JP7303522B2 - Gait controller - Google Patents

Description

The present invention relates to a walking control device.

In recent years, methods have been proposed for guiding pedestrians in a predetermined walking direction by providing tactile stimulation to pedestrians (for example, Patent Literatures 1 and 2 below). However, the method using tactile stimulation is less intuitive and unnatural compared to using an external force to directly pull a pedestrian, such as when a person or a guide dog guides a pedestrian. There is Therefore, a method has been proposed in which a drone is attached to the wearer's head and the wearer is towed by the force generated by the drone (for example, Non-Patent Document 1 below).

JP 2011-27442 A JP 2007-144057 A

Ryosuke Takada, Toshiya Isomoto, Wataru Yamada, Hiroyuki Manabe, Buntaro Shizuki, “Head-mounted walking traction device using a propeller”, Interaction 2019 Proceedings, pp. 236-237, 2019.

By using the method of towing the wearer with a drone as described in Non-Patent Document 1, it becomes possible to control the walking direction and walking speed of the walker of the wearer. However, the towing may cause the wearer to become unstable and fall over. Also, movement or tipping of the wearer due to traction increases the likelihood that the wearer will come into contact with third parties or the external environment, such as walls or utility poles.

SUMMARY OF THE INVENTION The present invention has been made in view of the above, and provides a walking control device capable of safely controlling walking of a user wearing the device.

In order to achieve the above object, a walking control device according to one aspect of the present invention is a walking control device worn by a user and configured to control walking of the user. an external force presentation unit that presents an external force for inducing an external force, a wearing unit that is connected to the external force presentation unit, a posture measurement unit that measures the posture of the user, and an environment measurement that measures the environment around the device itself and an external force changing unit that changes the external force presented by the external force presentation unit based on the measurement results of the posture measurement unit and the environment measurement unit, and calculates a walking route of the user. wherein, when the external force changing unit changes the external force presented by the external force presentation unit, the route calculation unit updates the route based on the change, and presents the external force A part presents an external force for movement of the user along the changed route .

According to the walking control device described above, the external force presented to the user can be changed based on the user's posture and the surroundings of the device itself, that is, the surrounding environment of the user. The possibility of colliding with a person or the like can be reduced, and the walking of the user wearing the device can be safely controlled.

According to the present invention, there is provided a walking control device capable of safely controlling walking of a user wearing the device.

1 is a configuration diagram of a walking control device according to an embodiment; FIG. It is a perspective view explaining the concrete composition of a walk control device. It is a side view explaining the concrete composition of a walk control device. It is a functional block diagram of the control part of a walking control device. It is a flow figure explaining the control method by a walk control device. It is a figure which shows the example of the image acquired by the imaging part. 1 is a front view of a user wearing a walking control device; FIG. FIG. 10 is a front view for explaining a state in which the posture of the user wearing the walking control device has changed; 9 is a diagram showing an example of a user image acquired by an imaging unit in the state shown in FIG. 8; FIG. It is a figure explaining an example of an operation of a walk control device when there is a person nearby. FIG. 10 is a diagram for explaining an operation example of the walking control device when people are crowded in the vicinity; FIG. 10 is a diagram showing an example of a presentation pattern of external force when a user walks; 1 is a hardware configuration diagram of a walking control device according to an embodiment; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and overlapping descriptions are omitted.

Hereinafter, embodiments of the apparatus will be described in detail along with the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and overlapping descriptions are omitted. Moreover, the embodiments in the following description are specific examples of the present invention, and the present invention is not limited to these embodiments unless otherwise specified.

1 to 3 are configuration diagrams of a walking control device 1 according to one embodiment of the present invention. FIG. 1 is a diagram schematically explaining the general configuration and operation of the walking control device 1, and FIGS. 2 and 3 are diagrams explaining the configuration of the walking control device 1. FIG. The walking control device 1 includes a propulsion section 2 , a wearing section 4 worn by a user, a connecting section 3 that connects the propulsion section 2 and the wearing section 4 , an imaging section 5 , and a control section 6 . It should be noted that the “user” in the following description refers to a person wearing the wearing section 4 of the walking control device 1 .

In the above-described walking control device 1, when the propulsion unit 2 generates a propulsive force, the connection unit 3 and the mounting unit 4 are pulled in the direction of propelling, so that the user wearing the mounting unit 4 can receive traction. Traction is the force that pulls on the user and is the force generated by the propulsive force. Traction is roughly synonymous with external force, which is the force with which an object pulls on a user. The walking control device 1 that guides the user to a predetermined destination by presenting an external force to the user by generating a propulsive force will be described below.

The propulsion unit 2 includes a thrust generating unit that generates thrust, and generates propulsion based on the thrust generated by the thrust generating unit. The thrust generator includes, for example, a propeller rotated by a motor. Thrust is, for example, the force generated by propeller rotation. The propulsion unit 2 may include any number of one or more thrust force generation units. The propulsion unit 2 is, for example, a drone (autonomous or remotely controlled unmanned aerial vehicle, multicopter). The propulsion unit 2 generates a propulsive force in a direction that basically cancels the weight (self weight) of the propulsion unit 2 . The propulsion unit 2 is a device for pulling the user, and functions as an external force presentation unit that presents an external force to the user.

