JP3548725B2 - Outing support system and moving object - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an outing support system, and more particularly to an outing support system for elderly people and the like.
[0002]
[Prior art]
Conventionally, when a person who is difficult to walk alone, such as an elderly person who is unstable in walking, goes out, an electric wheelchair or an electric tricycle has been often used. In addition, as an electric device for assisting walking, Japanese Patent Application Laid-Open No. 7-184966 discloses a moving body, a supporting body provided on the moving body, a holding arm provided rotatably at the upper end of the supporting body, An actuator for driving the holding arm, a user holding portion provided on the holding arm, an action force detector provided on the holding arm for detecting a force acting from the user, and detection from the action force detector A walking assist device is disclosed that includes control means for controlling a moving body by comparing a value with a target value.
[0003]
Japanese Patent Laid-Open No. 11-28227 discloses a GPS (Global Positioning System, Global Positioning System) for the purpose of guiding a moving object from being obstructed by a step or an obstacle. A wheelchair having a guidance function using a) is disclosed.
[0004]
The electric assist device as described above is equipped with a battery as a power source. Conventionally, in order to inform the user of the remaining amount of the battery, a battery remaining amount meter or a warning that the remaining amount is low is used. A lamp or buzzer is generally used.
[0005]
[Problems to be solved by the invention]
When going out using an electric support device, it is necessary to manage the battery so that it does not become empty while going out, but it is difficult to manage the remaining amount of the battery, especially when used by elderly people. In other words, with conventional devices, it is necessary to always check and confirm whether or not the destination can be reached with the remaining battery level by looking at the remaining battery level meter. There was a possibility that the remaining amount was insufficient. In addition, elderly people often have poor visual acuity and hearing ability, so they may go out without noticing the warning lamp and buzzer of the battery level, and the battery level may be insufficient on the way.
[0006]
Also, with the conventional support device, if the battery runs out while you are out, the user needs to solve it by seeking help from others, but if it is difficult to talk, There was a possibility that the intention was not communicated to the people of and the situation could be difficult.
[0007]
When using a conventional outing support device, as described above, difficulties arise, so in the case of elderly people in particular, going out alone is anxious for both the person and the caregiver, and requires an attendant to go out. There were many things to do. For this reason, elderly people tend to refrain from going out and have difficulty in social participation.
[0008]
The present invention has been made to solve at least one of the above-described problems in the conventional outing support apparatus, and even an elderly person can go out alone, and both for the person and the caregiver. The purpose is to provide an outing support system without any anxiety.
[0009]
[Means for Solving the Problems]
The present invention A moving body, driving means for moving the moving body, power storage means for supplying power to the driving means, power amount detection means for detecting the amount of power stored in the power storage means, and Position detection means for detecting the position of the mobile body, destination setting means for setting a user's movement destination, detection signals from the power amount detection means and position detection means, and control of the drive means Control means to A user terminal that presents information to the user; A mobile body having map information storage means for storing map information; With care giver terminal to present information to caregiver Prepared, The control means includes The position of the moving body detected by the position detecting means , Destination set by the destination setting means as well as Based on the map information stored in the map information storage means. And The distance from the moving object to the destination Calculate , Predicting and calculating the distance that can be moved by the stored power amount detected by the power amount detection means, The distance to the destination The predicted calculated distance In comparison with Calculate more margin, depending on the size of the margin Multiple stages Level In The remaining power of the power storage means Classify The information presentation contents to the user terminal and the caregiver terminal are presented by changing the information presentation contents according to the classified level of the remaining amount of the power storage means, and the level of the stored power amount In this case, it is determined whether the distance from the past change state to the destination is moving toward the destination or moving away from the destination. When moving in the direction, change the moving speed by the driving means to make the moving body difficult to move Configured as Is a thing .
[0013]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a block diagram of an outing support system according to an embodiment of the present invention, and FIG. 2 is a side view of a mobile body used in the outing support system according to an embodiment of the present invention. A going-out support system according to an embodiment of the present invention includes a moving body 1 that assists the user's own movement, and a management center 6 or a care facility 7 or a home 8 that includes a function that supports the movement of the moving body 1 ( Hereinafter, the management center 6 and the like are included.
