JP7191456B2 - Personal mobility, obstacle detection system and wheelchair - Google Patents

Description

The present invention mainly relates to technology for detecting obstacles in personal mobility such as electric wheelchairs.

As a technology for detecting obstacles in personal mobility, the front of the electric wheelchair is measured three-dimensionally using a 3D scanner, and if an obstacle such as a step is detected within a predetermined distance in front of the electric wheelchair, A technique for stopping a wheelchair is known (for example, Patent Document 1).

JP 2017-117205 A

For example, even if the steps are the same, whether or not the steps impede the progress of the personal mobility user will differ depending on the characteristics of the personal mobility and the characteristics of the user of the personal mobility.

If a level difference or the like that does not hinder the progress of the user of personal mobility is detected as an obstacle and the personal mobility is stopped, the benefit of the user's use of personal mobility is reduced.
However, according to the technology described above, the obstacle is detected without considering the characteristics of the personal mobility and the characteristics of the user of the personal mobility.

Accordingly, an object of the present invention is to detect an obstacle that truly hinders the progress of a user of personal mobility or a wheelchair.

In order to achieve the above object, the present invention is a personal mobility used for movement of a user, when the personal mobility passes through a portion having a shape that may hinder the traveling of the personal mobility, Passage history recording means for recording a passage history in which the behavior of the personal mobility and attributes affecting the degree of obstacles in traveling of the personal mobility of the relevant portion are registered; An obstacle candidate detecting means for detecting a portion having a shape that may hinder traveling as an obstacle candidate, and an attribute matching the attribute of the obstacle candidate detected by the obstacle candidate detecting means are registered. If the behavior of the personal mobility device registered in the passage history is outside a predetermined behavioral allowable range, the obstacle candidate is detected as an obstacle, and the obstacle candidate is detected as an obstacle within the predetermined behavioral allowable range. an obstacle detection means that does not detect the obstacle candidate as an obstacle in a certain case; and obstacle avoidance support that assists the personal mobility in avoiding the obstacle when the obstacle detection means detects the obstacle. means.

Here, in such a personal mobility, when the personal mobility passes through the obstacle candidate detected by the obstacle candidate detection means, the passage history recording means records the behavior of the personal mobility and the obstacle It may be configured to record the passage history in which the attribute of the object candidate is registered.

Further, in the personal mobility described above, the portion having a shape that may hinder the traveling of the personal mobility may include a portion that is a step, and in this case, the attribute of the portion that is the step is You may make it include the height of a step.

Further, in the above personal mobility, the portion having a shape that may hinder the running of the personal mobility may include a portion that is a groove, and in this case, the attribute of the portion that is the groove is The depth of the groove may be included.

Further, in the above personal mobility, the portion having a shape that may hinder the traveling of the personal mobility may include a portion that is a slope, and in this case, the attribute of the portion that is the slope is You may make it include the slope of a slope.

In the above personal mobility, the obstacle avoidance support means may output an alarm or stop traveling of the personal mobility when the obstacle detection means detects the obstacle. good.

According to the personal mobility as described above, the personal It is possible to accurately predict the behavior of personal mobility when it passes through an obstacle candidate in front of the mobility. Since an obstacle is detected when the behavior predicted with high accuracy is out of the allowable range, it is possible to detect an obstacle that would really hinder the user's progress.

The present invention also provides an obstacle detection system including the personal mobility described above and a management server that the personal mobility can access via wireless communication. Here, the management server provides a passage history recording service for recording the passage history in the management server and a passage history providing service for providing the passage history recorded in the management server. Further, the passage history recording means of the personal mobility uses the passage history recording service to record the passage history in the management server, and the obstacle detection means uses the passage history providing service. to acquire the passage history in which an attribute matching the attribute of the obstacle candidate detected by the obstacle candidate detection means recorded in the management server is registered.

According to such an obstacle detection system, it becomes possible to share the passage history generated in each personal mobility.
Here, in such an obstacle detection system, each passage history is stored in the personal mobility or the personal mobility of the user of the personal mobility provided with the passage history recording means for recording the passage history in the management server. It is recorded in association with a class representing a class to which the individual characteristic, which is a characteristic that affects behavior, belongs, and is recorded in association with the class to which the individual characteristic of the personal mobility belongs in the obstacle detection means of the personal mobility. The passage history in which an attribute matching the attribute of the obstacle candidate detected by the obstacle candidate detection means is registered is acquired from the management server. good.