The propulsion unit 2 includes, for example, four thrust generation units 20, a position estimation unit 21, and an obstacle detection unit 22.

The thrust generating section 20 is configured including a propeller rotated by a motor. The walking control device 1 includes four thrust force generators 20 and can individually control the thrust force generated by each thrust force generator 20 . As a result, the walking control device 1 can generate a driving force in any direction, and can generate a driving force in any rotational direction. Therefore, the user, who is a pedestrian, can be pulled in any direction or directed in any direction. For example, by controlling the propulsive force by the walking control device 1, the user can be pulled as shown in FIG. The thrust generation units 20 each include a proximity detection unit (not shown) that detects that they have approached the user. You may make it control so that the apparatus 1 may not incline.

The position estimator 21 estimates the position of the walking control device 1 as its own device. The position estimation unit 21 is, for example, a GPS (Global Positioning System), and acquires latitude, longitude, etc. as an estimated position of the walking control device 1 . The propulsion unit 2 generates propulsive force in a direction determined based on the position estimated by the position estimation unit 21 . For example, the propulsion unit 2 is controlled by a control unit 6 which will be described later. The control unit 6 calculates the current position based on the position (current position) obtained from the position estimation unit 21 and terrain information stored in advance in a memory or the like, based on information related to the course of the user (moving route to the destination). The terrain information around the position is extracted, and based on the current position and the surrounding terrain information, the direction and force of pulling the user are controlled. Then, the propulsion section 2 generates a propulsion force of a predetermined magnitude in a predetermined direction under the control of the control section 6 . With this configuration, the walking control device 1 can pull the user in the direction toward the destination. The control unit 6 also has a function of controlling the propulsive force presented to the user based on information obtained from the imaging unit 5 or the like, which will be described later. Control by the control unit 6 will be described later.

The obstacle detection unit 22 can detect obstacles around the walking control device 1 . The obstacle detection unit 22 is, for example, an infrared sensor. When the obstacle detection unit 22 detects an obstacle, the propulsion unit 2 generates propulsion in the direction determined based on the detection. For example, the propulsion unit 2 can be configured to generate a propulsive force in the direction of avoiding an obstacle detected by the obstacle detection unit 22 by the control unit 6 described later. With this configuration, the walking control device 1 can pull the user in the direction of avoiding the obstacle, thereby avoiding danger such as an accident. Note that the obstacle detection unit 22 may not be provided. Also, the function of the obstacle detection unit 22 relating to detection of an obstacle may be implemented by the imaging unit 5 described later.

The propulsion unit 2 described above always generates a propulsive force in the upward direction. Therefore, the burden on the user due to the weight of the propulsion unit 2 itself can be reduced. Also, by adjusting the strength and direction of the propulsive force in accordance with the user's walking motion, it is possible to reduce the user's walking load and improve and suppress the user's walking speed.

Further, by using a drone as the propulsion unit 2, for example, the walking control device 1 can be manufactured at low cost. In addition, by tilting the drone as the propulsion unit 2 with respect to the user's head, the traction force can be increased. By rotating some of the propellers, which are multiple thrust generating units on the drone, in reverse, the traction force can be further increased. With normal drones, it is difficult to keep the drone flying, so the propellers do not rotate in reverse. On the other hand, in the walking control device 1, the traction force can be increased by rotating the propeller in the reverse direction.

The connecting portion 3 is a mechanism, member, or the like that connects (connects) the propulsion portion 2 and the mounting portion 4 . The connecting portion 3 has a connecting mechanism 30 . Further, the connecting portion 3 may be configured including an inclination angle control mechanism 31 .

The connecting mechanism 30 is a mechanism, member, or the like that connects the propulsion section 2 and the mounting section 4 . The connecting mechanism 30 can be a mechanism using gel or the like that stretches, for example.

The tilt angle control mechanism 31 is a mechanism that controls the tilt angle of the connecting portion 3 so that the propulsion portion 2 does not come into contact with the user. The tilt angle control mechanism 31 can be a rod-shaped member extending in the vertical direction. When the propulsion unit 2 is greatly tilted by the propulsive force generated by the propulsion unit 2, the tilt angle control mechanism 31 abuts against the mounting unit 4, so further tilting of the propulsion unit 2 can be regulated. That is, the tilt angle control mechanism 31 can function as a stopper.

The wearing part 4 is a mechanism, a member, or the like that is worn on the body of a human user (wearer). The wearing part 4 is, for example, a helmet worn on the user's head.

When the mounting unit 4 is mounted on the user's head, external force can be applied to the user's head. When an external force is applied to the head, effective traction becomes possible, so that the user can be efficiently pulled while walking. In addition, since the user's hands and feet are free compared to when the user's arms and legs are worn, movement during walking is less likely to be hindered.

In addition, the wearing part 4 has an angle detection part (not shown), and measures the angle of the user's wearing part, thereby preventing the walking control device 1 from colliding with the wearing part when the user tilts the wearing part. You may make it adjust a propulsion to .

The imaging unit 5 has a function of imaging the surroundings of the user or the device itself. The imaging unit 5 includes, for example, a camera 50 and a movable mirror 51 .