[0014]
First, with reference to FIGS. 1 and 2, a moving body 1 used in an outing support system according to an embodiment of the present invention will be described. The moving body 1 is for assisting the movement of the user. The moving body 1 is such that the user walks by grabbing the moving body 1 like a walker, or the user moves like the wheelchair. Some move on board 1.
[0015]
The moving body 1 includes a moving body main body 1 a, a driving unit 30 that moves the moving body main body 1 a, a battery 17 (power storage unit) that supplies power to the entire moving body 1 including the driving unit 30, and storage in the battery 17. Battery remaining amount sensor 33 (power amount detecting means) for detecting the amount of electric power being received, GPS receiver 18 (position detecting means) for receiving the radio wave from artificial satellite 4 and detecting the position of mobile body 1a, user Output of the user terminal 22, the battery remaining amount sensor 33, and the GS receiver 18 where information is presented to the user including the display 23 (destination setting means) for setting the moving destination of the user, and information is input from the user. A control unit 16 for inputting a signal, calculating a remaining battery level and a position of the moving body, and controlling the driving unit 30, wireless capable of voice and data communication with a caregiver And a signal unit 19 or the like.
[0016]
The mobile body 1a includes a base 10a and a support column 10b that stands vertically from the base 10a. A supporter 14 that holds the user's body is provided at the upper end of the support 10b. Yes. The supporter 14 is provided with a force sensor 15 (force detection means) that detects a force that a user acts on the supporter 14. The base 10a and the column 10b may be formed separately or integrally.
[0017]
The driving means 30 includes driving motors 13a and 13b for moving the moving body 1, and driving wheels 12a connected to the driving motors 13a and 13b via a speed reducer (not shown) and a belt B. 12b and casters (driven wheels) 11a and 11b that rotate depending on the drive wheels 12a and 12b. The drive wheels 12a and 12b and the casters 11a and 11b support the base 10a so as to be movable.
[0018]
The battery 17 is of a rechargeable type, and electric power is supplied to the moving body 1 including the driving means 30 centering on the driving motors 13a and 13b, the control device 16, and the like, so that the moving body 1 operates. ing. The GPS receiver 18 detects the position of the mobile object 1 on the ground by measuring the time required for the radio wave from the artificial satellite 4 to reach. The wireless communication device 19 is capable of voice and data communication between the wireless base stations 5 (described later) on the caregiver side who cares for the user.
[0019]
The user terminal 22 can present information to the user himself / herself and input information from the user himself / herself. The current position of the mobile body 1 and a map around it, a destination to go out, and the battery 17. Display 23 (display means) for displaying the remaining amount, distance to the destination, etc., operation input means (button or touch panel, etc.) from the user, and sound generation for notifying the user with a voice or buzzer sound Means 21 are provided.
[0020]
The touch panel as the operation input means may be used also as the display 23, and the user or the caregiver can indicate the outing destination on the map displayed on the display 23 with a finger, It can be set by specifying with a cursor or the like, and is used as a destination setting setting means. In FIG. 2, the voice generating means 21 is configured to also serve as the calling means 21 for making a call with the management center 6 or the like.
[0021]
The control device 16 will be described with reference to FIG. FIG. 3 is a block diagram of the control device in the outing support system according to the embodiment of the present invention. The control device 16 includes a power assist control unit 31 that controls the movement of the moving body 1 in accordance with the force acting on the supporter 14 from the user detected by the force sensor 15, and an output from the power assist control unit 31. Motor driving devices 34a and 34b for driving the left and right motors 13a and 13b, an information processing unit 32 for processing input / output signals to the control device 16, and the remaining amount of the battery 17 in the information processing unit 32. A battery remaining amount sensor 33 for input is provided.
