention.

In order to achieve the above object, the guidance device according to the present invention is
A movement detector that detects the user's position or movement direction,
A left induction moment that is worn on the user's body and promotes the user's leftward movement around the user's joints and a right side that promotes the user's rightward movement. A moment giving mechanism that can give an induced moment and
Using the actual detection data representing the detection result of the movement detector and the ideal path data representing the ideal path which is the ideal movement path of the user, the left guidance moment is larger than the right guidance moment. The process of selecting which state to realize, the large left guidance state or the right guidance state in which the right guidance moment is larger than the left guidance moment, and the selected state, which is the selected state, are described above. A control device that brings the user's movement path closer to the ideal path by repeating the control realized by the moment applying mechanism.
To be equipped.

The moment applying mechanism is configured to be able to control the magnitudes of the left guided moment and the right guided moment.
The control device specifies a turning angle representing the amount of deviation of the moving direction of the user from the direction toward the ideal path specified by using the actual detection data, and the turning angle corresponds to the specified turning angle. The degree of imbalance, which is the difference in magnitude between the left guided moment and the right guided moment in the left guided state or the right guided state, is obtained, and the selected state having the obtained imbalance is defined as the selected state. It may be realized in the moment applying mechanism.

The moment applying mechanism
A moment giving mechanism for the right half of the body, which is attached to the right half of the user and gives one of the left guided moment and the right guided moment to the right half of the body.
A moment applying mechanism for the left half of the body, which is attached to the left half of the user and imparts the other moment of the left guided moment and the right guided moment to the left half of the body.
May have.

The right half body moment giving mechanism switches the direction of the moment given to the right half body at a cycle equal to a half cycle of the walking or sprinting motion of the user, and the left half body moment giving mechanism changes the direction of the moment to the left. The direction of the moment applied to the half body may be switched at a cycle equal to the half cycle.

The moment applying mechanism
A trunk axis moment imparting mechanism that is attached to the user's head, chest, or lumbar region and imparts the left guiding moment and the right guiding moment in a direction that twists the user's body to the body.
May have.

The trunk axis moment applying mechanism may apply the left guidance moment and the right guidance moment to the body at a cycle equal to the cycle of the walking or sprinting motion of the user.

A movement detector for a companion that is attached to a companion that moves side by side with the user and detects the position or direction of the companion.
With more
The control device may acquire the detection result of the accompanying vehicle movement detector as the ideal route data from the accompanying vehicle movement detector.

In order to achieve the above object, the guidance control program according to the present invention
A left guidance moment that is worn on the user's body and promotes the movement of the user to the left and a right guidance that promotes the movement of the user to the right around the user's joint. Moment giving mechanism that can give moments,
To the computer that controls
An acquisition function that acquires the detection result of the user's position or movement direction, and
Using the detection result acquired by the acquisition function and the ideal path data representing the ideal path which is the ideal movement path of the user, the left guidance moment is larger than the right guidance moment on the left side. The process of selecting which state to realize, the induction state or the right induction state in which the right induction moment is larger than the left induction moment, and the selected state, which is the selected state, are selected by the moment applying mechanism. A control function that brings the user's movement route closer to the ideal route by repeating the control to be realized in
To realize.

According to the guidance device and the guidance control program according to the present invention, the movement of the user in the direction in which the user should proceed is promoted by the moment applying mechanism, so that the movement path of the user is brought closer to the ideal path. Therefore, the user does not need to positively grasp the direction to be taken during the movement. That is, the user does not have to keep recognizing the sense of force while moving. Therefore, the user's attention is not easily deprived.

The conceptual diagram which shows the structure of the guidance apparatus which concerns on Embodiment 1. FIG. The conceptual diagram which shows the wearing mode of the body wearing tool which concerns on Embodiment 1. FIG. FIG. 5 is a partially broken view of the right half body moment applying mechanism according to the first embodiment. The conceptual diagram which shows the moment generated by the flywheel which concerns on Embodiment 1. FIG. The flowchart of the left movement promotion control which concerns on Embodiment 1. The flowchart of the right movement promotion control which concerns on Embodiment 1. The conceptual diagram which shows the method of specifying the turning direction and turning angle which concerns on Embodiment 1. FIG. The flowchart of the guidance control which concerns on Embodiment 1. The flowchart of the left movement promotion control which concerns on Embodiment 2. The flowchart of the right movement promotion control which concerns on Embodiment 2. The flowchart of the guidance control which concerns on Embodiment 3. FIG. 6 is a conceptual diagram showing a wearing mode of the body wearing tool according to the fourth embodiment. FIG. 6 is a conceptual diagram showing a mounting mode of the trunk shaft moment applying mechanism according to the fifth embodiment. FIG. 6 is a conceptual diagram showing a method of specifying a turning direction and a turning angle according to the sixth embodiment.

Hereinafter, the guidance device according to the first to sixth embodiments will be described with reference to the drawings. In the figure, the same or corresponding parts are designated by the same reference numerals. The guidance device according to the first to sixth embodiment guides the sprinting user in the direction in which the user should travel.

[Embodiment 1]
As shown in FIG. 1, the guidance device 600 according to the present embodiment includes a body fitting 200 as a moment giving mechanism for giving a moment to assist the user in a sprinting motion, and a general control unit for controlling the body fitting 200. With 100. Both the body fitting 200 and the overall control unit 100 are worn on the user's body.

The body fitting 200 includes a right half body fitting 210 attached to the user's right half body and a left half body fitting 220 attached to the user's left half body.

As shown in FIG. 2, the right half body fitting 210 is attached to the user's right thigh CR, and the left half body fitting 220 is attached to the user's left thigh CL.

The body fitting 210 for the right half of the body includes a main body 210A that generates a moment around a virtual rotation axis k-AX fixed to the user's body, and a belt 210B that attaches the main body 210A to the right thigh CR. And have.

The virtual rotation axis k-AX penetrates the user's hip joint in the width direction of the user's body. The main body 210A applies a moment in a direction that assists the movement of the right thigh CR around the hip joint on the right side of the user.