The camera 50 can be configured to be attached to the propulsion unit 2, as shown in FIGS. 1, 3, and the like. As an example, when a drone is used as the propulsion unit 2, the camera 50 can be provided below a support for arranging the four propellers that become the thrust generation units 20 apart from each other. However, the mounting position of the camera 50 is not limited. The camera 50 can be arranged so as to be able to capture an image in the downward direction (mounting section 4). With such a configuration, it is possible to capture an image of the user wearing the device from above. Therefore, it is possible to detect the posture of the user based on the image captured by the camera 50 . FIG. 3 shows two cameras 50A and 50B. In this manner, a plurality of cameras 50 may be provided in order to obtain an image of a desired imaging range. Further, the camera 50 may be a normal RGB camera, or may be a depth camera that images the distance to the object. Also, the number of cameras 50 is not particularly limited, and the configuration can be changed as long as the image of the user can be captured to the extent that the posture of the user can be detected.

The movable mirror 51 is a mirror for changing the imaging area of the camera 50 . The movable mirror 51 is provided so as to change the optical path of light incident on the camera 50 . In FIG. 3, movable mirrors 51A and 51B are provided for two cameras 50A and 50B, respectively. The imaging area of the camera 50 can be changed by using the movable mirrors 51A and 51B. Specifically, like the movable mirror 51A shown in FIG. 3, when arranged on the incident optical path to the camera 50A, the camera 50A can image the surroundings instead of the user. On the other hand, like the movable mirror 51B, if the camera 50B is arranged at a position out of the incident optical path of the camera 50B, the camera 50B can image the user below. In this way, the movable mirror 51 can be used to change the imaging area of the camera 50 .

By using the camera 50 and the movable mirror 51, the imaging unit 5 has a function as a user posture detection unit that detects the posture of the user and a function as an environment information detection unit that detects the circumstances around the user. Instead of the movable mirror 51, for example, a configuration in which a mechanism for rotating the camera 50 itself is provided, or a configuration in which a wide-angle lens is attached to the camera 50 so that the side surface and the bottom surface can be photographed at the same time, the user posture detection unit and a function as an environment information detection unit.

The control unit 6 has a function of controlling the propulsion unit 2 . As shown in FIG. 4 , the control unit 6 has a posture information acquisition unit 61 , an environment information acquisition unit 62 , a route calculation unit 63 , an external force calculation unit 64 and an external force control unit 65 . The external force calculator 64 and the external force controller 65 function as an external force changer.

The posture information acquisition unit 61 has a function of acquiring posture information, which is information related to the posture of the user. Posture information can be obtained from an image of the user captured by the camera 50 of the imaging unit 5 . When the camera 50 captures an image of the user, the user's shape or the like changes according to the user's posture. Therefore, the posture information acquisition unit 61 acquires information about the posture from the image of the user captured by the camera 50 .

The environment information acquisition unit 62 has a function of acquiring environment information, which is information related to the surrounding environment of the user. The environment information can be obtained from an image of the surroundings of the user captured by the camera 50 of the imaging unit 5 (corresponding to an image of the surroundings of the device itself). By imaging the surroundings with the camera 50, for example, it is possible to identify whether or not there is a third party around the user. Also, when there are structures such as walls around the user, the presence and location of these structures can be identified from the images captured by the camera 50 . Therefore, the environment information acquisition unit 62 acquires information about the surrounding environment from the image of the user captured by the camera 50 .

Note that both the posture information acquisition unit 61 and the environment information acquisition unit 62 acquire desired information from the image captured by the camera 50 . Therefore, the control unit 6 may be configured to collectively acquire the images captured by the camera 50 and individually extract the posture information and the environment information from the images. Further, the position of the movable mirror 51 differs between the timing of imaging the user's posture and the timing of imaging the surrounding environment. Therefore, the control unit 6 may be configured to classify the image captured by the camera 50 based on the position of the movable mirror 51 at the time of capturing, and extract the orientation information and the environment information individually.

The route calculation unit 63 functions to calculate a route to the user's destination and hold the information. A route to a destination is a route to be guided by the user's own device when heading to the destination. The route calculation unit 63 has a function of recalculating a route for guiding the user to a destination when the user deviates from the user's assumed route due to a change in the user's posture or the like.

The external force calculation unit 64 has a function of changing the external force presented to the user based on the information acquired by the posture information acquisition unit 61 and the environment information acquisition unit 62 . The external force calculation unit 64 normally calculates an external force to be presented to the user so as to guide the user along the route to the user's destination calculated by the route calculation unit 63, and based on the result, Guide users. However, when the user's posture changes, the external force calculation unit 64 calculates an external force for preventing the user from falling or colliding (to a third party or a wall, etc.) based on the information. In this way, the external force calculation unit 64 has a function of calculating an external force for guiding the user to the destination and an external force corresponding to a change in the posture of the user when the change is detected.

The external force control section 65 has a function of controlling the external force presented to the user by controlling the propulsion section 2 based on the calculation result of the external force calculation section 64 .

Next, referring to FIG. 5, the user's walking control according to the change in the user's posture and the surrounding environment will be described. The flow chart shown in FIG. 5 is an example, and the order of controlling each part in the walking control device 1 is not limited to the order shown in FIG.