[0022]
The power assist control unit 31 multiplies the force signals Ff and Ft of the force sensor 15 for detecting the force acting on the supporter 14 from the user by the gain parameters Ka, Kb, and Kb, and the selection unit 35 determines whether the force signals Ff and Ft are positive or negative. The calculation unit 36a for obtaining the actual forward / reverse speed target value Vf and the turning speed target value Vt, and the right of the moving body 1 from the obtained forward / reverse speed target value Vf and the turning speed target value Vt are selected. And a converter 36b for obtaining a target rotational speed value Vt of the left motors 13a and 13b.
[0023]
The information processing unit 32 receives an input signal from the remaining amount sensor 33 of the battery 17 serving as a power storage unit, an input / output signal of the user terminal 22, and a user location information input signal from the GPS receiver 18. In addition to processing by inputting, the wireless communication device 19 is controlled to adjust the gain parameters Ka, Kb, and Kb of the force signal of the power assist control unit 31. In practice, the control device 16 is embodied by computer software and input / output hardware.
[0024]
A configuration in which the control unit 16 moves the moving body 1 forward, backward, and turns will be described.
The controller 16 receives the force component in the front-rear direction and the torque component in the turning direction applied to the supporter 14 from the force sensor 15 as a force signal Ff and a torque signal Ft. Here, the force signal Ff is positive in the forward direction, and the torque signal Ft is positive in the left turn direction. The force signal Ff is multiplied by the forward gain Ka or the backward gain Kb, and depending on the direction of the force, the selector 35 multiplies the forward gain Ka or the backward gain Kb by the selector 35. Select the forward speed target value Vf.
[0025]
That is, the forward speed target value Vf is set to Vf = Ka × Ff when the force signal Ff is positive and a forward force is detected, and when the force signal Ff is negative and the reverse force is detected. Is Vf = Kb × Ff. The torque signal Ft is multiplied by a turning direction gain Kt to obtain a turning speed target value Vt. Let Vt = Kt × Ff.
[0026]
From the forward speed target value Vf and the turning speed target value Vt, the converter 36b obtains the rotational speed target values Va and Vb of the right and left motors 13a and 13b so that the moving body 1 moves forward and turns at that speed. Here, assuming that the diameter D of the drive wheels 12a and 12b of the moving body 1, the distance W between the drive wheels, and the reduction ratio N of the reducer between the motors 13a and 13b and the drive wheels 12a and 12b, the forward speed of the converter 36b. The target value Vf is converted into a rotational speed target value Va.
Rotation speed target value Va = (2N / D) × Vf + (2NW / D) × Vt
Rotation speed target value Vb = (2N / D) × Vf− (2NW / D) × Vt
[0027]
The function of the control device 16 will be described.
For example, a case will be described in which the user pushes the supporter 14 straight forward in order to move forward. Since the force signal Ff is configured to be a positive value, a value obtained by multiplying the force signal Ff and the gain Ka in the forward direction is selected as the forward speed target value Vf, and Vf = Ka × Ff. Since the torque signal Ft becomes 0, the turning speed target value Vt becomes 0. Therefore, the rotational speed target values Va and Vb of the right and left motors 13a and 13b are equal (2N / D) × Ka × Ff. As a result, the right and left wheels 12a and 12b are driven forward at the same speed, so that the moving body 1 moves straight forward. The forward speed at this time is equal to the forward speed target value Vf, and is proportional to the force with which the supporter 14 is pushed.
[0028]
Further, for example, when the user tries to move backward and pulls the supporter 14 backward, the force signal Ff is configured to be a negative value, so that the value obtained by multiplying the gain Kb in the backward direction is The reverse speed target value is selected to be Vf = Kb × Ff, and the rotational speed target values Va, Vb of the right and left motors 13a, 13b are (2N / D) × Kb × Ff. As a result, the right and left wheels 12a and 12b are driven rearward at the same speed, so that the moving body 1 moves straight back. The reverse speed at this time is −Kb × Ff.
