JP6707143B2 - Walking assistance vehicle - Google Patents

Description

The present invention relates to a walking assistance vehicle that assists pedestrians in walking.

In Patent Document 1, a base frame extending in the left-right direction, a pillar fixed to the base frame and extending upward, a left wheel provided on the left side of the base frame, and a right wheel provided on the right side of the base frame, A walker equipped with a reversing interlocking mechanism that reciprocally interlocks the up and down movement of one of the left wheel and the right wheel caused by the unevenness of the road surface with the up and down movement of the other. According to the document, the walker can prevent the walker from leaning to the left or right even when one of the left wheel and the right wheel rides on a convex portion of the road surface or enters a concave portion. There is.

JP, 2005-130933, A

However, the walker of Patent Document 1 has a problem that it is not always convenient because it cannot prevent a collision with an obstacle on the road surface such as a step in the traveling direction.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a walking assist vehicle that can improve usability.

A walking assistance vehicle according to the present invention includes a main body, wheels supported by the main body, an obstacle detection unit that detects the presence or absence of an obstacle in front of the main body, a notification unit that notifies information, and at least the notification. A control unit that controls the control unit and a braking device that brakes the wheels, the control unit causes the notification unit to notify the presence of the obstacle when the obstacle is detected, and the notification unit After informing the presence of the obstacle, it is determined whether or not a specific operation is performed within a predetermined time, and when it is determined that the specific operation is not performed, When controlling the braking device based on the distance and determining that the specific operation is performed, it is determined whether or not the distance to the obstacle is equal to or less than a predetermined distance, and the distance to the obstacle is determined. When it is determined that the distance has become equal to or shorter than the predetermined distance, the braking device is controlled to perform an operation of assisting the user when getting over the obstacle.

According to the present invention, the presence of the obstacle can be notified to the user, so that the walking assist vehicle can be prevented from colliding with the obstacle. Therefore, the usability of the walking assistance vehicle can be improved.

1 is a side view showing a configuration of a walking assistance vehicle 500 according to a first embodiment of the present invention. FIG. 3 is a bottom view showing the configuration of a walking assistance vehicle 500 according to the first embodiment of the present invention. FIG. 1 is a front view showing a configuration of a walking assistance vehicle 500 according to Embodiment 1 of the present invention. It is a control block diagram which shows the structure of the auxiliary walking vehicle 500 which concerns on Embodiment 1 of this invention. It is a figure which shows the usage example of the walk auxiliary vehicle 500 which concerns on Embodiment 1 of this invention. It is a figure explaining the obstacle detection principle in the obstacle detection part 200 of the walk auxiliary vehicle 500 which concerns on Embodiment 1 of this invention. It is a figure which shows the example of the output spectrum of the obstacle detection part 200 in the walk auxiliary vehicle 500 which concerns on Embodiment 1 of this invention. FIG. 6 is a diagram showing an example of an output spectrum of the obstacle detection unit 200 when there is no obstacle in the walking assistance vehicle 500 according to the first embodiment of the present invention. In the walking assistance vehicle 500 according to the first embodiment of the present invention, an example of the relationship between the reception signal level at the reception unit 220 of the obstacle detection unit 200 and the distance from the obstacle detection unit 200 to the obstacle will be shown. It is a graph. FIG. 4 is a diagram showing an example of a signal flow from detecting an obstacle to notifying a user of the existence of the obstacle in the walking assistance vehicle 500 according to the first embodiment of the present invention. FIG. 8 is a diagram showing another example of the flow of signals from detecting an obstacle to notifying the user of the existence of the obstacle in the walking assistance vehicle 500 according to the first embodiment of the present invention. 7 is a flowchart showing an example of processing executed by a control unit 420 after detecting an obstacle in the walking assistance vehicle 500 according to the first embodiment of the present invention. 9 is a flowchart showing another example of the processing executed by the control unit 420 after detecting an obstacle in the walking assistance vehicle 500 according to the first embodiment of the present invention. 9 is a flowchart showing yet another example of processing executed by control unit 420 after detecting an obstacle in walking assistance vehicle 500 according to the first embodiment of the present invention.