First, the walking control device 1 executes step S01. In step S01, a driving force is generated by controlling the driving unit 2 by the control unit 6, and the external force along the route is presented to the user. The external force presented to the user is an external force for pulling the user along the route. That is, the walking control device 1 generates a traction force along a predetermined traveling direction to pull the user so that the user can move along the route.

The walking control device 1 executes step S02. In step S<b>02 , the imaging unit 5 captures an image of the user's posture. Then, the posture information acquisition unit 61 of the control unit 6 acquires posture information related to the posture of the user.

Further, the walking control device 1 executes step S03 at the same time as step S02. In step S<b>03 , the surrounding environment of the user is imaged by the imaging unit 5 . Then, the environment information acquisition unit 62 of the control unit 6 acquires environment information related to the surrounding environment of the user.

Steps S02 and S03 may be performed simultaneously or alternately. For example, when the imaging unit 5 is configured by the camera 50 and the movable mirror 51, it is difficult for the camera 50 to simultaneously image the user's posture and the surrounding environment. It can be configured to be performed alternately. Further, for example, when the imaging unit 5 is a camera 50 having a wide-angle lens, steps S02 and S03 can be performed at the same time. Thus, the order of performing steps S02 and S03 can be changed depending on the device configuration of the walking control device 1. FIG.

Next, the walking control device 1 executes step S04. In step S04, the external force calculation section 64 of the control section 6 calculates the external force to be presented to the user. Further, the external force is presented to the user based on the calculation result by the external force control section 65 of the control section 6 . The posture information and environment information described above are used for the calculation of the external force by the external force calculation unit 64 . Further, the external force control unit 65 presents the external force to the user by controlling the propulsion unit 2 to generate a propulsive force.

In the series of steps from step S02 (acquisition of posture information) and step S03 (acquisition of environment information) to step S04 (calculation and presentation of external force), it is determined in step S02 that there is a problem with the posture of the user. important in some cases. In other words, when there is no problem with the user's posture (when it is determined that the user's posture is normal based on the acquired posture information), there is no need to present an external force based on changes in posture. It suffices to present an external force for causing the user to move along the . When the posture information acquired by the posture information acquisition unit 61 is determined to be the normal posture of the user, the external force calculation unit 64 calculates the external force for guiding the movement of the user along the route. good. In addition, before executing step S04, the external force calculation unit 64 of the control unit 6 determines whether it is necessary to present an external force accompanying a change in the user's posture, based on the posture information acquired by the posture information acquisition unit 61. You may perform the process to judge.

A series of processes from step S02 (acquisition of posture information) and step S03 (acquisition of environment information) to step S04 (calculation and presentation of external force) can be configured to be performed in about several seconds.

Thereafter, the walking control device 1 executes step S05. In step S05, as a result of executing step S04 in the control section 6, the route calculation section 63 updates the route information when recalculation of the route is necessary. If, in step S04, an external force is presented in a direction different from the user's movement along the route based on the change in the user's posture, the user will move based on this external force. That is, as a result of step S04, the user may deviate from the originally assumed travel route of the user. Therefore, the route calculation unit 63 determines whether updating of the route is necessary based on the calculation result of the external force by the external force calculation unit 64 . Then, if necessary, the route is updated. Thereafter, when the control unit 6 performs step S01 (presentation of external force along the route), the external force is presented to the user based on the updated route (latest route).

Through the series of operations described above, the walking control device 1 performs control for safely moving the user based on the user's posture and the surrounding environment. An operation example for that will be described with reference to FIGS. 6 to 12. FIG.

First, presentation of an external force according to the posture of the user U will be described with reference to FIGS. 6 to 9. FIG. FIG. 6 shows an example of an image of the user's posture captured by the camera 50 of the imaging unit 5. As shown in FIG. FIG. 6 shows an image of the user U captured from above. As described above, the camera 50 can capture an image facing downward, so the user U is captured from above. 7 is a front view of the user U in the state of FIG.

It is assumed that the user U shown in FIGS. 6 and 7 is walking without losing posture. At this time, as shown in FIG. 6, the user U's right hand RH and left hand LH, and right foot RF and left foot LF are symmetrical with respect to the head. Further, it can be seen that the user U is in a walking state because the right hand RH and left foot LF are in front of the head, and the left hand LH and right foot RF are behind the head.

Here, as shown in FIG. 8, it is assumed that the posture of the user U has changed so as to incline. At this time, as shown in FIG. 8, the positions of the user U's right hand RH and left hand LH, and right foot RF and left foot LF change from those during walking. FIG. 9 shows an example of an image of the posture of the user U when such a state is imaged by the camera 50 of the imaging unit 5. As shown in FIG. As shown in FIG. 9, when the posture of the user U is different from normal, that is, when the posture is broken, the positions of the right hand RH and left hand LH and the right foot RF and left foot LF of the user U change.

In the walking control device 1, the control unit 6 detects the change in the user's posture shown in FIGS. 6 and 9 to estimate the current posture of the user U. FIG. Corresponding to the change in the posture of the user U, the walking control device 1 changes, for example, the external force presented so as to prevent the user U from falling.

