JP5950722B2 - Cane - Google Patents

Description

  The present invention relates to a cane.

  When information on RFID tags arranged on the left and right in advance along the normal route is read using a reader device provided on the cane and transferred to a portable computer held separately from the cane, and the portable computer detects a deviation from the normal route, etc. A technique for notifying pedestrians by voice is described in Patent Document 1.

JP 2002-24983 A

  However, the above technique is effective only in facilities such as hospitals and event venues in which a correct route for a pedestrian to travel as an RFID tag is provided in advance. Therefore, the scenes that can be used effectively are limited.

  For example, the walking stick according to the present invention specifies a current location using a radio communication unit that transmits radio waves within a predetermined distance and acquires identification information superimposed on the radio waves received within a predetermined time, and the identification information. The present invention includes a current location specifying unit, a name specifying unit that specifies a name corresponding to the current location, and a name output unit that outputs the name as a voice.

  By applying the present invention, it is possible to perform walking support with a wider range of scenes that can be effectively used.

It is a figure which shows the outline | summary of the cane of this embodiment. It is a figure which shows the functional block of the cane of this embodiment. It is a figure which shows the data structure of the link table of this embodiment. It is a figure which shows the data structure of the point information table of this embodiment. It is sectional drawing of the protrusion formation part of this embodiment. It is a figure which shows the processing flow of the name output process of this embodiment. It is a figure which shows the processing flow of the advancing direction instruction | indication process of this embodiment. It is a figure which shows the processing flow of the vibration generation process of this embodiment. It is a figure explaining the use scene of this embodiment. It is a figure which shows the mechanism of protrusion formation of this embodiment.

  Embodiments of the present invention will be described below with reference to FIGS.

  FIG. 1 is a diagram showing an outline of a cane 1 that is an example of an embodiment of the present invention. The cane 1 includes a grip portion 2 and a cane body portion 3. Further, in the state where the longitudinal direction of the cane 1 is set upright so as to be parallel to the vertical direction so that the grip part 2 is above the cane part 3, the vicinity of the lower end of the cane part 3, that is, the vicinity of the tip of the cane part 3 Are provided with a wireless communication unit 10 and an acceleration detection unit 11.

  The wireless communication unit 10 transmits a radio wave (for example, a query wave having a frequency of about 2.5 GHz) within a predetermined distance (for example, within 50 centimeters), and receives the radio wave (for example, the above-described radio wave). Response wave corresponding to interrogation wave) is acquired. For example, the wireless communication unit 10 is a RFID (Radio Frequency IDentification) tag reader, and includes an antenna, a storage element, and a communication module. The acceleration detection unit 11 detects accelerations in directions of, for example, three axes orthogonal to each other (for example, two horizontal axes and one vertical axis). Note that the response wave acquired by the wireless communication unit 10 and the acceleration information detected by the acceleration detection unit 11 are transmitted to the control unit 30 described later.

  A vibration generating unit 23, a control unit 30, and a storage unit 50 in the vicinity of the control unit 30 are provided in the vicinity of the lower end of the grip unit 2, that is, in the vicinity of the connection unit with the cane body unit 3. . The vibration generator 23 drives a vibration generator including a vibrator such as an eccentric cam to which a motor or the like is attached in a predetermined pattern for a predetermined period in accordance with a vibration generation command given from the outside to generate vibration. generate.

  Further, a voice input / output unit 60 is provided in the vicinity of the upper end of the grip portion 2, that is, in the vicinity of the upper end of the cane 1. The voice input / output unit 60 includes a speaker 62 that outputs voice in response to a voice output command from the control unit 30, and a microphone 61 that collects sound outside and delivers the voice information to the control unit 30.

  Further, a protrusion forming part 20 is provided near the center of the grip part 2 in the vertical direction. The protrusion forming unit 20 has a structure as shown in FIG. 5 and can perform a rotational motion about the vertical direction as a rotation axis by using a driving force provided by a built-in motor (not shown) or the like. That is, the user of the cane 1 perceives the direction in which the protruding portion 21 protrudes through a tactile sensation because the protruding portion 21 moves in a predetermined direction in the hand holding the holding portion 2 by the rotation of the protruding portion 20. can do. Note that the direction and amount of rotation of the rotational motion are specified in accordance with an instruction from the outside.