Similarly, the body fitting 220 for the left half of the body has a main body 220A that generates a moment around the virtual rotation axis k-AX, and a belt 220B that attaches the main body 220A to the left thigh CL. The main body 220A applies a moment in a direction that assists the movement of the left thigh CL around the left hip joint of the user.

As shown in FIG. 1, the main body 210A of the right half body fitting 210 has a right half body moment giving mechanism 216 that gives a moment to the user and a circumference of the virtual rotation axis k-AX of the right thigh CR. A battery that supplies power to the angular velocity detector 217 that measures the angular velocity, the lower controller 218 that controls the right half body moment applying mechanism 216 using the detection result of the angular velocity detector 217, the right half body moment applying mechanism 216, and the like. It has 219 and.

Similarly, the main body 220A of the left half body fitting 220 also has the left half body moment giving mechanism 226 that gives a moment to the user and the angular velocity that measures the angular velocity around the virtual rotation axis k-AX of the left thigh CL. It has a detector 227, a lower controller 228 that controls the left half body moment applying mechanism 226 using the detection result of the angular velocity detector 227, and a battery 229 that supplies electric power to the left half body moment applying mechanism 226 and the like.

The configuration and operation of the right half body moment applying mechanism 216 and the left half body moment applying mechanism 226 are the same. Therefore, in the following, the right half body moment applying mechanism 216 will be specifically described as a representative.

As shown in FIG. 3, the right half body moment applying mechanism 216 has a flywheel 211, a rotation motor 212 for rotating the flywheel 211, and a holding member 213 for holding the flywheel 211 and the rotation motor 212. ..

Further, the right half body moment applying mechanism 216 has a base frame 214 that rotatably holds the holding member 213 around the virtual swing shaft i-AX fixed to itself, and a base frame 214 that is fixed and held by the base frame 214. It has a swing motor 215 that rotates the member 213 around the virtual swing shaft i-AX.

The base frame 214 is fixed to the user's right thigh CR by the belt 210B shown in FIG. That is, the virtual swing axis i-AX is fixed to the user's right thigh CR.

The virtual rotation axis j-AX representing the central axis of rotation of the flywheel 211 intersects with the virtual swing axis i-AX. More specifically, the virtual rotation axis j-AX is orthogonal to the virtual swing axis i-AX at the position of the center of gravity CM of the flywheel 211.

When the holding member 213 is rotated around the virtual swing shaft i-AX by the swing motor 215, the flywheel 211 keeps the virtual rotation shaft j-AX and the virtual swing shaft i-AX in an orthogonal relationship. Tilts around the virtual swing axis i-AX together with the holding member 130. The flywheel 211 can rotate in any direction of rotation around the virtual swing shaft i-AX, that is, swing around the virtual swing shaft i-AX.

Next, the positional relationship between the virtual swing axis i-AX and the virtual rotation axis j-AX and the virtual rotation axis k-AX shown in FIG. 1 will be described with reference to FIG.

As shown in FIG. 4, the flywheel 211 is fixed to the end of the user's right thigh CR, far from the hip joint and closer to the knee. The virtual neutral line NL representing the distance between the virtual rotation axis k-AX penetrating the hip joint and the center of gravity CM of the flywheel 211 extends substantially parallel to the right thigh CR.

When the rotating flywheel 211 is rotated around the virtual swing axis i-AX, the base frame 214 shown in FIG. 3 is oriented so that a moment is generated around the virtual rotation axis k-AX. Is fixed to the right thigh CR by the belt 210B shown in FIG.

Specifically, the virtual swing axis i-AX is fixed to the right thigh CR in a direction forming a twist position with respect to the virtual rotation axis k-AX. More specifically, assuming an XYZ Cartesian coordinate system fixed to the right thigh CR with the virtual swing axis i-AX as the X axis and the virtual neutral line NL as the Y axis, virtual rotation The axis k-AX is parallel to the Z axis.

Hereinafter, in order to explain the direction of the moment generated by the flywheel 211 around the virtual rotation axis k-AX, the positive direction of each axis and the clockwise direction with respect to each axis are defined.

The positive direction of the virtual rotation axis k-AX refers to the direction from left to right for the user. Clockwise with respect to the virtual rotation axis k-AX refers to the direction in which the right-hand screw is turned in order to screw the right-hand screw in the positive direction of the virtual rotation axis k-AX.

The angular velocity detector 217 shown in FIG. 1 detects the angular velocity ω _k around the virtual rotation axis k-AX of the right thigh CR. The value of the angular velocity ω _k is positive when it is clockwise with respect to the virtual rotation axis k-AX and negative when it is counterclockwise with respect to the virtual rotation axis k-AX.

The positive direction of the virtual swing axis i-AX refers to a clockwise direction with respect to the virtual rotation axis k-AX. Clockwise with respect to the virtual swing shaft i-AX refers to the direction in which the right-hand screw is turned in order to screw the right-hand screw in the positive direction of the virtual swing shaft i-AX.

The positive direction of the virtual rotation axis j-AX refers to a direction away from the virtual rotation axis k-AX in a non-tilted state in which the virtual rotation axis j-AX is located on an extension of the virtual neutral line NL. Clockwise with respect to the virtual rotation axis j-AX refers to the direction in which the right-hand screw is turned in order to screw the right-hand screw in the positive direction of the virtual rotation axis j-AX.

When the flywheel 211 rotating around the virtual rotation axis j-AX is rotated around the virtual swing axis i-AX, it is represented by the following equation (1) around the virtual rotation axis k-AX. Moment M is generated.
M∝I _j・ ω _j・ ω _i・ ・ ・ (1)

Here, I _j is the moment of inertia around the virtual rotation axis j-AX of the flywheel 211. ω _j is the angular velocity around the virtual rotation axis j-AX of the flywheel 211, and the clockwise direction is positive and the counterclockwise direction is negative with respect to the virtual rotation axis j-AX. ω _i is the angular velocity around the virtual swing axis i-AX of the flywheel 211, and the clockwise direction is positive and the counterclockwise direction is negative with respect to the virtual swing axis i-AX.