[0029]
Further, for example, consider a case where the user applies left torque to the supporter 14 in an attempt to turn left (leftward from the user). Assuming that no longitudinal force is applied, the torque signal is a positive value, and the turning speed target value is Vt = Kt × Ft. Further, since the force signal Ff becomes 0, the forward speed target value Vf becomes 0. Therefore, the target rotational speed value of the right motor is Va = (NW / D) × Kt × Ft, which is a positive value. Further, the target rotational speed value of the left motor is equal to Va and has the opposite sign, Vb = − (NW / D) × Kt × Ft.
[0030]
By doing so, the right driving wheel 12a of the moving body 1 is driven forward, and the left driving wheel 12b is driven backward at a speed equal to that of the right driving wheel 12a. Turns left on the spot. The turning speed at this time is Kt × Ft. On the contrary, when a torque in the right direction is applied to the supporter 14, it turns to the right. Moreover, when the force in the front-rear direction and the torque in the left-right turn direction are simultaneously applied to the supporter 14, the moving body 1 turns while moving back and forth.
[0031]
That is, since the moving body 1 moves forward / backward / turns at a speed proportional to the pressing force of the user, the user can freely walk at his / her favorite pace. Here, the gains Ka, Kb, and Kt that define the relationship between force and speed can be adjusted by the information processing device 32 in the control device 16, and the apparent resistance of the moving body 1 viewed from the user can be changed. . By driving the driving motors 13a and 13b in the same direction, the moving body 1 is controlled to move forward or backward, and by driving the driving motors 13a and 13b in opposite directions, the moving body 1 1 is controlled to turn around an intermediate point between the left and right drive wheels 12a, 12b.
[0032]
The mobile body 1 configured as described above is raised by a user holding the supporter 14, moving a part of the body weight to the supporter 14, and detecting a force acting on the supporter 14 from the user by the force sensor 15. To do. The driving motors 13a and 13b are driven so that the moving body 1 has a speed according to the force applied by the detected user, and the moving body 1 is moved in the same direction as the applied force, thereby allowing the user to move. Can assist with walking.
[0033]
Next, the configuration of the management center 6 or the like having a function for supporting the movement of the moving body 1 will be described. The management center 6 and the like are installation / maintenance of a map database (map information storage means) 2 and centralized management equipment for a plurality of mobile bodies 1 installed by hospitals, care facilities, administrative facilities, care service companies, etc. It is to be operated.
[0034]
The management center 6 and the like include a radio base station 5 capable of radio communication with the radio communication device 19 of the mobile body 1 via an antenna, and a map information database (map information) connected to the radio base station 5 via a communication line 9. Storage means) 2 and a care giver terminal 3. For the wireless communication, a cellular phone line, PHS, wireless packet communication, satellite communication, or the like is used. The communication line 9 can use a cable or the Internet.
[0035]
The map information database 2 stores map information such as roads, sidewalks, and buildings, information on locations where the battery 17 can be charged, and the like. The map information database 2 and the care giver terminal 3 can perform data transmission and wireless communication with the wireless communication device 19 of the mobile 1 via the wireless base station 5.
[0036]
The care giver terminal 3 can display the current position of the mobile body 1 and the surrounding map, the destination to go out, the remaining amount of the battery 17, the distance to the destination, and the like. The care giver terminal 3 can also display a message for calling a caregiver or family from the user of the mobile body 1 in an emergency such as a battery 17 being out of power. This indicator is not shown. Furthermore, the care giver terminal 3 does not have to be a fixed type attached to the management center 6 or the like, and may be a portable type so that it can move with the care giver. In addition, the care giver terminal device 3 is provided with a calling unit that interacts with the user of the mobile body 1 by voice, although not shown. This calling means is not shown. This system can be used even when there are a plurality of mobile units 1 and care giver terminals 3.
[0037]
A case where the user goes out using the outing support system including the moving body 1 will be described.
When the user leaves for going out, the user or caregiver operates the user terminal 22 to set the destination and route for going out to the control device 16. The destination is set by searching for map information around the destination from the map database 2 through the wireless communication device 19, displaying a map on the display 23 of the user terminal 22, and specifying the location of the destination. In the present embodiment, the designation of the destination location will be described using a touch panel method in which a predetermined position of the touch panel is designated with a finger.