  FIG. 5 is a part of a cross-sectional view of the protrusion forming portion 20, and is a view of the cross section taken along the A plane, that is, the horizontal plane of FIG. The protrusion formation part 20 has the protrusion part 21 which protrudes outside in a fixed direction. In addition, the protrusion 21 may be a simple protrusion, but as shown in FIG. 5, the protrusion 21 has a bearing mechanism for reducing the frictional force with the hand accompanying the rotation of the protrusion forming part 20. That is, the protrusion 21 has a spherical shape, and is supported by the support 22C, the support 22R, and the support 22L, which are at least three or more supports that support the protrusion 21, while suppressing the rotational resistance. That is, by supporting the spherical protrusion 21 at the three points of the support members 22C, 22R, and 22L, the rotation of the protrusion 21 itself is not hindered, and the protrusion 21 is rotated by rotating the spherical protrusion 21. It can be said that the rotation of 20 can be prevented from being hindered by the frictional force with the hand gripping the grip portion 2. In addition, you may provide the protective film by the raw material which expands-contracts, for example, rubber | gum, resin, and cloth on the outer side of the protrusion formation part 20. FIG. By doing in this way, it can avoid that the protrusion formation part 20 touches a user directly, can perform a rotational motion more smoothly, and a user can perceive the position of a protrusion.

  Returning to FIG. Reference position indexes 22a and 22b are provided around a predetermined position of the protrusion of the protrusion forming portion 20 of the grip portion 2. The reference position indices 22a and 22b are protrusions having a height of, for example, about 1 mm so that the presence of the reference position indices 22a and 22b can be recognized when touched with a finger. When the user holds the cane so that the reference position indexes 22a and 22b face the front of the body, it is easy to sense the direction of the protrusion formed by the protrusion forming unit 20.

  FIG. 2 is a diagram illustrating functional blocks of the cane 1. As described above, the cane 1 includes the wireless communication unit 10, the acceleration detection unit 11, the storage unit 50, the voice input / output unit 60, the protrusion formation unit 20, and the vibration generation unit 23, and the control unit 30. Communication is provided. Although not shown, the cane 1 includes a battery that supplies power to the control unit 30 and the like, and a charging unit that controls power storage in the battery.

  As shown in FIG. 2, the control unit 30 includes a communication processing unit 31, a current location specifying unit 32, a name specifying unit 33, a name output unit 34, a route specifying unit 35, a traveling direction specifying unit 36, and a progress. A direction instruction unit 37, an acceleration detection unit 38, and a vibration control unit 39 are provided. The control unit 30 includes an arithmetic device such as a CPU (Central Processing Unit) and a main storage device, for example, a memory device such as a RAM (Random Access Memory).

  The communication processing unit 31 acquires the tag ID from the response wave acquired from the wireless communication unit 10. The current location specifying unit 32 specifies the coordinates specified in the spot information table 200 included in the storage unit 50 described later, using the acquired tag ID. The name specifying unit 33 specifies the name specified in the spot information table 200 included in the storage unit 50 described later, using the acquired tag ID. The name output unit 34 outputs the name specified by the name specifying unit 33 through the speaker 62 of the voice input / output unit 60.

  The route specifying unit 35 uses a link table 100 included in the storage unit 50 to obtain a predetermined algorithm such as a Dijkstra method for a route to a destination previously received from a user via the microphone 61 of the voice input / output unit 60. Use to search and identify.

  The traveling direction identification unit 36 identifies, as the traveling direction, the direction to the destination without departing from the route identified by the route identification unit 35 in the coordinates identified by the current location identification unit 32. The traveling direction specifying unit 36 specifies the moving direction using the acceleration direction detected by the acceleration detecting unit 38 and its magnitude.

  The traveling direction instruction unit 37 instructs the traveling direction specified by the traveling direction specifying unit 36. In this instruction, the traveling direction instructing unit 37 designates the direction in which the protrusion is formed with respect to the protrusion forming unit 20.