The moment M means that when it is a positive value, it is clockwise with respect to the virtual rotation axis k-AX, and when it is a negative value, it is counterclockwise. As can be seen from the above equation (1), the direction of the moment M _{can be switched by the positive and negative signs of ω i} , that is, the rotation direction around the virtual swing axis i-AX of the flywheel 211.

For example, when the flywheel 211 rotating clockwise with respect to the virtual rotation axis j-AX is rotated clockwise with respect to the virtual swing axis i-AX, the flywheel 211 is rotated clockwise with respect to the virtual rotation axis k-AX. Moment M is generated. This clockwise moment M is referred to as _{MCW in FIG.}

From this state, when the rotation direction of the flywheel 211 around the virtual swing axis i-AX is switched counterclockwise, the direction of the moment M can be switched counterclockwise with respect to the virtual rotation axis k-AX. can. This counterclockwise moment M is referred to _{as M CCW in FIG.}

As described above, the direction of the moment M can be switched depending on the rotation direction of the flywheel 211 around the virtual swing axis i-AX. Therefore, the movement of the right thigh CR can be assisted by switching the rotation direction of the flywheel 211 around the virtual swing axis i-AX according to the movement of the right thigh CR.

Hereinafter, the left movement promotion control that promotes the movement of the user to the left by assisting the movement of the right thigh CR will be described. The left movement promotion control is performed by the lower controller 218 shown in FIG. 1 in response to a command from the integrated control unit 100 shown in FIG. Hereinafter, a specific description will be given with reference to FIG.

As shown in FIG. 5, the lower controller 218 first acquires the detection result _{of the angular velocity ω k} around the virtual rotation axis k-AX of the right thigh CR from the angular velocity detector 217 shown in FIG. 1 ( Step S11). Since the sign of the angular velocity ω _k represents the rotation direction of the right thigh CR, it is possible to specify the half cycle of the user's sprinting motion by _{the angular velocity ω k.} That is, the angular velocity detector 217 is an example of a physical quantity detector that detects a physical quantity capable of specifying a half cycle of a user's operation.

Next, the lower controller 218 _{determines whether or not the angular velocity ω k} is zero (step S12), and if it is not zero (step S12; NO), returns to step S12 again. On the other hand, in the lower controller 218, when the angular velocity ω _k is zero (step S12; YES), _{does the angular velocity ω k} = zero represent the start time of the swinging up of the right thigh CR, or the right thigh? It is determined whether or not it represents the start time point of swinging down the part CR (step S13).

The lower controller 218 can determine step S13 based on _{, for example, the time series of the angular velocity ω k.} Specifically, when the angular velocity ω _k decreases from a positive value to zero, it means that the swing of the right thigh CR has been completed. Therefore, the angular velocity ω _k = zero is the swing of the right thigh CR. It can be seen that it represents the start time of unloading. On the other hand, when the angular velocity ω _k increases from a negative value to zero, it means that the swinging down of the right thigh CR is completed, so that the angular velocity ω _k = zero starts the swinging up of the right thigh CR. It turns out to represent a point in time.

The lower controller 218 clocks the flywheel 211 with respect to the virtual swing axis i-AX when the angular velocity ω _k = zero represents the start time of the swing up of the right thigh CR (step S13; the start time of the swing up). Rotate it around. _{As a result, a clockwise moment MCW} that assists the swinging up of the right thigh CR, that is, the clockwise movement with respect to the virtual rotation axis k-AX is applied around the user's right hip joint (step S14).

On the other hand, when the angular velocity ω _k = zero represents the start time of swinging down of the right thigh CR (step S13; the time of starting swinging down), the lower controller 218 sets the flywheel 211 to the virtual swing axis i. -Rotate counterclockwise with respect to AX. As a result, a swing-down of the right thigh CR, that is, a counterclockwise moment M _CCW that assists the counterclockwise movement with respect to the virtual rotation axis k-AX is applied around the user's right hip joint (step S15). ).

Incidentally, the moment M _CCW to impart at moment M _CW and S15 to impart at step S14, since both assists the movement of the right thigh CR user, action of enhancing the operation of the leftward movement of the user Have. Therefore, in the following, the moment applied to the hip joint by the right half body moment applying mechanism 216 shown in FIG. 1 will be referred to as a “left induction moment”.

After step S14 or step S15, the lower controller 218 determines whether or not to end the left movement promotion control (step S16), and if not (step S16; NO), returns to step S11 again. When the left movement promotion control is terminated by the command from the overall control unit 100 shown in FIG. 1 (step S16; YES), this process is terminated.

The cycle of repetition when the same process is repeated from step S16 to step S11 is sufficiently shorter than the half cycle of the user's sprinting operation. As a result, the leftward movement acceleration control, the left-induced moment applied to the user, and the moment M _CW clockwise, the switching between the counter-clockwise moment M _CCW is the operation of the user's sprinting It is performed in a cycle equal to half a cycle. That is, the direction of the left induction moment around the hip joint is switched every half cycle of the sprinting motion.

Further, as can be seen from the above equation (1), the magnitude of the left induction moment can be controlled by the magnitude _{of the angular velocity ω i around the virtual swing axis i-AX of the flywheel 211.} Therefore, the lower controller 218 also controls to adjust the magnitude of the left induction moment according to the rotation speed of the swing motor 215. As will be described later, the target value of the magnitude of the left induction moment is designated by the integrated control unit 100 shown in FIG.

The processing of the lower controller 218 of the body fitting 210 for the right side of the body shown in FIG. 1 has been described above. The lower controller 228 of the body wearer 220 for the left half of the body shown in FIG. 1 also performs the same process.

That is, the lower controller 228 receives a command from the overall control unit 100 shown in FIG. 1 and assists the movement of the left thigh CL to promote the movement of the user to the right. Directional movement promotion control is performed. Hereinafter, a specific description will be given with reference to FIG.