By doing so, in each personal mobility, it is possible to suppress the use of the passage history generated in other personal mobility that affects the behavior of personal mobility and other personal mobility that has different user characteristics from its own personal mobility. , it becomes possible to more appropriately detect obstacles that truly hinder progress.

In addition, the present invention also provides the behavior of the wheelchair when the wheelchair passes through a portion having a shape that may impede the movement of the wheelchair, and the behavior of the wheelchair at the portion that impedes the movement of the wheelchair. passage history recording means for recording a passage history in which attributes influencing the degree of movement are registered; Behavior of the wheelchair registered in the passage history in which an attribute matching the attribute of the obstacle candidate detected by the object candidate detection means and the obstacle candidate detection means is registered is a predetermined behavior. an obstacle detection means that detects the obstacle candidate as an obstacle when it is out of the allowable range, and does not detect the obstacle candidate as an obstacle when it is within the predetermined allowable range of the behavior. also provide.

As described above, according to the present invention, it is possible to detect obstacles that truly impede the progress of personal mobility and wheelchair users.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the electric wheelchair which concerns on the 1st Embodiment of this invention. 1 is a block diagram showing the configuration of an electric wheelchair traveling system according to a first embodiment of the present invention; FIG. It is a figure which shows the obstacle candidate detected in the 1st Embodiment of this invention, and a behavior detection period. 4 is a diagram showing a passage history table according to the first embodiment of the present invention; FIG. 4 is a flowchart showing passage history registration processing according to the first embodiment of the present invention; It is a flow chart which shows obstacle detection processing concerning a 1st embodiment of the present invention. FIG. 3 is a block diagram showing the configuration of an electric wheelchair traveling system and an obstacle information management system according to a second embodiment of the present invention; FIG. 9 shows a passage history database and an obstacle database according to a second embodiment of the present invention; FIG.

Hereinafter, embodiments of the present invention will be described by taking an application to an electric wheelchair as an example.
First, the first embodiment will be described.
FIG. 1a shows a power wheelchair according to a first embodiment.
As shown, the power wheelchair is a four-wheeled device with a chair for the user to sit on and a travel system for non-human-powered travel.
However, the electric wheelchair according to the first embodiment may be an electric wheelchair of other types, such as a cart type as shown in FIG. 1b.
FIG. 2 shows the configuration of the traveling system for the electric wheelchair.
As illustrated, the traveling system includes a self-propelled system 1, a motion sensor 2, a three-dimensional measuring device 3, and a control device 4.
The self-propelled system 1 is a system that allows an electric wheelchair to run according to a user's driving operation, and receives a battery, a motor that rotates the drive wheels of the electric wheelchair using the battery as a power source, and a user's driving operation. It consists of levers, switches, and brakes.

Also, the motion sensor 2 is a sensor that detects various behaviors of the electric wheelchair such as inclination and acceleration of the electric wheelchair.
The three-dimensional measuring device 3 is a device that scans the area in front of the electric wheelchair as shown in FIGS. 1a and 1b and three-dimensionally measures the position and shape of an object in front of the electric wheelchair. Here, as the three-dimensional measuring device 3, a three-dimensional measuring device or the like that three-dimensionally measures the front using a 3D scanner or a stereo camera can be used.

Next, the control device 4 is a device that detects an obstacle in front of the electric wheelchair and outputs an alarm or stops the electric wheelchair via the self-propelled system 1. As illustrated, A passage history registration unit 41 , a passage history storage unit 42 , an obstacle candidate detection unit 43 , an obstacle detection unit 44 , an alarm device 45 and an allowable level memory 46 are provided.

The obstacle candidate detection unit 43 detects an object that may hinder the movement of the electric wheelchair as an obstacle candidate based on the position and shape of the object in front of the electric wheelchair measured by the three-dimensional measuring device 3. Detect the relative position to the three-dimensional structure and the electric wheelchair.

Here, the obstacle candidate detection unit 43 detects a step 301 in front of the electric wheelchair as shown in FIG. 3a1, a groove 302 in front of the electric wheelchair as shown in FIG. A slope 303 or the like in front of the electric wheelchair is detected as an obstacle candidate based on the shape of the object in front measured by the three-dimensional measuring device 3 .

Next, the passage history table shown in FIG. 4 is registered in the passage history storage unit 42 .
As illustrated, in the passage history table, a passage history (each line in the figure) corresponding to each time the electric wheelchair passes through the obstacle candidate detected by the obstacle candidate detection unit 43 is registered.
Each passage history includes an obstacle attribute that indicates the attributes of an obstacle candidate passed in the corresponding time as an obstacle, and a passage history that indicates the behavior of the electric wheelchair when passing the obstacle candidate in the corresponding time. Time behavior is registered.