  The acceleration detection unit 38 detects the acceleration direction, the magnitude thereof, and the acceleration / deceleration period within a predetermined period using the acceleration information about each axis received from the acceleration detection unit 11.

  The vibration control unit 39 generates vibration when the azimuth corresponding to the direction in which the acceleration detected by the acceleration detection unit 38 is greater than or equal to a predetermined direction and the azimuth of the traveling direction identified by the traveling direction identifying unit are different. The generator 23 is caused to generate vibration.

  The storage unit 50 stores a link table 100 that is information for specifying the configuration of roads provided on outdoor roads, facilities, and the like, and a point information table 200. In addition, the memory | storage part 50 is comprised by non-volatile storage media, such as a removable non-volatile portable medium and SSD (Solid State Disk), for example.

  FIG. 3 is a diagram illustrating the configuration of the link table 100. The link table 100 includes, for each mesh identification code (mesh ID) 101, which is a partitioned area on the map, link data 102 of each link constituting a road such as a road included in the mesh area.

  The link data 102 includes, for each link ID 111, which is a link identifier, coordinate information 122 of two nodes (start node and end node) constituting the link, a road type 123 indicating the type of road including the link, and the link length. The link length 124 indicating the link travel time 125 stored in advance, the start connection link that is a link connected to the start node of the link, and the end connection link that is a link connected to the end node of the link are specified. It includes a start connection link, an end connection link 126, a staircase presence / absence 127 indicating whether or not a stairway is provided on the road including the link, and the like.

  Here, by distinguishing the start node and the end node for the two nodes constituting the link, the upward direction and the downward direction of the same road are managed as different links.

  FIG. 4 is a diagram illustrating the configuration of the point information table 200. The spot information table 200 includes a tag ID 201, coordinates 202 for specifying a spot associated with the tag ID 201, and a spot name 203 associated with the tag ID 201.

  The communication processing unit 31, the current location specifying unit 32, the name specifying unit 33, the name output unit 34, the route specifying unit 35, the traveling direction specifying unit 36, the traveling direction specifying unit 37, and acceleration detection of the control unit 30. The unit 38 and the vibration control unit 39 are realized by a program that causes the control unit 30 to perform processing.

  This program is stored in a ROM (not shown) in the storage unit 50 or the control unit 30 and is executed by the control unit 30 in execution.

  The above is the functional configuration including the hardware of the cane 1.

  Note that the hardware configuration and the configuration of the processing unit and the like of the cane 1 described above are not limited to the above example, and may include different configurations such as different parts that can be replaced, for example.

  For example, the communication processing unit 31 of the control unit 30, the current location specifying unit 32, the name specifying unit 33, the name output unit 34, the route specifying unit 35, the traveling direction specifying unit 36, the traveling direction instruction unit 37, The acceleration detection unit 38 and the vibration control unit 39 are classified according to main processing contents in order to facilitate understanding of the configuration of the cane 1. Therefore, the present invention is not limited by the way of classifying the components and their names. The configuration of the cane 1 can also be classified into more components depending on the processing content. Moreover, it can also classify | categorize so that one component may perform more processes.

  In addition, each functional unit of the cane 1 may be constructed by hardware (ASIC or the like). Further, the processing of each functional unit may be executed by one hardware or may be executed by a plurality of hardware.

  [Description of Operation] Next, the flow of name output processing in this embodiment will be described with reference to FIG. FIG. 6 is a flowchart showing the name output process. The name output process is started after the use of the cane 1 is started.

  First, the communication processing unit 31 instructs the wireless communication unit 10 to transmit an interrogation wave (step S001).

  Then, the communication processing unit 31 receives the response wave received by the wireless communication unit 10 (step S002).

  And the communication processing part 31 acquires tag ID contained in a response wave (step S003).

  And the name specific | specification part 33 specifies the name according to tag ID (step S004). Specifically, the name specifying unit 33 specifies the name 203 of the point information table 200 as the name associated with the tag ID acquired by the communication processing unit 31.