As shown in FIG. 6, the lower controller 228 first acquires the detection result _{of the angular velocity ω k} around the virtual rotation axis k-AX of the left thigh CL from the angular velocity detector 227 shown in FIG. 1 ( Step S21). The sign of the angular velocity omega _k Since represents the rotation direction of the left thigh CL, it is possible to specify a half cycle of operation of the galloping of the user by the angular velocity omega _k. That is, the angular velocity detector 227 is also an example of a physical quantity detector that detects a physical quantity that can specify a half cycle of the user's operation.

Next, the lower controller 228 _{determines whether or not the angular velocity ω k} is zero (step S22), and if it is not zero (step S22; NO), returns to step S22 again. On the other hand, in the lower controller 228, when the angular velocity ω _k is zero (step S22; YES), _{does the angular velocity ω k} = zero represent the start time of swinging up of the left thigh CL, or the left thigh? It is determined whether or not it represents the start time of swinging down of the unit CL (step S23).

The lower controller 228 can determine step S23 based on _{, for example, the time series of the angular velocity ω k.} Specifically, when the angular velocity ω _k decreases from a positive value to zero, it means that the swing of the left thigh CR is completed, so that the angular velocity ω _k = zero is the swing of the left thigh CR. It can be seen that it represents the start time of unloading. On the other hand, when the angular velocity ω _k increases from a negative value to zero, it means that the swinging down of the left thigh CR is completed, so that the angular velocity ω _k = zero starts the swinging up of the left thigh CR. It turns out to represent a point in time.

In the lower controller 228, when the angular velocity ω _k = zero represents the start time of swinging up of the left thigh CL (step S23; the start time of swinging up), the clockwise moment is left with respect to the virtual rotation axis k-AX. The left half body moment applying mechanism 226 shown in FIG. 1 is controlled so as to be applied to the hip joint (step S24).

On the other hand, in the lower controller 228, when the angular velocity ω _k = zero represents the start time of swinging down of the left thigh CL (step S23; the start time of swinging down), the lower controller 228 refers to the virtual rotation axis k-AX. The left half body moment applying mechanism 226 shown in FIG. 1 is controlled so that a counterclockwise moment is applied to the left hip joint (step S25).

Since both the moment given in step S24 and the moment given in step S25 assist the movement of the left thigh CL of the user, they have an effect of promoting the movement of the user to the right. Therefore, in the following, the moment applied to the hip joint by the left half body moment applying mechanism 226 shown in FIG. 1 will be referred to as a “right guided moment”.

After step S24 or step S25, the lower controller 228 determines whether or not to end the right movement promotion control (step S26), and if not (step S26; NO), returns to step S21 again. When the right movement promotion control is terminated by the command from the overall control unit 100 shown in FIG. 1 (step S26; YES), this process is terminated.

The cycle of repetition when the same process is repeated from step S26 to step S21 is sufficiently shorter than the half cycle of the user's sprinting operation. As a result, in the right movement promotion control, the direction of the right guidance moment given to the user around the hip joint is switched at a cycle equal to half the cycle of the sprinting motion.

Further, the left half body moment applying mechanism 226 has a configuration capable of controlling the magnitude of the right guided moment. The lower controller 228 also controls to adjust the magnitude of the right induction moment. As will be described later, the target value of the magnitude of the right induction moment is designated by the integrated control unit 100 shown in FIG.

Next, returning to FIG. 1, the configuration of the integrated control unit 100 will be described.

As shown in FIG. 1, the integrated control unit 100 has a movement detector 110 that detects the position of the user. The mobile detector 100 is composed of a receiver that detects its own position every moment by receiving radio waves from, for example, a satellite, a radio station on the ground, or the like.

Specifically, the mobile detector 100 includes a GPS module that receives radio waves from GPS (Global Positioning System) satellites, an RTK (Real Time Kinematic) module that receives radio waves from GPS satellites and radio stations on the ground, and ground. It can be configured by a beacon module or an RFID (Radio Frequency Identifier) module that receives radio waves such as infrared waves from a radio station.

Further, the integrated control unit 100 has an upper controller 120 that controls the lower controllers 218 and 228 using the detection result of the movement detector 110. The upper controller 120 has a memory 122 that stores ideal route data 122a that represents an ideal route that is an ideal movement route for the user, and a CPU (Central Processing Unit) 121.

The memory 122 also stores a guidance control program 122b that defines a guidance control procedure for guiding the user in the direction in which the user should proceed. The CPU 121 performs guidance control by executing the guidance control program 122b.

In the guidance control, the CPU 121 selects whether to make the user go straight or turn using the detection result of the movement detector 110 and the ideal route data 122a. When turning the user, it is also selected whether the user is turned to the right or the left.

Then, when the user is turned to the left, the CPU 121 causes the lower controller 218 to execute the left movement promotion control shown in FIG. 5 while the right movement promotion control shown in FIG. 6 is stopped. That is, of the above-mentioned left guidance moment and right guidance moment, only the left guidance moment is given to the user. As a result, a state in which the user is guided to the left (hereinafter referred to as a left guidance state) is realized, and the user's course is bent to the left.

On the other hand, when the user is turned to the right, the CPU 121 causes the lower controller 228 to execute the right movement promotion control shown in FIG. 6 with the left movement promotion control shown in FIG. 5 stopped. That is, of the left guidance moment and the right guidance moment, only the right guidance moment is given to the user. As a result, a state in which the user is guided to the right (hereinafter referred to as a right guidance state) is realized, and the user's course is bent to the right.

As described above, the upper controller 120 has a process of selecting which state to realize, the left guidance state or the right guidance state, and the selected state (hereinafter referred to as the selection state) is attached to the body. It has a function of a control device that repeatedly performs control to be realized by the tool 200.

Hereinafter, the guidance control will be specifically described with reference to the flowchart shown in FIG.

First, the operations of steps S31 to S33 of FIG. 8 will be described with reference to FIG. 7. First, the CPU 121 identifies the current position PP of the user by acquiring the actual detection data representing the detection result of the user's position from the movement detector 110 (step S31).