FIG. 8 also shows a change example of presentation of the external force when the posture of the user U changes. For example, in FIG. 8, the user U wearing the walking control device 1 is about to fall to the right in the drawing. On the other hand, as shown in FIG. 8, the walking control device 1 controls the propulsion unit 2 so that the user U is presented with a force directed toward the upper left in the figure. By the above-described control of the walking control device 1, the user U who is about to fall to the right is pulled upward and to the left, which is the direction to cancel the fall. In this way, when the control unit 6 detects that the posture of the user U has changed based on the image captured by the camera 50 of the imaging unit 5, an external force is presented to the user U in a direction to cancel it. . As a result, the user U can be prevented from falling.

In addition, when an external force is presented to prevent the user U from overturning in this way, the course of the user is changed. The walking control device 1 sets a route that allows the user to safely walk toward a preset destination, and guides the user along the route. On the other hand, if the walking control device 1 performs control to change the position of the user U as shown in FIG. 8, the user U will deviate from the preset route. When the user U deviates from the route or is expected to deviate from the route, the route calculation unit 63 of the control unit 6 recalculates the route so that the user U can safely walk from the current location to the destination. Calculate the route that can be taken. In addition, it is good also as a structure which changes suitably according to the user U the setting of "the route which can walk safely." For example, the route may be calculated while avoiding places where the user U is likely to fall, such as by setting the route so that there are no steps on the route. In addition, it is also possible to provide individual settings for the user U, such as allowing steps on the route according to the characteristics of the user U (for example, age).

Next, presentation of an external force in consideration of environmental information will be described. A surrounding environment to be detected by the walking control device 1 will be described. The surrounding environment in this embodiment includes whether or not there are people around the user U, if so, in what direction and how far away they are, where the walls and utility poles are, and so on. be These pieces of information can influence the external force presented to the user U by the walking control device 1 . Also, at least some of this information may change all the time, as people around user U are also mobile. Therefore, the camera 50 or the like included in the walking control device 1 can be used to detect the surrounding environment. That is, based on the image of the surroundings of the user U captured by the camera 50, information related to the surrounding environment of the user is obtained. If it is possible to ascertain from the image that there is a person in the vicinity of the user U, the walking control device 1 performs operations in consideration of not only the safety of the user U but also the safety of people around.

As a specific example, for example, as shown in FIG. 8 described above, it is assumed that the user U is about to fall and the walking control device 1 operates to prevent the user U from falling. At this time, the walking control device 1 can change the operation depending on whether there is a person near the user U or not. For example, when there is no person in the vicinity of the user U, the walking control device 1 can perform an operation giving top priority to preventing the user U from falling. The directions in which the propulsive force is generated shown in FIG. 8 are only examples. For example, if it is desirable to pull the user U in the upper right direction in the drawing to prevent the user from falling, the propulsion unit 2 may be controlled in that manner. On the other hand, when there is a person in the vicinity of the user U, an operation that considers the person in the vicinity is required. Specifically, when the walking control device 1 pulls the user U in the direction in which a nearby person is present in order to cause the user U to fall, the user U may collide with the nearby person even if the fall of the user U can be prevented. can be considered. Therefore, the walking control device 1 determines the direction and magnitude of the external force to be presented to the user U based on the environmental information related to the surrounding environment. Specifically, when there are obstacles such as people or objects (walls, utility poles, etc.) around the user U, the presentation direction of the external force is set so as to prevent the user U from being pulled and guided to the side where the obstacles are present. to decide. In this way, the environmental information related to the surrounding environment obtained from the image captured by the camera 50 is used when the external force calculator 64 calculates the external force presented.

On the other hand, when the walking control device 1 detects that the user U is about to fall in a direction approaching a nearby person, it is considered to pull the user U in a direction away from the nearby person in order to prevent the user U from falling. . However, even if the user U is towed as described above, the user U may fall over as a result. In this case, if the user U falls, the walking control device 1 worn on the head of the user U may collide with a nearby person.

On the other hand, as a modified example of the walking control device 1, when there is a person nearby, each part different from the wearing part 4 may be configured to be integrally detachable from the user U as needed. FIG. 10 shows a walking control device 1A in which each part different from the wearing part 4 is integrally detachable from the user U. As shown in FIG. FIG. 10 shows the state immediately after the user U is about to fall, and the walking control device 1A makes an action to prevent the fall as shown in FIG. As shown in FIG. 8, the walking control device 1A may be configured to continue to operate in an attempt to prevent overturning. be. On the other hand, in the walking control device 1A, when there is a possibility of a collision between the walking control device 1A and surrounding obstacles such as a nearby person UX, each part different from the wearing part 4 is integrated from the wearing part 4. let go. As a result, each part of the walking control device 1A that is different from the mounting part 4 is moved, for example, in the upper left direction in the figure by the propulsion force generated by the propulsion part 2 . Therefore, the walking control device 1A can be prevented from colliding with an obstacle such as a nearby person UX.

It should be noted that the parts separated from the wearing part 4 as described above (each part different from the wearing part 4) wait above the user U, and after confirming that the user U has returned to a state where they can safely walk, It may be configured to be connected to the mounting portion 4 . In addition, in order to confirm whether the user U has returned to a safe walking state, the camera 50 of the imaging unit 5 may be used to capture an image of the user U from above.