In addition, as the obstacle attributes, the obstacle type indicating the type of the obstacle candidate passed in the corresponding round as an obstacle, and the structure attribute indicating the attribute of the structure that becomes the obstacle of the obstacle candidate passed in the corresponding round is registered. Here, as the obstacle type, step (up), step (down), groove, slope (up), slope (down), etc. are registered. In addition, as structural attributes, for step (up) and step (down), the height of the step, for the groove, the depth and width of the groove, and for the slope (up) slope (down), the slope and length to register.

Next, as the behavior when passing, the maximum value MaxF, average value AveF, and duration TF of the vibration of the electric wheelchair when passing the obstacle candidate in the corresponding times, and the obstacle candidate passing in the corresponding times Register the maximum value Maxθ of the tilt angle of the electric wheelchair at the time.

The passage history registration unit 41 performs the passage history registration process shown in FIG. 5 to register each passage history in the passage history table.
As shown in the figure, in the passage history registration process, the passage history registration unit 41 moves the electric wheelchair forward toward the obstacle candidate based on the relative position of the obstacle candidate detected by the obstacle candidate detection unit 43. An approach within a distance (for example, within 50 cm) is monitored, and when an obstacle candidate is approached (step 502), recording of the behavior of the electric wheelchair detected by the motion sensor 2 is started (step 504).

Then, based on the relative position of the obstacle candidate detected by the obstacle candidate detection unit 43 and the travel trajectory of the electric wheelchair, generation of traveling of the electric wheelchair avoiding the approaching obstacle candidate (step 506), and monitor the occurrence of passage of approaching obstacle candidates (step 508).

The self-propelled system 1 notifies the passage history registration unit 41 and the obstacle detection unit 44 of information on how the electric wheelchair is driven as travel information, and the passage history registration unit 41 is notified. The trajectory of the electric wheelchair is calculated from the travel information obtained.

When the electric wheelchair runs to avoid the approaching obstacle candidate (step 506), recording of the behavior of the electric wheelchair detected by the motion sensor 2 is stopped (step 514). Return to the processing from 502 .

On the other hand, when an approaching obstacle candidate passes (step 508), recording of the behavior of the electric wheelchair is stopped (step 510).
As a result, the recorded behavior of the electric wheelchair is the behavior of the electric wheelchair during passage of the obstacle candidates 301, 302 and 303 as shown in FIGS. 3a2, b2 and c3.
Therefore, next, a passage history is generated from the recorded behavior of the electric wheelchair, and the passage history is registered in the passage history table (step 512).
Here, in step 512, for the obstacle candidate whose passage was detected in step 508, from the three-dimensional structure calculated by the obstacle candidate detection unit 43, the above-described obstacle type and structural attributes are calculated, and the generated passage history is generated. Obstacle attribute.

However, the structural attributes may be calculated from the recorded behavior of the powered wheelchair. That is, the gradient of a slope, the height of a step, and the like may be calculated from the inclination history of the electric wheelchair indicated by the recorded behavior of the electric wheelchair and used as structural attributes.

In step 512, based on the recorded behavior of the electric wheelchair detected by the motion sensor 2, the maximum vibration value of the electric wheelchair when passing the obstacle candidate detected in step 508 is calculated. Calculate MaxF, average value AveF, duration TF, maximum tilt angle Maxθ of the electric wheelchair, time T required to pass through the obstacle candidate, etc., and use them as the behavior when passing the generated passage history.

Then, when the passage history is registered in the passage history table, the processing from step 502 is returned to.
The passage history registration processing performed by the passage history registration unit 41 has been described above.
Next, obstacle detection processing performed by the obstacle detection unit 44 will be described.
FIG. 6 shows the procedure of this obstacle detection processing.
As shown in the figure, in the obstacle detection process, the obstacle detection unit 44 moves the electric wheelchair forward toward the obstacle candidate based on the relative position of the obstacle candidate detected by the obstacle candidate detection unit 43. The occurrence of approaches within a distance (eg, within 1.5 m) is monitored (step 602).

Then, when the obstacle candidate is approached (step 602), the above-mentioned obstacle type and structural attributes are calculated as obstacle attributes from the three-dimensional structure calculated by the obstacle candidate detection unit 43 for the approaching obstacle candidate. Then, it is checked whether or not the passage history registered with the obstacle attribute matching the calculated obstacle attribute exists in the passage history table (step 604).