[0038]
The route is set by tracing the map displayed on the display 23 of the user terminal 22 by hand along the route or by touching an appropriate number of transit locations by hand. Further, instead of using the user terminal 22, the care giver terminal 3 is operated to set the destination and the route, and the user terminal of the mobile 1 via the wireless base station 5 and the wireless communication device 19. It can be transmitted to 22 displays 23. In addition, when returning to a departure place like a walk, the destination and the departure place are the same.
[0039]
At the time of departure and after departure, the control device 16 detects the amount of electric power stored in the battery 17, that is, the remaining battery amount, by the remaining battery amount sensor 33. As a method for detecting the remaining battery level, a method is used in which the remaining battery level is estimated from the voltage and current of the battery 17 or the remaining amount is calculated by estimating the discharge amount from the accumulated current consumption after charging. Can do.
[0040]
Further, the control device 16 predicts and calculates the distance that can be moved by the remaining battery level from the remaining battery level detected by the remaining battery level sensor 33. The distance that can be moved by the remaining battery level is calculated by dividing the remaining battery level by the amount of power consumed per distance, or dividing the remaining battery level by the amount of power consumed by time to determine the remaining available battery life. It can be calculated by finding and multiplying it by the average moving speed. Further, two calculation methods may be used in combination, and the shorter distance may be used as the distance that can be moved by the remaining battery capacity. The average moving speed is obtained by recording the moving speed for each user and averaging the past moving speed.
[0041]
The control device 16 receives radio waves from the artificial satellite 4, calculates the current position of the moving body 1 by the GPS receiver 18, and based on the map information obtained from the map database 2, the current position of the moving body 1 is calculated. The distance from the position to the set destination is calculated along the set route. In addition, when the moving body 1 is away from the set route due to obstacles on the route, inability to pass due to road construction, or when the user departs, a route that can return to the original route Find the map information and calculate the distance including the route. For simplicity, the distance to the destination can also be approximated by summing the distances connecting several via points with straight lines.
[0042]
The control device 16 displays the map around the current position, the battery remaining amount, the distance that can be moved by the remaining battery amount, and the distance to the destination in a graphic and character manner so that the user can check the device. Is displayed. Moreover, these information can be transmitted by controlling the wireless communication device 19, and can be displayed on the care giver terminal 3 via the wireless base station 5 so that the care giver can confirm the position of the user. .
[0043]
The control device 16 compares the distance traveled by the obtained battery remaining amount with the distance to the destination. In the case where the margin of the distance that can be moved by the remaining amount of the battery is not sufficiently large with respect to the distance to the destination, the care giver terminal via the wireless base station 5 by the user terminal 22 and the wireless communication device 19 The user and caregiver are notified through the device 3 respectively.
[0044]
Here, in consideration of the possibility of a prediction error, a sufficient margin is provided for the distance that can be moved by the remaining battery level with respect to the distance to the destination. Also, according to the size of the margin, the remaining battery level is divided into a plurality of levels as described below and notified to the user and caregiver to warn that the margin has been reduced.
[0045]
With reference to FIG. 4, an example of classification of the remaining battery level will be described. FIG. 4 is a diagram showing the remaining battery level in the outing support system according to the embodiment of the present invention. The distance to the destination and the distance that can be moved by the remaining battery level are compared, and the level 0 to 4 are divided in order from the larger margin according to the margin of the distance that can be moved by the remaining battery level.
[0046]
Level 0 corresponds to a state in which the margin is sufficiently large and the destination can be reached without any problem. Level 1 indicates that it is possible to reach the destination, and for safety, it should be charged before departure. Level 2 is sufficient to reach the destination if the route is set, Level 3 represents a state where the margin amount has decreased to take a detour off the route, and level 3 represents a state where the destination can be reached but the margin amount has decreased. Level 4 represents This represents a case where the margin is small and the destination may not be reached.