Embodiment 1.
A walking assistance vehicle according to the first embodiment of the present invention will be described. The walking assist vehicle is a hand cart for assisting the walking of a pedestrian (hereinafter, sometimes referred to as a “user”), and is also called a silver car in Japan. FIG. 1 is a side view showing a configuration of a walking assistance vehicle 500 according to the present embodiment. The left side of FIG. 1 represents the front of the walking assist vehicle 500, the right side of FIG. 1 represents the rear of the walking assist vehicle 500, and the front direction of FIG. 1 represents the left side of the walking assist vehicle 500. The rear direction of FIG. 1 represents the right side of the walking assist vehicle 500. FIG. 2 is a bottom view showing the configuration of walking assistance vehicle 500 according to the present embodiment. The lower part of FIG. 2 represents the front of the walking assistance vehicle 500, the upper part of FIG. 2 represents the rear of the walking assistance vehicle 500, and the left side of FIG. 2 represents the left side of the walking assistance vehicle 500. The right side of FIG. 2 represents the right side of the walking assistance vehicle 500. FIG. 3 is a front view showing a configuration of a walking assistance vehicle 500 according to the present embodiment. The front direction of FIG. 3 represents the front of the walking assist vehicle 500, the right side of FIG. 3 represents the left side of the walking assist vehicle 500, and the left side of FIG. 3 represents the right side of the walking assist vehicle 500. ing. FIG. 4 is a control block diagram showing the configuration of walking assistance vehicle 500 according to the present embodiment. In the following drawings including FIGS. 1 to 4, there are cases where relative dimensional relationships, shapes, and the like of each component are different from actual ones.

As shown in FIGS. 1 to 4, the walking assist vehicle 500 has four wheels including a front left wheel 80a, a front right wheel 80b, a rear left wheel 90a, and a rear right wheel 90b. The front left wheel 80a and the front right wheel 80b are drive wheels to which the drive force from the electric motors 400a and 400b shown in FIG. 4 is transmitted. In the walking assistance vehicle 500 of this example, an electric motor 400a that drives the left front wheel 80a and an electric motor 400b that drives the right front wheel 80b are provided independently. Further, the walking assist vehicle 500 of this example is provided with a braking device 410 that independently brakes each of the left front wheel 80a and the right front wheel 80b. The two electric motors 400a and 400b and the braking device 410 are controlled by the control unit 420. The control unit 420 has a microcomputer including a CPU, ROM, RAM, I/O port and the like. Under the control of the control unit 420, the driving force of the left front wheel 80a and the driving force of the right front wheel 80b are controlled independently of each other. Further, under the control of the control unit 420, the braking force of the left front wheel 80a and the braking force of the right front wheel 80b are controlled independently of each other.

The walking assistance vehicle 500 is capable of turning straight and turning left and right by controlling the driving force of each of the left front wheel 80a and the right front wheel 80b or the braking force of each of the left front wheel 80a and the right front wheel 80b. ing. Each of the left front wheel 80a and the right front wheel 80b may be provided with a rotation speed sensor that detects a rotation speed and outputs a detection signal to the control unit 420. The control unit 420 can calculate the traveling direction, the speed, the turning radius, and the like of the auxiliary walking vehicle 500 by acquiring the rotational speeds of the left front wheel 80a and the right front wheel 80b, respectively. The walking auxiliary vehicle 500 is equipped with a power supply device (not shown) that supplies electric power to the electric motors 400a and 400b, the control unit 420, and the like.

The walking assist vehicle 500 also has a first frame that supports the left front wheel 80a, the right front wheel 80b, the left rear wheel 90a, and the right rear wheel 90b. The first frame is composed of a left frame 70a, a right frame 70b, a front frame 70c and a rear frame 70d each having a rod shape or a tubular shape, and has a frame shape as a whole. The front frame 70c extends in the left-right direction of the walking assistance vehicle 500 and connects the left front wheel 80a and the right front wheel 80b. The rear frame 70d extends in the left-right direction of the auxiliary walking vehicle 500 and connects the left rear wheel 90a and the right rear wheel 90b. The left frame 70a and the right frame 70b each extend in the front-rear direction of the walking assistance vehicle 500, and connect the front frame 70c and the rear frame 70d. The front frame 70c and the left frame 70a are connected by a connecting portion 350. The front frame 70c and the right frame 70b are connected by a connecting portion 351. The rear frame 70d and the left frame 70a are connected by a connecting portion 352. The rear frame 70d and the right frame 70b are connected by a connecting portion 353.

Further, the walking assist vehicle 500 includes the handle 10 for the user to operate the traveling direction and the like, the second frames 20a and 20b, the third frames 30a and 30b, the fourth frames 40a and 40b, the fifth frame 50, and the sixth frame 50. And frames 60a and 60b. The second frames 20a and 20b, the third frames 30a and 30b, and the fourth frames 40a and 40b are frames for connecting the handle 10 and the first frame. The fifth frame 50 is a frame for mounting luggage and the like. The sixth frames 60a and 60b are frames for ensuring the withstand load of the fifth frame 50. Each of the second frame 20a, 20b, the third frame 30a, 30b, the fourth frame 40a, 40b, the fifth frame 50, and the sixth frame 60a, 60b has a rod shape or a tubular shape.