Further, the CPU 121 specifies the movement vector V1 representing the movement direction of the user by the difference in the coordinate values between the position of the user previously detected by the movement detector 110 and the current position PP of the user (step S32). ).

On the other hand, the CPU 121 also separately specifies the ideal movement vector V2 from the user's current position PP toward the ideal path IW represented by the ideal path data 122a. Then, the CPU 121 specifies a turning direction and a turning angle necessary for correcting the movement vector V1 in a direction parallel to the ideal movement vector V2 (step S33).

The turning angle represents the amount of deviation of the movement vector V1 from the ideal movement vector V2. FIG. 7 illustrates a case where the user needs to be turned to the left by a turning angle θ with respect to the traveling direction in order to correct the movement vector V1 in a direction parallel to the ideal movement vector V2.

Returning to FIG. 8, the CPU 121 then determines whether or not the turning angle specified in step S33 is zero (step S34), and if the turning angle is not zero (step S34; NO), the CPU 121 specifies in step S33. It is determined whether the turning direction is left or right (step S35).

Then, when the turning direction is to the left (step S35; left), the CPU 121 is shown in FIG. 5 with the right movement promotion control shown in FIG. 6 stopped in order to turn the user to the left. The lower controller 218 is made to execute the left movement promotion control shown (step S36). As a result, a left guidance state that guides the user to the left is realized, so that the user's course is bent to the left.

Further, the CPU 121 controls the magnitude of the left guidance moment as the selection moment given to the user in the left movement promotion control in step S36 to a target value corresponding to the turning angle specified in step S33. As described above, the magnitude of the left induction moment can be controlled by the magnitude _{of the angular velocity ω i} around the virtual swing axis i-AX of the flywheel 211 shown in FIG.

Specifically, the CPU 121 obtains a target value of the magnitude of the left guidance moment so that the larger the turning angle specified in step S33, the larger the left guidance moment given to the user, and the obtained target. A value is given to the lower controller 218. _{The lower controller 218 controls the magnitude of the angular velocity ω i} around the virtual swing axis i-AX of the flywheel 211 shown in FIG. 4 so that the magnitude of the left induction moment matches the target value.

As a result, a left guidance moment having a magnitude corresponding to the turning angle specified in step S33 is given to the user, so that the angle at which the user's course is bent to the left by the left movement promotion control is specified in step S33. It can be approached to the turning angle.

On the other hand, when the turning direction is to the right (step S35; right), the CPU 121 is shown in FIG. 6 with the left movement promotion control shown in FIG. 5 stopped in order to turn the user to the right. The lower controller 228 is made to execute the right movement promotion control shown (step S37). As a result, a right-handed guidance state that guides the user to the right is realized, so that the user's course is bent to the right.

Further, the CPU 121 controls the magnitude of the right guidance moment as the selection moment given to the user in the right movement promotion control in step S37 to a target value corresponding to the turning angle specified in step S33.

Specifically, the CPU 121 obtains a target value of the magnitude of the right guidance moment so that the larger the turning angle specified in step S33, the larger the right guidance moment given to the user, and the obtained target. A value is given to the lower controller 228. The lower controller 228 controls the left half body moment applying mechanism 226 shown in FIG. 1 so that the magnitude of the right induction moment matches the target value.

As a result, a right guidance moment having a magnitude corresponding to the turning angle specified in step S33 is given to the user, so that the angle at which the user's course is bent to the right by the right movement promotion control is specified in step S33. It can be approached to the turning angle.

Next, after passing through step S36 or step S37, the CPU 121 refers to the detection result of the movement detector 110 again and determines whether or not the user has arrived at the destination (step S38). It is assumed that the data representing the target value is included in the ideal route data 122a in advance.

Further, when the turning angle is zero in step S34 (step S34; YES), the CPU 121 may allow the user to go straight as it is, and realizes both the left guidance state and the right guidance state described above. Since it is not necessary, the process proceeds to step S38 while the left movement promotion control shown in FIG. 5 and the right movement promotion control shown in FIG. 6 are stopped.

When the CPU 121 determines that the destination has been reached in step S38 (step S38; YES), the CPU 121 ends the guidance control, and when it has not yet reached the destination (step S38; NO), step S31. Return to and repeat the same process. That is, the CPU 121 repeats the selection of which state to realize, the left guidance state or the right guidance state, and the realization of the selected state, which is the selected state, until the user arrives at the destination.

As described above, according to the present embodiment, the body fitting 200 applies a left guidance moment or a right guidance moment around the user's joint, whereby the movement of the user in the direction in which the user should proceed is performed. By being promoted, the route of movement of the user can be brought closer to the ideal route. Therefore, the user does not need to positively grasp the direction to be taken during the movement. That is, the user does not have to keep recognizing the force sense while moving. Therefore, the user's attention is not easily deprived.

Further, the CPU 121 specifies a turning angle representing the amount of deviation of the user's moving direction from the direction toward the ideal path, and obtains a target value of the left guidance moment or the right guidance moment according to the specified turning angle. .. Then, the CPU 121 controls the body fitting 200 so that the left guidance moment or the right guidance moment of the obtained target value is generated.

In this way, the magnitudes of the left guidance moment and the right guidance moment given to the user are controlled to values according to the amount of deviation from the direction toward the ideal path, so that the user's movement path can be swiftly performed. You can get closer to the ideal route.

[Embodiment 2]
In the first embodiment, the left guidance moment that promotes the movement of the user to the left is an assist moment that assists the movement of the user to the left, and the movement of the user to the right. The case where the right guidance moment that promotes the movement of the user to the right is an assist moment that assists the movement of the user to the right has been illustrated.

Since the user can be turned to the left by applying a load to the user's movement to the right, the left induction moment is a load moment that applies a load to the user's movement to the right. It may be. Also, the user can be turned to the right by applying a load to the user's movement to the left, so that the right guidance moment imposes a load on the user's movement to the left. It may be a load moment. A specific example will be described below.

FIG. 9 shows a flowchart of the left movement promotion control according to the present embodiment. This left movement promotion control is executed by the lower controller 228 of the body wearer 220 for the left half of the body shown in FIG.