[0047]
In general, the size of the margin is determined as follows. Assuming that the distance La to the destination and the distance Lb that can be moved by the remaining amount of the battery, the surplus amount can be simply considered as La−Lb, but if there is an estimation error in La and Lb, The margin amount C is represented by C = Lb−αLa. Here, α is a coefficient for correction, for example, about 1.5, La is set to 1.5, and Lb is set to 20% of the distance that can be moved when fully charged. In this way, by estimating the margin amount C slightly, it is possible to ensure a sufficient margin amount even when there are estimation errors in La and Lb.
[0048]
The level is classified according to the size of the margin amount C. The margin amount C at the boundary between level n and level n + 1 is set as a level boundary determination value Cn. In FIG. 4, the level boundary is represented by a straight line with a constant margin C, the intercept of the boundary line between level n and level n + 1 with respect to the vertical axis corresponds to Cn, and the inclination of the boundary line corresponds to α.
[0049]
The procedure for determining the level and notifying the user and caregiver will be described. FIG. 5 is a flowchart showing a procedure of level determination and notification to the user / caregiver in the outing support system according to the embodiment of the present invention. The procedure changes before and after the user's departure. FIG. 5 (a) shows the determination before the departure by the mobile unit 1, and FIG. 5 (b) shows the determination after the departure by the mobile unit 1. The procedure is shown.
[0050]
As shown in FIG. 5 (a), if the vehicle has not yet started, first, a margin from the distance La from the current position (departure point) to the set destination and Lb that can be moved with the current remaining battery level. C is calculated (S1). Next, the margin amount C is compared with the determination value C1. (S2) When the margin C is smaller than the determination value C1, it is determined that the level is 1 or more. In this case, the user terminal 22, the wireless communication device 19, the wireless base station 5, and the care giver terminal device 3 are used to charge for safety using the character display and voice message so that the user can leave the vehicle for departure. Warning caregivers and caregivers. Further, the user is warned by controlling the movement of the moving body 1 (S3). A warning method based on the movement of the moving body 1 will be described later. When the margin amount C is larger than the determination value C1, the margin amount C is determined to be level 0, and the user and the caregiver are not warned, so that the user can freely leave for the destination (S4). .
[0051]
If the vehicle has already departed, as shown in FIG. 5 (b), first, the margin C is determined from the distance La from the current position to the set destination and the distance Lb that can be moved with the current remaining battery level. Is calculated (S11). Next, the margin amount C is compared with the determination value C4 (S12), and when the margin amount C is smaller than the determination value C4, it is determined as level 4. In this case, the user is warned to charge the battery immediately through the user terminal 22, and the map database 2 is searched for a place where the battery can be charged nearby, and is displayed on the user terminal 22 for use. A person is guided (S13). Further, the user is warned by the movement of the moving body 1.
[0052]
In addition, the caregiver terminal 3 is notified via the wireless communication device 19 and the wireless base station 5 that the battery 17 is low, and the current position of the mobile unit 1 is displayed on the caregiver terminal 3. Then, if necessary, the caregiver can go to the moving body 1 to replace the battery 17 or move the user by car.
[0053]
In addition, the communication means between the user terminal device 22 and the caregiver terminal device 3 is automatically enabled by the control device 16 so that the caregiver can speak to the user and reassure the user to guide to the battery charging place. It can be so. Battery charging locations include stores such as gas stations and convenience stores, service centers of nursing care service companies, medical welfare facilities such as hospitals and nursing care centers, public offices such as public offices, and police boxes. It is desirable to conclude a contract / agreement in advance.
[0054]
When the margin amount C is larger than the determination value C4, the margin amount C is compared with the determination value C3 (S14), and when the margin amount C is smaller than the determination value C3, it is determined as level 3. In this case, the user and the caregiver are warned through the user terminal 22 and the caregiver terminal 3 so as to hurry to the destination, and the user is warned by the movement of the mobile body 1.
[0055]
When the margin amount C is larger than the determination value C3, the margin amount C is compared with the determination value C2 (S16), and when the margin amount C is smaller than C2, it is determined as level 2. In this case, it is further determined from the past change state of the distance to the destination whether it is moving toward the destination or moving away from the destination (S17).