Further, in the case where the mounting section 4 and the rest can be separated from each other like the walking control device 1A, it is possible to easily disconnect and reconnect the corresponding propulsion section 2 side from the mounting section 4. , the connecting structure between the mounting portion 4 and the connecting portion 3 can be changed as appropriate.

It should be noted that even in a case different from the case where the user U is about to fall, a configuration may be adopted in which the other parts can be detached from the mounting section 4 . For example, FIG. 11 shows a state where the user U is surrounded by a plurality of people. In such a state, even if the user U simply stands still, the walking control device 1 may collide with another person. When the control unit 6 of the walking control device 1 acquires a situation in which there are many people around as environmental information, the control unit 6 of the walking control device 1 drives the propulsion unit 2 to separate the rest from the mounting unit 4 and waits in the sky. can do. Then, similar to when the user U falls, when it becomes possible to guide the user U safely, such as when there are no people around, the part that has detached from the mounting part 4 (each part different from the mounting part 4) can be moved again. It may be configured to be connected to the mounting portion 4 .

As described above, when each part including the propulsion part 2 is detached from the mounting part 4 , the user U cannot receive the presentation of the external force based on the propulsion force of the propulsion part 2 . That is, the walking control device cannot present an external force to the user U. In such a configuration, the device on the leaving side including the propulsion unit 2 waiting in the sky may be configured to guide the user U by sound or light, for example. For example, a strut that supports the thrust generating unit 20 or a light or a speaker may be provided in the center of the propulsion unit 2 to guide the user U using them. In this case, the user U looks up at the device on the leaving side waiting in the sky, or hears the voice from the device on the leaving side, and can move based on these instructions.

Further, by using the connecting portion 3 having a certain length instead of the above configuration, it is possible to configure a configuration in which the device on the detachable side and the mounting portion 4 can be connected even when they are separated from each other. . FIG. 11 shows a walking control device 1B according to such a modification. In the walking control device 1B shown in FIG. 11, the connection portion 3A is configured by a long thread (rope) or the like that connects the detachable side device and the mounting portion 4. As shown in FIG. With such a configuration, even when each part including the propulsion part 2 of the walking control device 1B is detached from the mounting part 4, force can be transmitted to the user U through the thread-like connecting part 3A. and can induce walking. As in this gait control device 1B, when the detachable device such as the propulsion unit 2 and the mounting unit 4 are connected via the thread-like connecting portion 3A, the detachable device and the mounting unit 4 are reconnected. can be easier.

In the above-described embodiment, presentation of an external force has been described in consideration of the case where the user U falls. On the other hand, a method of guiding the user U by presenting an external force in consideration of the posture of the user U by the walking control device 1 even during normal walking will be described below. As described above, the walking control device 1 guides the user U while confirming the user's U posture. Therefore, it is possible to present the external force at the most efficient timing according to the posture of the user U, that is, in consideration of the timing of the user U taking each step. FIG. 12 shows an example of specific external force presentation timings. FIG. 12 shows the time during which the right and left feet are in contact with the ground and the magnitude of the external force (that is, the propulsive force generated) presented to the user U by the walking control device 1 . In the drive pattern shown in FIG. 12, walking control is performed from the timing immediately before the right foot leaves the ground to the timing after the left foot touches the ground, and so on from the timing just before the one foot leaves the ground to the timing after the opposite foot touches the ground. The external force presented to the user U by the device 1 is increasing. In addition, the walking control device 1 also presents to the user U other time periods, but the magnitude of the force is kept constant. Thus, the magnitude of the external force presented to the user U may be changed in consideration of the movement of the user's U feet. Note that the pattern for changing the external force is not limited to the example shown in FIG. 12, and a different pattern may be used. In this way, the external force presented to the user U may be changed based on the posture of the user U even when the user U normally walks. Moreover, by setting it as said structure, an external force can be shown with a more suitable timing with respect to the user U, and the user U can be guided efficiently. Note that the above configuration is common in that the external force is presented when it is detected that the user U has fallen over, and the external force is presented based on the posture of the user U as described above.

As described above, when the walking control device 1 presents an external force in consideration of the timing at which the external force presented to the user U acts efficiently on the user U based on the posture of the user U, the walking control device Energy consumption in 1 can be suppressed. In other words, it is possible to efficiently guide the user U with less energy consumption, so it is possible to guide the user U with less energy.

As described above, the walking control device 1 according to the present embodiment is worn by the user U, is a device for controlling walking of the user U, and guides the user U to walk along a predetermined route. a propulsion unit 2 as an external force presentation unit that presents an external force for the purpose, a wearing unit 4 connected to the external force presentation unit (via a connection unit 3), a posture measurement unit that measures the posture of the user U, It has an environment measurement unit that measures the surrounding environment of the device itself, and a control unit 6 that changes the external force presented by the external force presentation unit based on the measurement results of the attitude measurement unit and the environment measurement unit.