In the present embodiment, when the angular velocity ω _k = zero represents the start time of swinging up of the left thigh CL in step S43 of FIG. 9 (step S43; the start of swinging up), the lower controller 228 determines the left thigh CL. The left half body moment applying mechanism 226 is controlled so that a counterclockwise moment that hinders the swinging up is applied around the user's left hip joint (step S44).

Further, in step S43 of FIG. 9, when the angular velocity ω _k = zero represents the start time of swinging down of the left thigh CL (step S43; the start of swinging down), the lower controller 228 is the left thigh CL. The left half body moment applying mechanism 226 is controlled so that a clockwise moment that prevents the user from swinging down is applied around the user's left hip joint (step S45).

As a result, the movement of the user to the right is hindered, so that the movement of the user to the left can be promoted. Other processing is the same as the left movement promotion control shown in FIG.

FIG. 10 shows a flowchart of the rightward movement promotion control according to the present embodiment. This right movement promotion control is executed by the lower controller 218 of the body wearer 210 for the right half of the body shown in FIG.

In the present embodiment, when the angular velocity ω _k = zero in step S53 of FIG. 10 represents the start time of swinging up of the right thigh CR (step S53; the start of swinging up), the lower controller 218 is the right thigh. The right half body moment applying mechanism 216 is controlled so that a counterclockwise moment that prevents the CR from swinging up is applied around the user's right hip joint (step S54).

Further, when the angular velocity ω _k = zero in step S53 of FIG. 10 represents the start time of swinging down of the right thigh CR (step S53; the start of swinging down), the lower controller 218 moves the right thigh CR. The right half body moment applying mechanism 216 is controlled so that a clockwise moment that prevents the user from swinging down is applied around the user's right hip joint (step S55).

As a result, the movement of the user to the left is hindered, so that the movement of the user to the right can be promoted. Other processing is the same as the right movement promotion control shown in FIG.

As described above, in the present embodiment, the left half body moment applying mechanism 226 applies a load moment as a left induction moment to the user's left half body, and the right half body moment applying mechanism 216 applies the load moment to the user's right half body. A load moment is given as a right induction moment. The flow of guidance control performed by the upper controller 120 is the same as the flow shown in FIG.

[Embodiment 3]
In the first embodiment, the magnitude of the right guidance moment is set to zero in the left guidance state that guides the user to the left, and the magnitude of the left guidance moment is set to zero in the right guidance state that guides the user to the right. Guidance control was illustrated. Further, in the first embodiment, the degree of bending the user's course to the left in the left guidance state is adjusted by the magnitude of the left guidance moment, and the degree of bending the user's course to the right in the right guidance state is adjusted. , The induction control adjusted by the magnitude of the right induction moment was illustrated.

If the left guidance moment is larger than the right guidance moment, the user can be turned to the left, so that the magnitude of the right guidance moment does not necessarily have to be zero in the left guidance state. Similarly, if the right guidance moment is greater than the left guidance moment, the user can be turned to the right, so the magnitude of the left guidance moment does not necessarily have to be zero in the right guidance state. ..

Hereinafter, a specific example will be described of the case where the left guided moment and the right guided moment are assist moments.

FIG. 11 shows a flowchart of guidance control according to the present embodiment. In the present embodiment, the CPU 121 first causes the body fitting 200 to start the left movement promotion control and the right movement promotion control described above (step S61).

As a result, the left guidance moment and the right guidance moment are applied to the user in parallel. However, in step S61, the CPU 121 has the same magnitude of the left guidance moment given to the user in the left movement promotion control and the magnitude of the right guidance moment given to the user in the right movement promotion control. The body fitting 200 is controlled so as to be. That is, the user is in a state in which the movement in the straight direction is assisted.

In the present embodiment, turning the user to the left is realized by setting the left guidance moment to be larger than the right guidance moment. The turning angle to the left is adjusted by the degree of imbalance, which is the value obtained by subtracting the right guiding moment from the left guiding moment. Further, turning the user to the right is realized by setting the right guidance moment to be larger than the left guidance moment. The turning angle to the right is adjusted by the degree of imbalance, which is the value obtained by subtracting the left guiding moment from the right guiding moment.

Therefore, in step S33, the CPU 121 not only specifies the turning direction and the turning angle necessary for correcting the movement vector V1 shown in FIG. 7 in a direction parallel to the ideal movement vector V2, but also specifies the specified turning angle. The degree of imbalance ΔM, which is the difference in magnitude between the left-inducing moment and the right-inducing moment in the left-inducing state or the right-inducing state, is obtained according to the above.

Then, when the turning direction is left in step S35 described above (step S35; left), the CPU 121 has a left guidance moment rather than a right guidance moment in step S33 in order to turn the user to the left. The body fitting 200 is made to realize the selection state in which the imbalance degree ΔM obtained in 1 is set larger (step S62).

On the other hand, in the case where the turning direction is to the right in step S35 described above (step S35; right), the CPU 121 has a right guided moment rather than a left guided moment in order to turn the user to the right in step S33. The body fitting 200 is made to realize the selection state in which the imbalance degree ΔM obtained in 1 is set larger (step S63).

In the above, a specific example of guidance control has been described assuming that the left guidance moment and the right guidance moment are assist moments, but as described in the second embodiment, the left guidance moment and the right guidance moment are It may be a load moment. Those skilled in the art will understand that even when the left induction moment and the right induction moment are load moments, induction control can be realized with the same flow as the flow of FIG.

[Embodiment 4]
In the first embodiment, the configuration in which the right half body moment applying mechanism 216 is attached to the right thigh CR and the left half body moment applying mechanism 226 is attached to the left thigh CL is illustrated. In the following, a specific example in which the mounting positions of the right half body moment applying mechanism and the left half body moment applying mechanism are changed will be described.

As shown in FIG. 12, the body fitting 300 according to the present embodiment includes a right half body fitting 310 attached to the user's right arm and a left half body fitting 320 attached to the user's left arm.