The handle 10 is provided on the rear portion of the walking assistance vehicle 500 so that the user can easily grip the walking assistance vehicle 500 from the rear side. The left end of the handle 10 is connected to the upper end of the second frame 20a. The right end of the handle 10 is connected to the upper end of the second frame 20b. For example, the left end of the handle 10 and the upper end of the second frame 20a are connected by the connecting portion 310.

The lower end of the second frame 20a is connected to the upper end of the third frame 30a, the upper end of the fourth frame 40a, and the left end of the fifth frame 50. The lower end of the second frame 20b is connected to the upper end of the third frame 30b, the upper end of the fourth frame 40b, and the right end of the fifth frame 50. For example, the lower end of the second frame 20a, the upper end of the third frame 30a, the upper end of the fourth frame 40a, and the left end of the fifth frame 50 are connected by the connecting portion 320.

The lower end of the third frame 30a is connected to the leftward portion of the rear frame 70d or the rear end of the left frame 70a. The lower end of the third frame 30b is connected to the rightward portion of the rear frame 70d or the rear end of the right frame 70b. The lower end of the fourth frame 40a is connected to the left side portion of the front frame 70c or the front end of the left frame 70a. The lower end of the fourth frame 40b is connected to the rightward portion of the front frame 70c or the front end of the right frame 70b.

The sixth frame 60a is provided between the left side portion of the fifth frame 50 and the middle portion of the fourth frame 40a. For example, the left side portion of the fifth frame 50 and the upper end of the sixth frame 60a are connected by the connecting portion 330. The lower end of the sixth frame 60a and the intermediate portion of the fourth frame 40a are connected by a connecting portion 340. Similarly, the sixth frame 60b is provided between the right side portion of the fifth frame 50 and the middle portion of the fourth frame 40b.

A first frame including a left frame 70a, a right frame 70b, a front frame 70c, and a rear frame 70d, a second frame 20a, 20b, a third frame 30a, 30b, a fourth frame 40a, 40b, a fifth frame 50, The sixth frame 60a and 60b form a main body of the walking assist vehicle 500.

The front frame 70c is provided with an obstacle detection unit 200 that detects an obstacle in front of the walking assistance vehicle 500 (that is, a predetermined angle range including the traveling direction of the walking assistance vehicle 500). The obstacle detection unit 200 detects an obstacle in front of the walking assistance vehicle 500 using ultrasonic waves, millimeter waves, infrared rays, or the like, and outputs an output signal to the control unit 420. Alternatively, the obstacle detection unit 200 captures a still image or a moving image in front of the walking assistance vehicle 500, and outputs the captured data as an output signal to the control unit 420. The control unit 420 determines the presence or absence of an obstacle in front of the walking assistance vehicle 500 based on the output signal from the obstacle detection unit 200.

The handle 10 is provided with a notification unit 100 that notifies the user of information such as that an obstacle has been detected. Under the control of the control unit 420, the notification unit 100 notifies the user of information using sound, light, vibration, or the like.

In addition, the handle 10 is provided with a button 110 that can be pressed by the user. The button 110 is pressed by the user, for example, when the user recognizes the information notified by the notification unit 100. Pressing the button 110 is an example of a specific operation performed by the user. When the button 110 is pressed, a button pressing signal is output from the button 110 to the control unit 420. Upon receiving the button pressing signal, the control unit 420 can determine that the user has recognized the information notified by the notification unit 100.