According to the walking control device 1 described above, the external force presented to the user U can be changed based on the posture of the user U and the surroundings of the device, that is, the environment around the user U. Therefore, for example, it is possible to reduce the possibility of the user U colliding with surrounding people or the like, and it is possible to safely control walking of the user U wearing the device.

When the user U is towed by the walking control device 1, the user U may fall down due to a step or the like. On the other hand, in the walking control device 1, the posture of the user U is measured by the posture measurement unit, so that an external force that takes into account the posture of the user U can be presented. Furthermore, the walking control device 1 is capable of presenting an external force considering the surroundings of the device itself, that is, the surrounding environment of the user U. Even if an external force is presented to correct the posture of the user U when the posture of the user U collapses, there is a possibility that other troubles such as colliding with surrounding people or objects may occur as a result. In consideration of the above possibility, the walking control device 1 realizes to guide the user U more safely by presenting an external force in consideration of the surrounding environment.

Here, the external force presenting section may be configured to include a propeller. With such a configuration, the external force presented to the user U can be controlled by the number of revolutions or the like, so that the external force can be adjusted more finely. Note that the external force presentation unit may include a plurality of propellers. In this case, by individually controlling the rotation of a plurality of propellers, the propellers can generate propulsive force in any direction, and can generate propulsive force in any rotational direction. Therefore, an external force in any direction can be presented to the user.

When the user U is predicted to fall or come into contact with an obstacle in the surroundings of the user U from the results of measurement by the posture measurement unit and the environment measurement unit, the external force change unit instructs the user U to prevent them from falling. It is good also as the aspect which presents an external force. With such a configuration, it is possible to prevent the user U from falling or contacting an obstacle around the user U, and guide the user U more safely.

The orientation measurement unit and the environment measurement unit may be configured to include the same camera. In the walking control device 1 described above, the camera 50 and the movable mirror 51 of the imaging section 5 function as a posture measurement section and an environment measurement section. With such a configuration, the orientation measurement unit and the environment measurement unit can be realized with a simpler configuration.

Each part different from the mounting section 4 can be configured to be integrally detachable from the mounting section 4 in a state in which the mounting section 4 is mounted on the user U. With such a configuration, for example, when the user U wearing the walking control device 1 falls over, or when the user U is in a crowded place, the external force presenting unit or the like can be applied to surrounding people or objects. may come into contact with In that case, by making each part different from the wearing part 4 detachable integrally as described above, it is possible to keep these parts away from the user U. can prevent you from doing it.

The route calculation unit 63 further includes a route calculation unit 63 that calculates a walking route of the user U. The route calculation unit 63 changes the external force presented by the external force presentation unit by the external force calculation unit 64 and the external force control unit 65 as external force change units. Furthermore, the route calculation unit 63 may update the route based on the change, and the external force presentation unit may present an external force for movement of the user U along the changed route. With such a configuration, even when the external force presentation unit changes the external force presented to the user U based on the posture of the user U and the surrounding environment, the route can be updated according to the change in the external force. It is possible to appropriately guide the user U to the original destination.

The walking control device described in the above embodiment is not limited to the above configuration, and various modifications can be made.

For example, each unit other than the imaging unit 5 may have the functions as the posture measurement unit and the environment measurement unit in the walking control device 1 . For example, if the walking control device 1 includes an acceleration sensor, the acceleration sensor may be used to calculate how much the user U's body is tilted. Further, the measurement result of the acceleration sensor may be combined with the information on the posture of the user U obtained from the image obtained by the imaging unit 5 to improve the accuracy of the information on the current posture of the user U. Further, a depth camera may be used as the imaging unit 5 to measure the height to the ground surface and the distance to each part of the body, thereby increasing the accuracy of the information regarding the current posture of the user U. Furthermore, if the walking control device 1 includes an angular velocity sensor, the angular velocity sensor may be used to detect the fall of the user U.

In addition, in order to detect a change in the posture of the user U, information related to the normal posture of the user U is acquired in advance, and when guiding the user U, the posture obtained from the imaging unit 5 is obtained. It may be configured such that whether or not the posture of the user U is abnormal is checked by comparing the information related to the posture with the information related to the posture in the normal state acquired in advance.

In the above description, the operation of the walking control device 1 alone has been described. For example, by transmitting/receiving information between the walking control devices 1 existing within a predetermined range, it is possible to predict a collision, an approach, or the like between the walking control devices 1 . In addition, when there is a possibility of collision or approaching between the walking control devices 1, the safe route is recalculated by the route calculation unit 63 based on the information related to the surrounding environment acquired by the environment measurement unit. It is good also as a structure which carries out. When the walking control devices 1 exchange information with each other as described above, each walking control device 1 is provided with a communication function for realizing this.

(others)
Each function used in the description of the above embodiments is implemented by any combination of hardware and/or software. Moreover, means for realizing each function is not particularly limited. That is, each function may be implemented by one device physically and/or logically coupled, or may be implemented by two or more physically and/or logically separated devices directly and/or indirectly. (eg, wired and/or wirelessly) and implemented by these multiple devices.

For example, the control unit 6 of the walking control device 1 described above may function as a computer. FIG. 13 is a diagram showing an example of the hardware configuration of the controller 6. As shown in FIG. The control unit 6 may be physically configured as a computer device including a processor 1001, a memory 1002, a storage 1003, a communication device 1004, an input device 1005, an output device 1006, a bus 1007, and the like.