[0056]
That is, when the distance to the destination is decreasing, the vehicle is moving toward the destination, and when the distance to the destination is increasing, it is determined that the vehicle is moving away from the destination. When moving away from the destination, the user and the caregiver are warned through the user terminal 22 and the caregiver terminal 3 so as to hurry to the destination. The user is warned (S18). When moving toward the destination, a warning is not issued and the user can move freely. When the margin amount C is larger than the determination value C2, it is determined that the level is 1 or less. In this case, it is possible to move freely without warning (S19).
[0057]
Next, the user's going out using a warning method for controlling the movement of the moving body 1 that is used instead of or in combination with a warning by character display and voice message will be described.
When warning by this movement is performed, the gain Ka in the forward direction of the control device 16 is reduced, for example, the value of the gain Ka in the forward direction is halved compared to the case of the normal moving speed. In this way, the apparent resistance of the moving body 1 as seen from the user increases, and the speed when the supporter 14 of the moving body 1 is pushed with the same force as the normal moving speed is reduced, Since the moving body 1 becomes difficult to move, the user feels unnatural and may notice that the battery capacity is low even when the user terminal 22 is not aware of the display or voice warning. it can.
[0058]
Further, in order to effectively warn, the forward gain Ka may be increased or decreased periodically instead of decreasing. For example, the forward gain Ka is reduced by half for 0.5 seconds every other second, and returned to the normal value for the next 0.5 seconds. In this way, since the apparent resistance of the moving body 1 as viewed from the user changes periodically, even if the user presses the supporter 14 with a constant force, the speed of the moving body 1 changes periodically, The moving body 1 moves unnaturally in a so-called “rattle”. Thereby, it can be clearly recognized that the margin of the battery 17 is small.
[0059]
The warning by the moving body 1 is issued when the vehicle starts to go out at the level 1 and when the moving body 1 moves away from the destination at the level 2. In the case of level 3 as well, a warning is given by movement, but when the moving body 1 is moving toward the destination, a release button is displayed on the user terminal 22 and the warning by movement is performed by the user's operation. Can be released. As a result, after the user notices that the battery capacity is low, the user can proceed to the destination as usual by pressing the release button, and easily head to the destination. Can do.
[0060]
When the level changes from level 3 to level 4, a warning is given again to inform the user that the battery 17 has a small margin. In this case as well, the warning can be canceled by the release button, but when the moving body 1 is not moving toward the battery charging place, the warning due to the movement of the moving body 1 is continued. As a result, the user can be aware that the battery 17 is low and can be urged to proceed toward the battery charging location.
[0061]
In order to further warn, for example, when the level changes from level 3 to level 4, the gain Ka in the forward direction, the gain Kb in the reverse direction, and the gain Kt in the turning direction are once set to 0 until the release button is pressed. The moving body 1 may not be moved at all. In this way, the user can be surely noticed that the margin of the battery 17 is small.
[0062]
With the system configured in this way, it is always monitored whether there is a sufficient amount of remaining battery power from the departure to the destination, and if the margin is small, the destination can be reached, Since warning is given to the user and the caregiver, even if the user is not particularly careful, there is no possibility that the battery 17 is completely discharged, and the destination can be surely reached.
[0063]
The remaining battery capacity is determined in consideration of the distance to the destination, and the remaining battery capacity for generating a warning is changed according to the distance, so the capacity of the battery 17 is efficiently utilized. can do. In addition, if the remaining battery level is low and it may not be possible to reach the destination, the user will be guided to the charging location, and the caregiver will be guided to the user by voice, or the user may be used. So that the user can be picked up so that the user cannot move while on the go.
[0064]
Moreover, since the warning for the user uses the warning by the movement of the moving body 1 in addition to the warning by display / sound via the user terminal 22, the user's visual acuity and hearing are weak, and the user Even when the warning of the terminal device 22 is not noticed, it can be surely noticed that the margin of the battery 17 is decreasing.
[0065]
Moreover, since the caregiver can confirm the current position of the mobile body 1 and the status of the remaining battery level from the management center 6 or the like using the caregiver terminal 3, the caregiver can go out with peace of mind. As a result, even when going out alone, both the user and caregiver can feel secure, the user can easily go out, and the social participation of the elderly is promoted.