FIG. 5: is a figure which shows the usage example of the walk auxiliary vehicle 500 which concerns on this Embodiment. As shown in FIG. 5, the user 600 holds the handle 10 of the walking assistance vehicle 500 and walks on the ground 800 while pushing the walking assistance vehicle 500 from the rear. In the state shown in FIG. 5, between the ground surface 800 on which the user 600 and the walking assistance vehicle 500 are currently located and the ground surface 810 in the traveling direction of the user 600 and the walking assistance vehicle 500, a projection is made with respect to the ground surface 800. There exists a stepped portion 700 (an example of an obstacle). That is, in the state shown in FIG. 5, the user 600 and the walking assistance vehicle 500 are moving toward the step 700. If the walking assistance vehicle 500 travels as it is and the wheels, body, etc. of the walking assistance vehicle 500 collide with the step 700, the impact of the collision may cause the user 600 to lose his/her body balance. Therefore, the control unit 420 of the walking assistance vehicle 500 grasps the position of the step 700 based on the output signal output from the obstacle detection unit 200 in advance, and notifies the step unit 700 that the step 700 is approaching. Notify the user 600. In addition, the control unit 420 controls the braking device 410 or the electric motors 400a and 400b as necessary to change the traveling direction of the walking assistance vehicle 500 so as to avoid the step 700, or to assist the walking in front of the step 700. The vehicle 500 is decelerated or stopped. Further, the control unit 420 may perform control to alert the user 600 and temporarily increase the driving force of the electric motors 400a and 400b when getting over the step 700. Accordingly, the user 600 and the walking assistance vehicle 500 can smoothly travel from the ground surface 800 to the ground surface 810.

FIG. 6 is a diagram for explaining the principle of obstacle detection by the obstacle detection unit 200 of the walking assistance vehicle 500 according to the present embodiment. Here, the obstacle detection unit 200 of this example is assumed to be an ultrasonic sensor. As shown in FIG. 6, the obstacle detection unit 200 is provided in front of the walking assistance vehicle 500 to transmit a ultrasonic wave 230 and adjacent to the transmission unit 210, and an obstacle (for example, a step 700). And a receiving unit 220 that receives the ultrasonic wave 240 reflected by. Thereby, the obstacle detection unit 200 can detect the presence or absence of an obstacle in front of the walking assistance vehicle 500. As the obstacle other than the step 700, for example, a utility pole, a fire hydrant, a vehicle, or the like is assumed. The obstacle detection unit 200 is operating at least when the walking assistance vehicle 500 is moving forward. The obstacle detection unit 200 may be activated only when the walking assistance vehicle 500 is moving forward.

FIG. 7 is a diagram showing an example of an output spectrum of obstacle detection unit 200 in walking assistance vehicle 500 according to the present embodiment. The horizontal axis of FIG. 7 represents the propagation distance of ultrasonic waves calculated from the time from the transmission of ultrasonic waves to the reception. The vertical axis represents the reception signal level at the reception unit 220 of the obstacle detection unit 200. As shown in FIG. 6, a part of the ultrasonic waves 230 transmitted from the transmission unit 210 is reflected by an obstacle (eg, step 700) and returns to the reception unit 220 as ultrasonic waves 240. When the distance from the obstacle detection unit 200 to the obstacle is X, the distance that the ultrasonic waves propagate is about 2X. Therefore, in the output spectrum of the obstacle detection unit 200, a high-level received signal is observed at point A corresponding to a distance of about 2X from the origin. That is, in the output spectrum of the obstacle detection unit 200, Y=2X, where Y is the distance from the origin to point A where the received signal level is maximum. Therefore, the actual distance X from the obstacle detection unit 200 to the obstacle can be represented by X=Y/2.

FIG. 8 is a diagram showing an example of the output spectrum of the obstacle detection unit 200 when there is no obstacle in the walking assistance vehicle 500 according to the present embodiment. As shown in FIG. 8, when there is no obstacle near the obstacle detection unit 200, the peaks shown in FIG. 7 are not observed in the output spectrum of the obstacle detection unit 200.

As described above, the control unit 420 can determine the presence or absence of an obstacle and the distance to the obstacle based on the output spectrum output from the obstacle detection unit 200. For example, the ROM of the control unit 420 stores a threshold value of the reception signal level (for example, absolute value) in advance. The control unit 420 determines that there is no obstacle in the output spectrum of the obstacle detection unit 200 when a mountain having a received signal level equal to or higher than the threshold does not exist, and a mountain having a received signal level equal to or higher than the threshold exists. If it does, it is determined that there is an obstacle. Further, when it is determined that the obstacle exists, the control unit 420 can obtain the distance X from the obstacle detection unit 200 to the obstacle based on the output spectrum of the obstacle detection unit 200.

FIG. 9 is an example of the relationship between the reception signal level at the reception unit 220 of the obstacle detection unit 200 and the distance from the obstacle detection unit 200 to the obstacle in the walking assistance vehicle 500 according to the present embodiment. It is a graph shown. The horizontal axis of FIG. 9 represents the distance from the obstacle detection unit 200 to the obstacle. The vertical axis represents the received signal level at the point where the received signal level is maximum in the output spectrum of the obstacle detection unit 200. As shown in FIG. 9, the reception signal level at the obstacle detection unit 200 increases as the distance from the obstacle detection unit 200 to the obstacle decreases even if the obstacles are the same. The smaller the distance from to the obstacle, the smaller the distance. Therefore, the threshold value for determining the presence or absence of an obstacle may be changed based on the distance from the obstacle detection unit 200 to the obstacle.