The body fitting 310 for the right half of the body has a built-in moment applying mechanism for the right half of the body. The right half body moment applying mechanism applies a left guidance moment around the user's right shoulder joint to promote the movement to the left by assisting the swinging motion of the right arm.

The left half body body fitting 320 has a built-in left half body moment applying mechanism. The left half body moment applying mechanism applies a right guidance moment around the user's left shoulder joint to promote the movement to the right by assisting the swinging motion of the left arm.

In addition, the right half body moment giving mechanism gives the user a right guidance moment that promotes the movement to the right by hindering the right arm swinging motion, and the left half body moment giving mechanism gives the left arm swinging motion. The user may be provided with a left guidance moment that promotes the movement of movement to the left by interfering with the movement of.

Further, the right half body moment giving mechanism built into the right half body fitting 310 and the left half body moment giving mechanism built into the left half body fitting 320 have the same configurations as those shown in FIG. Those skilled in the art will understand that things can be achieved. Other configurations and effects are the same as in the first embodiment.

[Embodiment 5]
In the first embodiment, the right half body moment applying mechanism 216 and the left half body moment applying mechanism 226 that generate a moment by the gyro effect have been exemplified, but the moment may be generated by the reaction of rotation. A specific example will be described below.

As shown in FIG. 13, the moment applying mechanism according to the present embodiment is configured by a trunk axis moment applying mechanism 410 including a reaction wheel. Note that FIG. 14 is a top view of a user equipped with the trunk axis moment applying mechanism 410 as viewed from above.

The trunk axis moment applying mechanism 410 fixes the arm 411 extending rearward to the user from the back surface of the user's chest, that is, the back BC, and fixing the base end of the arm 411 to the user's back BC. Controls the tool 412, the flywheel 413 rotatably attached to the tip of the arm 411, the motor 414 that rotates the flyhole 413, the brake mechanism 415 that stops the rotation of the flyhole 413, the motor 414, and the brake mechanism 415. It has a lower controller 416 and a lower controller 416.

Although not shown, the axis of rotation of the flywheel 413 extends in the vertical direction. Hereinafter, regarding the rotation direction of the flywheel 413, clockwise / counterclockwise refers to the rotation direction when the flywheel 413 is viewed from above.

The moment the motor 414 starts rotating the flywheel 413 clockwise, or the moment the brake mechanism 415 stops the rotation of the flywheel 413 rotating counterclockwise, the user's right shoulder is oriented forward. _A moment MA that twists the body is given to the user. This moment M _A is a left-induced moments so assists the leftward movement of the user.

Further, the moment the motor 414 starts rotating the flywheel 413 counterclockwise, or the moment the brake mechanism 415 stops the rotation of the flywheel 413 rotating clockwise, the user turns the left shoulder forward. moment M _B twisting of the body, is given to the user. This moment M _B is a right induction moment so to assist the rightward movement of the user.

Therefore, the lower controller 416 has a left guidance state in which the user is given a left guidance moment and a right side in which the user is given a right guidance moment in response to a command from the integrated control unit 100 shown in FIG. The induced state can be selectively realized.

Further, the lower controller 416 can adjust the magnitudes of the left guidance moment and the right guidance moment by controlling the torque applied to the flywheel 413 by the motor 414. Since the clockwise torque applied to the flywheel 413 by the motor 44 and the counterclockwise torque can be controlled independently, the magnitudes of the left guided moment and the right guided moment can be made different. Therefore, also in this embodiment, the same control as the guidance control shown in FIG. 8 is possible.

An acceleration detector 420 as a physical quantity detector that detects acceleration as a physical quantity that can specify the cycle of the user's sprinting motion is attached to the user's body. Using the detection result of the angular velocity detector 420, the lower controller 416 uses the motor 414 and the brake mechanism 415 so that the cycle of applying the left guidance moment and the right guidance moment matches the cycle of the user's sprinting operation. To control. Other configurations and effects are the same as in the first embodiment.

[Embodiment 6]
In the first embodiment, the configuration in which the ideal route data 122a is stored in the memory 122 of the upper controller 120 in advance is illustrated, but the ideal route data 122a may be sequentially acquired by the upper controller 120. A specific example will be described below.

As shown in FIG. 14, in the present embodiment, it is assumed that the companion U2 as the companion runs alongside the user U1. The companion U2 is equipped with a companion movement detector 500 as a companion body movement detector that detects the movement direction of the companion U2 in real time.

In the present embodiment, the upper controller 120 shown in FIG. 1 wirelessly acquires the movement direction data representing the detection result of the movement direction of the companion U2 from the companion movement detector 500 as ideal route data 122a in real time. do.

Then, the upper controller 120 first identifies the movement vector V3 representing the movement direction of the companion U2 by using the movement direction data. Next, the upper controller 120 identifies the ideal movement vector V4 in which the movement vector V3 is translated to the user's current position PP.

Next, the upper controller 120 specifies a turning direction and a turning angle required to match the moving vector V1 representing the moving direction of the user with the ideal moving vector V4. In this embodiment, such processing is performed in step S33 of FIG.

FIG. 14 illustrates a case where the user needs to be swiveled to the left by a swivel angle θ with respect to the traveling direction in order to match the movement vector V1 with the ideal movement vector V2. The specific directions of the user's current position PP and the movement vector V1 are as described with reference to FIG. 7. Other configurations and effects are the same as in the first embodiment.

The first to sixth embodiments have been described above. The modifications described below are also possible.

In the first embodiment, the configuration in which the upper controller 120 is attached to the user's body is illustrated, but the position of the upper controller 120 is not particularly limited. The upper controller 120 can remotely control the lower controllers 218 and 228 via radio. Therefore, the host controller 120 may be fixed at any place on the ground.

In the fifth embodiment, the configuration in which the trunk axis moment applying mechanism 410 is attached to the user's chest is illustrated, but the trunk axis moment applying mechanism 410 may be attached to the user's head or waist. The movement of the user to the left or right is also assisted by giving the user a moment of twisting the user's head or waist.