Here, the obstacle attribute that matches the calculated obstacle attribute means that the same obstacle type as the obstacle type indicated by the calculated obstacle attribute is registered and matches the structural attribute indicated by the calculated obstacle attribute. Obstacle attributes for which structural attributes are registered. However, if the same obstacle type as the obstacle type indicated by the calculated obstacle attribute is registered, and the structural attribute indicates that the degree of obstacle is lower than the structural attribute indicated by the calculated An obstacle attribute registered with a structure attribute similar to the structure attribute indicated by the obstacle attribute may also be set as an obstacle attribute that matches the calculated obstacle attribute. If the obstacle type is the structural attribute of steps, the structural attribute with the smaller height is the structural attribute with the lower degree of obstacle, and if the obstacle type is the structural attribute of the groove, the structural attribute with the smaller depth. is a structure attribute with a lower degree of obstacle, and if the obstacle type is a slope structure attribute, a structure attribute with a smaller gradient is a structure attribute with a lower degree of obstacle.

If there is no passage history (step 606), an alarm such as a buzzer sound is output from the alarm device 45 (step 622), and the processing from step 602 is returned to.
On the other hand, if there is a passage history, it is checked whether the passing behavior of the existing passage history is within the permissible level registered in advance in the permissible level memory 46 (step 608).

Here, in the allowable level memory 46, the maximum value, average value, and duration of vibration that are allowed for the user of the electric wheelchair are set according to the degree of disability and physical strength of the user of the electric wheelchair. Acceptable levels include the range, the range of tilt angles of power wheelchairs that are acceptable for users of power wheelchairs, and the range of time that it takes for users of power wheelchairs to cross steps and grooves. Pre-registered.

Then, the obstacle detection unit 44 detects the maximum value MaxF, the average value AveF, the duration TF, the maximum value Maxθ of the inclination angle of the electric wheelchair, and the obstacle candidate, which are indicated by the behavior during passage in the existing passage history. If the time T required to pass is within the allowable range for the user of the electric wheelchair indicated by the allowable level, the behavior at the time of passage in the existing passage history is determined to be within the allowable level, and must be within the allowable range. It is determined that the passing behavior of the existing passing history is not within the allowable level.

Then, if the passing behavior of the existing passing history is within the allowable level registered in advance in the allowable level memory 46 (step 608), the processing from step 602 is returned to.
On the other hand, if the passing behavior of the existing passing history is not within the allowable level registered in advance in the allowable level memory 46 (step 608), the alarm device 45 outputs an alarm such as a buzzer sound (step 610).

Then, based on the traveling information notified from the self-propelled system 1, it is checked whether the electric wheelchair continues to travel in the direction of the approaching obstacle candidate (step 612). If the vehicle is not running, the processing from step 602 is returned to.

On the other hand, if the vehicle continues to run in the direction of the approaching obstacle candidate (step 612), the self-running system 1 is instructed to stop the running of the electric wheelchair (step 614).
Then, it monitors the user's operation to change the traveling direction of the electric wheelchair (step 616) and the user's operation to release the stoppage (step 618). Then, the motorized wheelchair is stopped (step 620).

Then, the processing from step 602 is returned to.
The failure detection processing performed by the failure detection unit has been described above.
According to the first embodiment as described above, based on the actual behavior of the electric wheelchair when the electric wheelchair passed through a portion that may hinder the movement of the electric wheelchair in the past, the electric wheelchair It is possible to accurately predict the behavior of a personal mobility vehicle when it passes through an obstacle candidate in front of the wheelchair. Since an obstacle is detected when the behavior predicted with high accuracy is out of the allowable range, it is possible to detect an obstacle that would really hinder the user's progress.

A second embodiment of the present invention will be described below.
In the second embodiment, an obstacle information management system is provided, and the passage history calculated for each electric wheelchair is comprehensively managed in the obstacle information management system so that it can be shared by each electric wheelchair. be.

That is, in the second embodiment, as shown in FIG. 7, an obstacle information management system 200 that can be accessed by each electric wheelchair travel system 100 via wireless communication is provided.
The obstacle information management system 200 is provided with an obstacle information server 101, a user database 202, a passage history database 203, an obstacle database 204, and a map database 205 storing map information.