  Then, the name output unit 34 instructs the voice input / output unit 60 to output the name by voice (step S005). Specifically, the name output unit 34 converts the name specified by the name specifying unit 33 into sound output information and transmits the sound output information to the speaker 62 as an output signal.

  Then, the communication processing unit 31 determines whether or not a predetermined time (for example, 5 seconds) has elapsed after the output of the voice instructed to be output by the name output unit 34 (step S006). If the predetermined time has not elapsed, step S006 is performed again.

  When the predetermined time has elapsed (in the case of “Yes” in step S006), the communication processing unit 31 returns the control to step S001.

  The above is the process flow of the name output process. According to the name output process, it is possible to acquire a tag ID from an RFID tag or the like within a predetermined distance from the tip of the cane 1 and output voice information of the current location associated with the tag ID.

  Next, the flow of the traveling direction instruction process in this embodiment will be described with reference to FIG. FIG. 7 is a flowchart showing the traveling direction instruction process. The traveling direction instruction process is started when the communication processing unit 31 acquires the tag ID.

  First, the current location specifying unit 32 specifies coordinates according to the acquired tag ID (step S101). Specifically, the current location specifying unit 32 specifies the coordinates 202 of the point information table 200 as the coordinates associated with the tag ID acquired by the communication processing unit 31.

  And the advancing direction specific | specification part 36 specifies the direction which guides a path | route from a coordinate position as a advancing direction (step S102).

  And the advancing direction specific | specification part 36 specifies the acceleration / deceleration period within the predetermined period which the acceleration detection part 38 detected via the acceleration detection part 11 for every direction axis (step S103). For example, the acceleration detecting unit 38 accumulates acceleration information in each axial direction acquired by the acceleration detecting unit 11 for a certain period, and the traveling direction specifying unit 36 specifies the acceleration / deceleration period. For example, the traveling direction specifying unit 36 acquires a peak at which the acceleration / deceleration on each axis is greater than or equal to a certain value within a predetermined period, and calculates an average time between the peaks as a cycle.

  And the advancing direction specific | specification part 36 specifies the direction which detected acceleration about a direction axis with a long period as a moving direction (step S104). Specifically, the traveling direction specifying unit 36 specifies an axis having a long average time between peaks for each direction axis specified in step S103, and determines an acceleration direction on the axis, that is, a direction in which positive acceleration is detected. Identifies the direction of movement. During normal walking, the cane is used by swinging left and right in small increments, and is rarely shaken in the front-rear direction. In other words, the acceleration / deceleration cycle is short in the left-right direction, and the longer direction is accelerated / decelerated in accordance with the walking speed in the front-rear direction than in the left-right direction. It is.

  And the advancing direction specific | specification part 36 specifies the relative angle with respect to the moving direction of the direction to guide (step S105). Specifically, the traveling direction specifying unit 36 sets the relative angle with respect to the moving direction specified in step S104 for the direction to travel in the coordinates specified by the current location specifying unit 32 on the route specified by the route specifying unit 35. Identify.

  And the advancing direction instruction | indication part 37 instruct | indicates the protrusion formation part 20 to form a protrusion in the specified angle (step S106). Specifically, the traveling direction instruction unit 37 instructs the protrusion forming unit 20 to rotate from the reference position index by the relative angle specified by the traveling direction specifying unit 36.

  The above is the processing flow of the traveling direction instruction processing. According to the advancing direction instruction processing, the movement direction is specified according to the acceleration of the cane 1, and the protrusion is formed on the grip portion 2 by the protrusion forming unit 20 so that the protrusion is formed in the traveling direction of the path with respect to the movement direction. . Therefore, it can be said that the user can intuitively grasp the direction to travel by the tactile sensation grasping the grip portion 2 and can grasp the traveling direction even in a place where noise such as hustle and bustle is intense.

  Next, the flow of vibration generation processing in the present embodiment will be described with reference to FIG. FIG. 8 is a flowchart showing the vibration generation process. The vibration generation process is started when the moving direction is specified in step S104 of the traveling direction instruction process.

  First, the acceleration detection unit 38 specifies the movement direction specified in step S104 of the traveling direction instruction process (step S201).