Further, the control unit 420, based on the relationship between the received signal level at the point where the received signal level is maximum in the output spectrum of the obstacle detection unit 200 and the distance from the obstacle detection unit 200 to the obstacle, The size of the obstacle (for example, the height from the ground) can be estimated. As a result, the control unit 420 controls the walking assist vehicle 500 based on the estimated size of the obstacle and information stored in the ROM in advance (for example, information on the diameters of the left front wheel 80a and the right front wheel 80b). It can be determined whether or not the obstacle can be overcome. The obstacle detection unit 200 may include a plurality of sets of transmission units 210 and reception units 220 arranged at different height positions. Accordingly, the presence or absence of an obstacle can be detected for each placement height of the set of the transmitting unit 210 and the receiving unit 220, and thus the overall height of the obstacle can be estimated more accurately.

FIG. 10 is a diagram showing an example of a signal flow in the walking assistance vehicle 500 according to the present embodiment from the detection of an obstacle to the notification of the existence of the obstacle to the user. As shown in FIG. 10, the obstacle detection unit 200 first generates a spectrum as shown in FIGS. 7 and 8 based on the signal received by the reception unit 220. The spectrum generated by the obstacle detection unit 200 is output from the obstacle detection unit 200 to the obstacle determination unit 941 via the first signal transmission unit 931 (for example, a signal line). The obstacle determining unit 941 is a functional block realized by the control unit 420 executing a predetermined program, for example. The obstacle determining unit 941 determines that there is no obstacle when there is no mountain having a reception signal level equal to or higher than a preset threshold value in the output spectrum of the obstacle detection unit 200, and the obstacle determination unit 941 is equal to or higher than the threshold value. If a mountain having the received signal level of 1 exists, it is determined that an obstacle exists.

When the obstacle determining unit 941 determines that an obstacle is present, the obstacle determining unit 941 outputs, for example, a high-level signal to the notification unit 100 via the second signal transmitting unit 951 (for example, a signal line). On the other hand, when the obstacle determining unit 941 determines that there is no obstacle, the obstacle determining unit 941 outputs, for example, a low level signal to the notification unit 100 via the second signal transmitting unit 951. The threshold level of the signal transmitted to the second signal transmission means 951 may be changed.

When the notification unit 100 receives, for example, a high-level signal from the obstacle determination unit 941, the notification unit 100 notifies the user of the presence of the obstacle by sound, light, vibration, or the like. As a result, the presence of the obstacle can be recognized by the user, so that the walking assistance vehicle 500 can be prevented from coming into contact with the obstacle. Therefore, the usability of the walking assistance vehicle 500 can be improved.

FIG. 11 is a diagram showing another example of the signal flow from the detection of an obstacle to the notification of the presence of the obstacle to the user in the walking assistance vehicle 500 according to the present embodiment. In the example shown in FIG. 11, compared with the example shown in FIG. 10, the third signal transmitting means 961 and the braking device 410 are added. In this example, when the obstacle determining unit 941 determines that an obstacle is present, not only to the notification unit 100 but also to the braking device 410 via the third signal transmitting unit 961 (for example, a signal line). Also, for example, a high level signal is output. In addition, when the obstacle determining unit 941 determines that there is no obstacle, the obstacle determining unit 941 not only notifies the alarm unit 100 but also the braking device 410 via the third signal transmitting unit 961. The signal of is output. The threshold levels of the signals transmitted to the second signal transmitting means 951 and the third signal transmitting means 961 may be changed to the same value or different values. Further, the obstacle determining means 941 may output the high level signal or the low level signal to the electric motors 400a and 400b as necessary.

When the braking device 410 receives, for example, a high-level signal from the obstacle determination means 941, it brakes the left front wheel 80a and the right front wheel 80b to reduce the speed of the walking auxiliary vehicle 500. As a result, it is possible to more reliably prevent the walking assistance vehicle 500 from contacting the obstacle. Further, the presence of the obstacle can be notified to the user by decelerating the walking assistance vehicle 500.