The user database 202 stores user class information for each electric wheelchair. Here, the user class includes the weight and height of the user of the electric wheelchair, the driving speed of the standard electric wheelchair, the vehicle type and model year of the electric wheelchair, and the electric wheelchairs that affect the behavior of the electric wheelchair. Represents the classification to which the wheelchair attribute belongs

As shown in FIG. 8a, the passage history database 203 stores history data for each user class, and the above passage history is accumulated in the history data of each user class.

In addition, as shown in FIG. 8B, the obstacle database 204 stores obstacle information including the above-described obstacle attributes of each obstacle and information on the location and direction of the obstacle. Here, the direction of the obstacle indicates in which direction the obstacle becomes an obstacle of the type indicated by the obstacle type of the obstacle attribute when approaching the obstacle.

Next, as shown in FIG. 7, the control device 4 of the traveling system 100 for each electric wheelchair according to the second embodiment has a configuration of the control device 4 shown in FIG. Abandoning the memory, instead, a GNNS receiver 401 such as a GPS receiver that performs satellite positioning of the current position and traveling direction of the electric wheelchair, and wireless communication that performs wireless communication used for accessing the obstacle information management system 200. It has a configuration in which a device 402 is provided.

In such a configuration of the control device 4, the obstacle candidate detection unit 43 detects the shape of an object in front of the electric wheelchair measured by the three-dimensional measuring device 3, which may hinder the movement of the electric wheelchair. Using a structure as an obstacle candidate, its three-dimensional structure and its position relative to the electric wheelchair are detected. Further, the obstacle candidate detection unit 43 issues a forward obstacle information request accompanied by the current position and traveling direction of the electric wheelchair calculated by the GNNS receiver 401 to the obstacle information server 101 . Then, in response to the request, the obstacle information server 101 refers to the obstacle database 204, extracts the obstacle information of the obstacle in front of the electric wheelchair that is the source of the request, and stores the extracted obstacle information. As forward obstacle information, it responds to the obstacle candidate detection unit 43 of the electric wheelchair that is the source of the request. Then, the obstacle candidate detection unit 43 detects an obstacle candidate having a relative position with respect to the three-dimensional structure and the electric wheelchair determined from the forward obstacle information returned from the three-dimensional measuring device 3 from the measurement results. , add obstacle candidates with such three-dimensional structures and relative positions to the electric wheelchair to the obstacle candidate detection results.

Next, the passage history registration unit 41 transmits the passage history generated as described above to the obstacle information server 101 together with the current position and traveling direction of the electric wheelchair calculated by the GNNS receiver 401. .

The obstacle information server 101 that has received the passage history registers the received passage history in the history data of the user class of the electric wheelchair that is the transmission source, which is obtained by referring to the user database 202 .

In addition, the obstacle information server 101, which has received the passage history, uses the current position and traveling direction of the electric wheelchair of the transmission source and the passage history to map the point and direction of the obstacle that the electric wheelchair of the transmission source has passed. Calculating by inquiring the map information of the database 205, generating obstacle information including information on the obstacle attribute of the obstacle passed by the electric wheelchair of the transmission source indicated by the passage history and information on the location and direction of the calculated obstacle and stored in the obstacle database 204 .

Then, the obstacle detection unit 44 performs obstacle detection processing in which step 604 of the obstacle detection processing shown in FIG. 6 is replaced with the following processing.
That is, in step 604 of the obstacle detection process, the obstacle detection unit 44 requests the obstacle information server 101 for a passage history request accompanied by the obstacle attribute of the approaching obstacle candidate. When the obstacle information server 101 responds with the passage history, the returned passage history is set as the passage history of the obstacle attribute that matches the obstacle attribute of the approaching obstacle candidate. If no passing history is responded from, it is assumed that there is no passing history with an obstacle attribute that matches the obstacle attribute of the approaching harmful object candidate.

On the other hand, the obstacle information server 101 that has received the passage history request refers to the user database 202 for the passage history that matches the obstacle attribute accompanying the passage history request. If it is registered, the registered call history is responded to the obstacle detection unit 44 that issued the passage history request, and if it is not registered, the passage It responds to the obstacle detection unit 44 that issued the passage history request that the history does not match.

According to the second embodiment as described above, the passage histories generated by the electric wheelchairs can be shared with each other. In addition, in each electric wheelchair, by suppressing the use of the passage history generated in other electric wheelchairs that have different attributes that affect the behavior of the electric wheelchair from the self-electric wheelchair, more appropriate and true progress It becomes possible to detect obstacles that interfere with

The embodiments of the present invention have been described above.
In addition, the above embodiment is similarly applicable to arbitrary personal mobility other than an electric wheelchair.
In addition, the obstacle detection technology shown in the above embodiments can be similarly applied to self-propelled or assisted wheelchairs that are not electrically driven.