  And the vibration control part 39 determines whether the direction which should advance on a path | route, and a moving direction differ (step S202). Specifically, the vibration control unit 39 determines whether or not the direction of travel and the moving direction in the coordinates specified by the current location specifying unit 32 on the route specified by the route specifying unit 35 are different. If there is no difference, the vibration control unit 39 ends the vibration generation process.

  When the moving direction is different from the guiding direction (“Yes” in step S202), the vibration control unit 39 instructs the vibration generating unit 23 to generate vibration (step S203). Specifically, the vibration control unit 39 instructs the vibration generating unit 23 to vibrate with a predetermined vibration pattern.

  The above is the process flow of the vibration generation process. According to the vibration generation process, when the moving direction of the cane 1 is different from the traveling direction, that is, when it is likely to deviate from the route, the cane 1 vibrates. Therefore, it can be said that the user can intuitively grasp that the user is deviating from the direction to proceed, and can also grasp the deviation even in a place where noise such as hustle and bustle is intense.

  FIG. 9 is a diagram illustrating an example of a usage scene of the cane 1 in the embodiment. FIG. 9 shows a state in which a pedestrian 400 is walking on a route entering a branch road 402 that branches right from the road 401. An RF tag 403 is embedded below the ground at the intersection where the road 401 and the branch road 402 intersect. When the pedestrian 400 approaches the RF tag 403, the cane 1 receives the information of the RF tag 403, and the current location The name or the like is output by voice information 420 such as “current location is the intersection in front of the store”. In addition, since the path 410 travels to the branch path 402, the protrusion 21 rotates in the hand holding the cane 1 as shown in FIG. 10, and the direction of movement 430 is changed from the direction of movement 430 to the direction of movement 411. The projection formed by the projection forming unit 20 is rotated in the indicated direction 431, and the traveling direction can be intuitively grasped through the antenna.

  In addition, with the above-described configuration, since the user can operate the cane by hearing and touching, the route can be grasped without using vision, and thus a higher effect can be achieved for a user with weak vision. .

  As mentioned above, although embodiment of this invention was described concretely based on the example of implementation, it is not limited to this, A various change is possible in the range which does not deviate from the summary.

  For example, in the above embodiment, the route is set by setting the destination by voice input in advance, but the present invention is not limited to this. For example, when a dedicated push button or the like is provided in the grip 2 or the like and the button is pressed, a route for guiding to the nearest toilet facility is searched, and thereafter, the guiding direction on the route becomes the traveling direction. May be. By doing so, it is possible to change the route that requires urgentness, and it is possible to go out in an area where there are few opportunities to visit.

  In addition, the cane 1 in the above embodiment is not only a transaction object as a cane, but also a component unit or device that can achieve the same effect as the cane 1 by attaching an additional part to an existing cane. Transactions can be made in units of program parts that realize the operation.

DESCRIPTION OF SYMBOLS 1 ... Cane, 2 ... Gripping part, 3 ... Cane body, 10 ... Wireless communication part, 11 ... Acceleration detection part, 20 ... Projection formation part, 21 ... Projection part 22a, 22b ... reference position index, 23 ... vibration generating unit, 30 ... control unit, 60 ... voice input / output unit

Claims (1)

A radio communication unit that transmits radio waves within a predetermined distance and acquires identification information superimposed on the radio waves received within a predetermined time;
A current location identifying unit that identifies the current location using the identification information;
A name specifying unit for specifying a name according to the current location;
A name output unit for outputting the name by voice;
A route identifying unit that identifies a route to a predetermined destination;
A traveling direction identifying unit that identifies a traveling direction on the route at the current location identified by the current location identifying unit;
A traveling direction indicating unit that indicates a direction according to the traveling direction identified by the traveling direction identifying unit;
And a acceleration detector for detecting the magnitude of the acceleration for two or more axis,
The traveling direction specifying unit is
The direction of detecting positive acceleration of the direction axis having a long acceleration increase / decrease period among the direction axes is specified as the moving direction,
The traveling direction instruction unit
Instructing the relative direction of the traveling direction with reference to the identified moving direction,
A cane characterized by that.

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