In the above description, the presence/absence of an obstacle, the distance to the obstacle, and whether or not the obstacle can be overcome are determined based on the output of the obstacle detection unit 200 using ultrasonic waves. ing. However, these determinations may be performed based on the output signal of the obstacle detection unit 200 that uses millimeter waves or infrared rays, or based on the output signal of the obstacle detection unit 200 that captures a still image or a moving image. May be performed.

FIG. 12 is a flowchart showing an example of processing executed by control unit 420 after detecting an obstacle in walking assistance vehicle 500 according to the present embodiment. In step S1 of FIG. 12, the control unit 420 determines whether or not the walking assistance vehicle 500 can get over an obstacle based on the output spectrum of the obstacle detection unit 200 and the like. If it is determined that the walking assist vehicle 500 cannot get over the obstacle, the process proceeds to step S2.

In step S2, the control unit 420 causes the notification unit 100 to notify the presence of the obstacle. This allows the user to recognize the presence of the obstacle. In addition to the notification of the presence of the obstacle, the notification unit 100 may also notify the user of performing a specific operation when the notification content is recognized. The specific operation includes, for example, pressing the button 110, decelerating or stopping the walking assistance vehicle 500, and changing the traveling direction of the walking assistance vehicle 500 so as to avoid an obstacle.

Next, in step S3, the control unit 420 determines whether or not the user has performed the specific operation within a predetermined time after the notification by the notification unit 100. When it is determined that the specific operation has been performed, the processing is ended as it is. This is because it can be determined that the user recognizes the existence of an obstacle that the walking assist vehicle 500 cannot get over when a specific operation is performed. When the user recognizes the existence of the obstacle, it is possible to prevent the walking assistance vehicle 500 from coming into contact with the obstacle by the user's operation without the assistance vehicle 500 performing a special assisting operation. On the other hand, when it is determined that the specific operation is not performed, the process proceeds to step S4.

In step S4, the control unit 420 determines whether or not the distance from the obstacle detection unit 200 to the obstacle is less than the preset distance C. When it is determined that the distance from the obstacle detection unit 200 to the obstacle is less than the distance C, the braking device 410 starts decelerating the walking auxiliary vehicle 500 (step S5). As a result, the speed of the walking assistance vehicle 500 becomes slower as it approaches an obstacle, for example.

Next, in step S6, the control unit 420 determines whether or not the distance from the obstacle detection unit 200 to the obstacle is less than a preset distance D. Here, the distance D is a distance longer than 0 m and shorter than the distance C (0 m<D<C). When it is determined that the distance from the obstacle detection unit 200 to the obstacle is less than the distance D, the braking device 410 forcibly stops the walking assist vehicle 500 (step S7). Accordingly, even when the user does not recognize the existence of the obstacle that the walking assist vehicle 500 cannot get over, the walking assist vehicle 500 can be stopped before the walking assist vehicle 500 contacts the obstacle. .. Since the backward movement is allowed even when the walking assistance vehicle 500 is forcibly stopped, the walking assistance vehicle 500 can avoid the obstacle by the operation of the user.

If it is determined in step S1 that the walking assistance vehicle 500 can get over an obstacle, the process proceeds to step S8.

In step S8, as in step S2, the control unit 420 causes the notification unit 100 to notify the presence of the obstacle. This allows the user to recognize the presence of the obstacle. In addition to the notification of the presence of the obstacle, the notification unit 100 may perform a notification that prompts the user to perform a specific operation when the notification content is recognized. The specific operation includes, for example, pressing the button 110, decelerating or stopping the walking assistance vehicle 500, and changing the traveling direction of the walking assistance vehicle 500 so as to avoid an obstacle.

Next, in step S9, similarly to step S3, the control unit 420 determines whether or not the user has performed the specific operation within a predetermined time after the notification by the notification unit 100. When it is determined that the specific operation has been performed, the processing is ended as it is. This is because it is possible to determine that the user recognizes the existence of an obstacle over which the walking assistance vehicle 500 can get over when a specific operation is performed. When the user recognizes the existence of the obstacle, the walking assist vehicle 500 can get over the obstacle by the operation of the user without the need for the walking assist vehicle 500 to perform a special support operation. If it is determined that the specific operation is not performed, the process proceeds to step S10.

In step S10, the control unit 420 determines whether or not the distance from the obstacle detection unit 200 to the obstacle is less than the distance C. When it is determined that the distance from the obstacle detection unit 200 to the obstacle is less than the distance C, the braking device 410 starts decelerating the walking assist vehicle 500 (step S11). As a result, the speed of the walking assistance vehicle 500 becomes slower as it approaches an obstacle, for example. By forcibly decelerating the walking assist vehicle 500, the user can be made aware of the presence of an obstacle.