DESCRIPTION OF SYMBOLS 1... Self-propelled system, 2... Motion sensor, 3... Three-dimensional measuring instrument, 4... Control device, 41... Passing history registration part, 42... Passing history storage part, 43... Obstacle candidate detection part, 44... Obstacle detection Unit 45 Alarm device 46 Allowable level memory 100 Driving system 101 Obstacle information server 200 Obstacle information management system 202 User database 203 Passing history database 204 Obstacle database 205... map database, 401... GNNS receiver, 402... wireless communication device.

Claims (9)

Personal mobility used to move users,
Affects the behavior of the personal mobility when the personal mobility passes through a portion having a shape that may impede the travel of the personal mobility, and the degree of hindrance to the travel of the personal mobility at that portion. a passage history recording means for recording a passage history in which attributes are registered;
obstacle candidate detection means for detecting, as an obstacle candidate, a portion in front of the personal mobility having a shape that may hinder the travel of the personal mobility;
The behavior of the personal mobility registered in the passage history in which an attribute matching the attribute of the obstacle candidate detected by the obstacle candidate detection means is registered is outside a predetermined allowable range of behavior. an obstacle detection means for detecting the obstacle candidate as an obstacle when the behavior falls within a predetermined allowable range of the behavior, and not detecting the obstacle candidate as an obstacle;
and obstacle avoidance assistance means for assisting the personal mobility in avoiding the obstacle when the obstacle detection means detects the obstacle. The personal mobility according to claim 1,
The passage history recording means registers the behavior of the personal mobility and the attributes of the obstacle candidate when the personal mobility passes through the obstacle candidate detected by the obstacle candidate detection means. Personal mobility characterized by recording history. The personal mobility according to claim 1 or 2,
The portion having a shape that may hinder the running of the personal mobility includes a stepped portion,
Personal mobility, wherein the attribute of the portion that is the step includes the height of the step. The personal mobility according to claim 1, 2 or 3,
The portion having a shape that may hinder the running of the personal mobility includes a portion that is a groove,
Personal mobility, wherein said attributes of said portion being said groove include groove depth. The personal mobility according to claim 1, 2, 3 or 4,
The portion having a shape that may hinder the running of the personal mobility includes a portion that is a slope,
Personal mobility, wherein the attributes of the portion that is the slope include a gradient of the slope. The personal mobility according to claim 1, 2, 3, 4 or 5,
The obstacle avoidance support means outputs an alarm or stops traveling of the personal mobility vehicle when the obstacle detection means detects the obstacle. An obstacle detection system comprising the personal mobility device according to claim 1, 2, 3, 4, 5, or 6, and a management server that the personal mobility device can access via wireless communication,
The management server provides a passage history recording service for recording the passage history in the management server and a passage history providing service for providing the passage history recorded in the management server,
The passage history recording means of the personal mobility records the passage history in the management server using the passage history recording service,
The obstacle detection means uses the passage history providing service to register an attribute that matches the attribute of the obstacle candidate detected by the obstacle candidate detection means recorded in the management server. an obstacle detection system that acquires the passage history that The obstacle detection system according to claim 7,
The management server stores each passage history as an individual characteristic that is a characteristic that affects the behavior of the personal mobility of the user of the personal mobility or the personal mobility provided with the passage history recording means that records the passage history. It is recorded in correspondence with the class representing the classification,
The obstacle detection means of the personal mobility includes the passage history recorded in association with the class to which the individual characteristic of the personal mobility belongs, and the obstacle candidate detection means detected by the obstacle candidate detection means. An obstacle detection system, wherein the passage history in which an attribute matching the attribute is registered is acquired from the management server. in a wheelchair,
Registration of the behavior of the wheelchair when the wheelchair passes through a portion having a shape that may impede the movement of the wheelchair, and the attribute of the portion that affects the degree of obstacle to the movement of the wheelchair. a passage history recording means for recording the passage history of
obstacle candidate detection means for detecting a portion having a shape that may hinder the movement of the wheelchair in front of the wheelchair as an obstacle candidate;
When the behavior of the wheelchair registered in the passage history in which an attribute matching the attribute of the obstacle candidate detected by the obstacle candidate detection means is registered is outside a predetermined allowable range of behavior. and obstacle detection means for detecting the obstacle candidate as an obstacle and not detecting the obstacle candidate as an obstacle when the behavior is within a predetermined allowable range of the behavior.

Images