It is also possible to combine the above embodiments 1-5 with each other. For example, even if the right half body fitting 210 and the left half body fitting 220 shown in FIG. 2 and the right half body fitting 310 and the left half body fitting 320 shown in FIG. 13 are used in combination. Alternatively, the trunk axis moment applying mechanism 410 shown in FIG. 14 may be used in combination.

In the sixth embodiment, the case where the companion body indicating the movement direction that becomes the norm by moving side by side with the user is a person is illustrated. The companion body may be, for example, a rotary wing aircraft such as an automobile, a bicycle, or a drone.

By installing the guidance control program 122b shown in FIG. 1 on a computer, the computer proceeds using the acquisition function for acquiring the detection result of the movement detector 110, the acquired detection result, and the ideal route data 122a. It is possible to realize a control function for controlling the body fitting 200 so that the movement of the user in the desired direction is promoted. The guidance control program 122b may be distributed via a communication network, or may be stored and distributed in a computer-readable recording medium.

100 ... Integrated control unit,
110 ... Movement detector,
120 ... Upper controller (control device),
121 ... CPU,
122 ... Memory,
122a ... Ideal route data,
122b ... Induction control program,
200 ... Body wearer (moment applying mechanism),
210 ... Body fittings for the right half of the body,
210A ... Main body,
210B ... Belt,
211 ... Flywheel,
212 ... Motor for rotation,
213 ... Holding member,
214 ... Base frame,
215 ... rocking motor,
216 ... Right half body moment applying mechanism,
217 ... Angular velocity detector,
218 ... Lower controller,
219 ... Battery,
220 ... Body wear for the left half of the body,
220A ... Main body,
220B ... Belt,
226 ... Moment applying mechanism for the left half of the body,
227 ... Angular velocity detector,
228 ... Lower controller,
229 ... Battery,
300 ... Body wear,
310 ... Right-sided body fitting (right-sided moment-giving mechanism),
320 ... Body attachment for the left half of the body (moment applying mechanism for the left half of the body),
410 ... Moment applying mechanism for trunk axis,
411 ... Arm,
412 ... Fixture,
413 ... Flywheel,
414 ... Motor,
415 ... Brake mechanism,
416 ... Lower controller,
420 ... Accelerometer,
500 ... Movement detector for companion (movement detector for companion),
600 ... Guidance device,
BC ... back,
CL ... Left thigh,
CM ... Center of gravity,
CR ... Right thigh,
IW ... ideal route,
i-AX ... Virtual swing axis,
j-AX ... Virtual rotation axis,
k-AX ... Virtual rotation axis,
NL ... Virtual Neutral Line,
PP ... User's current position,
U1 ... User,
U2 ... Accompanied person (accompanied body),
V1, V3 ... Movement vector,
V2, V4 ... Ideal movement vector.

Claims (8)

A movement detector that detects the user's position or movement direction,
A left induction moment that is worn on the user's body and promotes the user's leftward movement around the user's joints and a right side that promotes the user's rightward movement. A moment giving mechanism that can give an induced moment and
Using the actual detection data representing the detection result of the movement detector and the ideal path data representing the ideal path which is the ideal movement path of the user, the left guidance moment is larger than the right guidance moment. The process of selecting which state to realize, the large left guidance state or the right guidance state in which the right guidance moment is larger than the left guidance moment, and the selected state, which is the selected state, are described above. A control device that brings the user's movement path closer to the ideal path by repeating the control realized by the moment applying mechanism.
A guidance device. The moment applying mechanism is configured to be able to control the magnitudes of the left guided moment and the right guided moment.
The control device specifies a turning angle representing the amount of deviation of the moving direction of the user from the direction toward the ideal path specified by using the actual detection data, and the turning angle corresponds to the specified turning angle. The degree of imbalance, which is the difference in magnitude between the left guided moment and the right guided moment in the left guided state or the right guided state, is obtained, and the selected state having the obtained imbalance is defined as the selected state. Realized in the moment giving mechanism,
The guidance device according to claim 1. The moment applying mechanism
A moment giving mechanism for the right half of the body, which is attached to the right half of the user and gives one of the left guided moment and the right guided moment to the right half of the body.
A moment applying mechanism for the left half of the body, which is attached to the left half of the user and imparts the other moment of the left guided moment and the right guided moment to the left half of the body.
The guidance device according to claim 1 or 2. The right half body moment giving mechanism switches the direction of the moment given to the right half body at a cycle equal to a half cycle of the walking or sprinting motion of the user, and the left half body moment giving mechanism changes the direction of the moment to the left. The direction of the moment applied to the half body is switched at a cycle equal to the half cycle.
The guidance device according to claim 3. The moment applying mechanism
A trunk axis moment imparting mechanism that is attached to the user's head, chest, or lumbar region and imparts the left guiding moment and the right guiding moment in a direction that twists the user's body to the body.
The guidance device according to any one of claims 1 to 4. The trunk axis moment applying mechanism applies the left guidance moment and the right guidance moment to the body at a cycle equal to the cycle of the walking or sprinting motion of the user.
The guidance device according to claim 5. A movement detector for a companion that is attached to a companion that moves side by side with the user and detects the position or direction of the companion.
With more
The control device acquires the detection result of the accompanying vehicle movement detector as the ideal route data from the accompanying vehicle movement detector.
The guidance device according to any one of claims 1 to 6. A left guidance moment that is worn on the user's body and promotes the movement of the user to the left and a right guidance that promotes the movement of the user to the right around the user's joint. Moment giving mechanism that can give moments,
To the computer that controls
An acquisition function that acquires the detection result of the user's position or movement direction, and
Using the detection result acquired by the acquisition function and the ideal path data representing the ideal path which is the ideal movement path of the user, the left guidance moment is larger than the right guidance moment on the left side. The process of selecting which state to realize, the induction state or the right induction state in which the right induction moment is larger than the left induction moment, and the selected state, which is the selected state, are selected by the moment applying mechanism. A control function that brings the user's movement route closer to the ideal route by repeating the control to be realized in
Guidance control program that realizes.

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