Next, in step S12, the control unit 420 determines whether or not the distance from the obstacle detection unit 200 to the obstacle is less than the distance D. Here, the distance D is longer than 0 m and shorter than the distance C in step S10 (0 m<D<C). However, the distance D in step S12 does not necessarily have to be the same as the distance D in step S6. When it is determined that the distance from the obstacle detection unit 200 to the obstacle is less than the distance D, the obstacle passing assist is executed (step S13). The obstacle getting over assist is an operation of assisting the user when the walking assist vehicle 500 gets over an obstacle. A specific example of the obstacle overcoming assist includes an operation of temporarily increasing the driving force of the electric motors 400a and 400b. By executing the obstacle get-over assist, the operation load on the user required for the walking assist vehicle 500 to get over the obstacle is reduced.

According to the processing of steps S10 to S13, the presence of the obstacle is forcibly decelerated by the walking assist vehicle 500 even for the user who cannot recognize the presence of the obstacle only by the notification of the notification unit 100. Can be recognized more reliably. Further, when the walking assistance vehicle 500 gets over an obstacle, the user can be assisted by the obstacle getting over assist.

FIG. 13 is a flowchart showing another example of the processing executed by control unit 420 after detecting an obstacle in walking assistance vehicle 500 according to the present embodiment. Steps S21 to S33 in FIG. 13 are similar to steps S1 to S13 in FIG.

In the example shown in FIG. 13, when it is determined in step S29 that the specific operation is performed, the process proceeds to step S34. In step S34, the control unit 420 determines whether or not the distance from the obstacle detection unit 200 to the obstacle is less than the distance D. When it is determined that the distance from the obstacle detection unit 200 to the obstacle is less than the distance D, the process proceeds to step S35.

In step S35, the control unit 420 determines whether or not to execute obstacle overcoming assist. For example, the user may be allowed to select whether or not obstacle overpass assistance is necessary, and the control unit 420 may determine whether or not to execute obstacle overpass assistance based on the user selection. .. When it is determined that the obstacle get-over assist is executed, the process proceeds to step S36, and the obstacle get-over assist is executed. On the other hand, when it is determined that the obstacle overcoming assist is not executed, the processing is ended as it is.

According to the example shown in FIG. 13, even if the user is able to recognize the existence of the obstacle by the notification of the notification unit 100, the obstacle getting over assist can be executed if necessary.

FIG. 14 is a flowchart showing yet another example of the process executed by control unit 420 after detecting an obstacle in walking assistance vehicle 500 according to the present embodiment. In the example illustrated in FIG. 14, when the control unit 420 determines that the walking assist vehicle 500 cannot climb over the obstacle (No in step S41), steps S42 to S45 similar to steps S4 to S7 in FIG. 12 are performed. Process. On the other hand, when it is determined that the walking assist vehicle 500 can get over the obstacle (Yes in step S41), the control unit 420 performs steps S46 to S49 similar to steps S10 to S13 in FIG. That is, in the example shown in FIG. 14, it is possible to omit the notification of the presence of the obstacle by the notification unit 100 and the determination as to whether or not the user has performed a specific operation. Therefore, since the notification unit 100, the button 110, and the like can be omitted, the configuration of the walking auxiliary vehicle 500 can be further simplified.

As described above, the walking assist vehicle 500 according to the present embodiment includes the main body (for example, the first frame, the second frames 20a and 20b, the third frames 30a and 30b, the fourth frames 40a and 40b, and the fifth frame). 50, sixth frame 60a, 60b), wheels supported by the main body (for example, left front wheel 80a, right front wheel 80b, left rear wheel 90a, right rear wheel 90b) and presence of obstacles in front of the main body The obstacle detection unit 200, the notification unit 100 that notifies information, and the control unit 420 that controls at least the notification unit 100 are provided. The control unit 420 is configured to notify the presence of the obstacle to the notification unit 100 when the obstacle is detected.

According to this configuration, the presence of the obstacle can be notified to the user, so that the walking auxiliary vehicle 500 can be prevented from colliding with the obstacle. Therefore, the usability of the walking assistance vehicle 500 can be improved.

The walking assistance vehicle 500 according to the present embodiment further includes a braking device 410 that brakes the wheels. The control unit 420 determines whether or not a specific operation is performed after the notification unit 100 is notified of the presence of the obstacle, and if it is determined that the specific operation is not performed, the control unit 420 determines The braking device 410 is configured to be controlled based on the distance.