[0066]
In this embodiment, a GPS radio is used as the position detection means. However, a radio communication means such as a PHS or a mobile phone that uses radio waves from a base station, a gyroscope or an acceleration sensor, a wheel Other position detection means such as a device for measuring the number of rotations may be used, or they may be used in combination. Further, as the power storage means, other power storage means such as a fuel cell may be used instead of the rechargeable battery.
[0067]
Further, although the map database 2 is provided in the management center 6 or the like, in the case of a small-scale system with a small number of mobile units 1 and care giver terminals 3, map information is transferred to the mobile unit 1 in order to reduce the amount of communication. And may be stored in the care giver terminal 3. Further, as a calling means of the care giver terminal device 3, a caregiver may carry a mobile phone so that the caregiver is automatically called when necessary, such as when the battery 17 is low. In this way, even when the caregiver is not near the caregiver terminal 3, the caregiver can be reliably called.
[0068]
In the above-described embodiment, an example of a walker type moving body in which the user stands and walks as the moving body 1 is shown. However, the user gets on board and moves like an electric wheelchair or an electric tricycle. A moving body can also be used. In that case, instead of the movement operation by the force sensor 15, a movement operation by a lever or a joystick may be used.
[0069]
【The invention's effect】
As described above in detail, according to the configuration of the present invention, a person who is difficult to walk alone, such as an elderly person who is difficult to walk, can safely go out and promote social participation. Can be provided.
[Brief description of the drawings]
FIG. 1 is a block diagram of an outing support system according to an embodiment of the present invention.
FIG. 2 is a side view of a moving body used in an outing support system according to an embodiment of the present invention.
FIG. 3 is a block diagram of a control device in the outing support system according to the embodiment of the present invention.
FIG. 4 is a diagram showing a classification of a remaining battery level in the outing support system according to the embodiment of the present invention.
FIG. 5 is a flowchart showing a procedure of level determination and notification to a user / caregiver in the outing support system according to the embodiment of the present invention.
[Explanation of symbols]
1 ... Moving object
1a ... Mobile body
2… Map information database (map information storage means)
3 ... Caregiver terminal
4 ... Artificial satellite
9. Communication line
11a, 11b ... Casters (driven wheels)
12a, 12b ... Driving wheel
13a, 13b ... motor
14 ... Supporter
15 ... Force sensor (force detection means)
16 ... Control device
17 ... Battery
18 ... GPS receiver (position detecting means)
19 ... Wireless communication device
22 ... User terminal
23 ... Display
30 ... Driving means
33 ... Battery remaining amount sensor (electric energy detection means)

Claims (1)

A moving body, driving means for moving the moving body, power storage means for supplying power to the driving means, power amount detection means for detecting the amount of power stored in the power storage means, and Position detection means for detecting the position of the mobile body, destination setting means for setting a user's movement destination, detection signals from the power amount detection means and position detection means, and control of the drive means A moving body having control means for performing and a user terminal for presenting information to the user ,
Map information storage means for storing map information;
A caregiver terminal that provides information to the caregiver ,
The control means includes
Position of the movable body detected by said position detection means and based on the destination and the map information stored in the map information storage means set by the destination setting means, from said mobile to the destination Calculate the distance,
Predicting and calculating the distance that can be moved by the stored power amount detected by the power amount detection means,
Calculate the more allowance for comparison with the distances distance and said predictive calculation to the corresponding destination
Classifying the remaining amount of the power storage means into a plurality of levels according to the size of the margin ,
While changing the information presentation content to the user terminal and the caregiver terminal to the information presentation content according to the divided level of the remaining amount of the power storage means,
When the stored electric energy is at a certain level, the movement direction is determined as to whether it is moving toward the destination or away from the destination from the past change state of the distance to the destination. When the vehicle is moving in a direction away from the destination in this determination, the going-out support system is configured to change the moving speed by the driving means so as to make the moving body difficult to move .

Images