When the user does not perform the specific operation, it can be determined that the user does not recognize the existence of the obstacle despite the notification by the notification unit 100. Therefore, according to this configuration, even when the user does not recognize the existence of the obstacle, the walking assist vehicle 500 can be decelerated or stopped before the walking assist vehicle 500 collides with the obstacle.

In walking assistance vehicle 500 according to the present embodiment, control unit 420 is configured not to control braking device 410 when it is determined that a specific motion is performed.

When the user performs a specific operation, it can be determined that the user recognizes the existence of the obstacle. Therefore, according to this configuration, it is possible to prevent the walking auxiliary vehicle 500 from colliding with an obstacle by the user's operation without controlling the braking device 410.

The walking assistance vehicle 500 according to the present embodiment further includes a braking device 410 that brakes the wheels. The control unit 420 determines whether or not the obstacle can be overcome based on the output signal of the obstacle detection unit 200. When it is determined that the obstacle cannot be overcome, the control unit 420 determines the braking device based on the distance to the obstacle. It is configured to control 410.

According to this structure, when the obstacle cannot be overcome, the walking assistance vehicle 500 can be decelerated or stopped before the walking assistance vehicle 500 contacts the obstacle.

The walking assistance vehicle 500 according to the present embodiment further includes a motor that drives wheels (for example, electric motors 400a and 400b). The control unit 420 is configured to control the motor so as to assist in getting over the obstacle when it is determined that the vehicle can get over the obstacle.

According to this configuration, it is possible to reduce a user's operation load required for the walking assistance vehicle 500 to get over an obstacle.

In the walking assistance vehicle 500 according to the present embodiment, the notification unit 100 may notify the presence of the obstacle by using sound, light, or vibration. Further, in the walking assistance vehicle 500 according to the present embodiment, the obstacle detection unit 200 may detect the presence or absence of an obstacle using ultrasonic waves, millimeter waves, infrared rays, still images or moving images.

The present invention is not limited to the above-mentioned embodiment, and various modifications can be made.
For example, in the above embodiment, the front wheel drive walking auxiliary vehicle 500 in which the left front wheel 80a and the right front wheel 80b are driven has been taken as an example, but the present invention is also applicable to a rear wheel driving or four wheel driving walking auxiliary vehicle. Applicable.

Further, in the above embodiment, the walking assist vehicle 500 including the braking device 410 that brakes the left front wheel 80a and the right front wheel 80b is taken as an example, but the braking device 410 is not limited to the left front wheel 80a and the right front wheel 80b. The left rear wheel 90a and the right rear wheel 90b may also be able to brake.

10 handle, 20a, 20b second frame, 30a, 30b third frame, 40a, 40b fourth frame, 50 fifth frame, 60a, 60b sixth frame, 70a left frame, 70b right frame, 70c front frame, 70d rear frame, 80a left front wheel, 80b right front wheel, 90a left rear wheel, 90b right rear wheel, 100 notification section, 110 button, 200 obstacle detection section, 210 transmission section, 220 reception section, 230, 240 ultrasonic wave, 310 , 320, 330, 340, 350, 351, 352, 353 connection part, 400a, 400b electric motor, 410 braking device, 420 control part, 500 walking assist vehicle, 600 user, 700 steps, 800, 810 ground surface, 931 1st Signal transmitting means, 941 obstacle determining means, 951 second signal transmitting means, 961 third signal transmitting means.

Claims (3)

Body,
Wheels supported by the body,
An obstacle detection unit that detects the presence or absence of an obstacle in front of the main body,
An informing section for informing information,
At least a control unit for controlling the notification unit,
A braking device for braking the wheel,
The control unit is
When the obstacle is detected, the notification unit notifies the presence of the obstacle,
After informing the presence of the obstacle in the notification unit, it is determined whether or not a specific operation is performed within a predetermined time ,
When it is determined that the specific operation is not performed, the braking device is controlled based on the distance to the obstacle,
When it is determined that the specific operation is performed, it is determined whether the distance to the obstacle is equal to or less than a predetermined distance,
When it is determined that the distance to the obstacle is less than or equal to the predetermined distance, the braking device is controlled so as to perform an operation to assist the user when getting over the obstacle. .. The walking assistance vehicle according to claim 1, wherein the notification unit notifies the presence of the obstacle using sound, light, or vibration. The walking assistance vehicle according to claim 1 or 2, wherein the obstacle detection unit detects the presence or absence of the obstacle using ultrasonic waves, millimeter waves, infrared rays, still images, or moving images.

Images