Note that in the following description, the term "apparatus" can be read as a circuit, device, unit, or the like. The hardware configuration of the control unit 6 may be configured to include one or more of each device shown in the figure, or may be configured without some of the devices.

Each function in the control unit 6 is performed by causing the processor 1001 to perform calculations by loading predetermined software (programs) onto hardware such as the processor 1001 and the memory 1002, and the communication by the communication device 1004, the memory 1002 and the storage 1003. It is realized by controlling the reading and/or writing of data in the .

The processor 1001, for example, operates an operating system to control the entire computer. The processor 1001 may be configured with a central processing unit (CPU) including an interface with peripheral devices, a control device, an arithmetic device, registers, and the like. For example, various processes of the control unit 6 may be implemented by the processor 1001 .

The processor 1001 also reads programs (program codes), software modules, and data from the storage 1003 and/or the communication device 1004 to the memory 1002, and executes various processes according to them. As the program, a program that causes a computer to execute at least part of the operations described in the above embodiments is used. For example, the function of executing various processes of the control unit 6 may be implemented by a control program stored in the memory 1002 and operated by the processor 1001, and other functional blocks may be similarly implemented. Although it has been described that the above-described various processes are executed by one processor 1001, they may be executed by two or more processors 1001 simultaneously or sequentially. Processor 1001 may be implemented with one or more chips. Note that the program may be transmitted from a network via an electric communication line.

The memory 1002 is a computer-readable recording medium, and is composed of at least one of, for example, ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), and RAM (Random Access Memory). may be The memory 1002 may also be called a register, cache, main memory (main storage device), or the like. The memory 1002 can store executable programs (program codes), software modules, and the like for executing various processes of the control unit 6 .

The storage 1003 is a computer-readable recording medium, for example, an optical disc such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disc, a magneto-optical disc (e.g., a compact disc, a digital versatile disc, a Blu-ray disk), smart card, flash memory (eg, card, stick, key drive), floppy disk, magnetic strip, and/or the like. Storage 1003 may also be called an auxiliary storage device. The storage media described above may be, for example, a database, server, or other suitable media including memory 1002 and/or storage 1003 .

The communication device 1004 is hardware (transmitting/receiving device) for communicating between computers via a wired and/or wireless network, and is also called a network device, network controller, network card, communication module, or the like. For example, part of the various processes of the control unit 6 may be implemented by the communication device 1004 .

The input device 1005 is an input device (for example, keyboard, mouse, microphone, switch, button, sensor, etc.) that receives input from the outside. The output device 1006 is an output device (for example, display, speaker, LED lamp, etc.) that outputs to the outside. Note that the input device 1005 and the output device 1006 may be integrated (for example, a touch panel).

Devices such as the processor 1001 and the memory 1002 are connected by a bus 1007 for communicating information. The bus 1007 may be composed of a single bus, or may be composed of different buses between devices.

The control unit 6 includes hardware such as a microprocessor, a digital signal processor (DSP), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), and an FPGA (Field Programmable Gate Array). may be configured, and a part or all of each functional block may be realized by the hardware. For example, processor 1001 may be implemented with at least one of these hardware.

Although the present embodiments have been described in detail above, it will be apparent to those skilled in the art that the present embodiments are not limited to the embodiments described herein. This embodiment can be implemented as modifications and changes without departing from the spirit and scope of the present invention defined by the description of the claims. Therefore, the description in this specification is for the purpose of illustration and explanation, and does not have any restrictive meaning with respect to the present embodiment.

Notification of information is not limited to the aspects/embodiments described herein and may be done in other ways. For example, notification of information includes physical layer signaling (e.g., DCI (Downlink Control Information), UCI (Uplink Control Information)), higher layer signaling (e.g., RRC (Radio Resource Control) signaling, MAC (Medium Access Control) signaling, It may be implemented by broadcast information (MIB (Master Information Block), SIB (System Information Block)), other signals, or a combination thereof. RRC signaling may also be called an RRC message, and may be, for example, an RRC connection setup message, an RRC connection reconfiguration message, or the like.

The procedures, sequences, flow charts, etc. of each aspect/embodiment described herein may be interchanged so long as there is no inconsistency. For example, the methods described herein present elements of the various steps in a sample order and are not limited to the specific order presented.

Input/output information and the like may be stored in a specific location (for example, memory), or may be managed in a management table. Input/output information and the like may be overwritten, updated, or appended. The output information and the like may be deleted. The entered information and the like may be transmitted to another device.

The determination may be made by a value represented by one bit (0 or 1), by a true/false value (Boolean: true or false), or by numerical comparison (for example, a predetermined value).

Each aspect/embodiment described herein may be used alone, in combination, or switched between implementations. In addition, the notification of predetermined information (for example, notification of “being X”) is not limited to being performed explicitly, but may be performed implicitly (for example, not notifying the predetermined information). good too.

Software, whether referred to as software, firmware, middleware, microcode, hardware description language or otherwise, includes instructions, instruction sets, code, code segments, program code, programs, subprograms, and software modules. , applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, and the like.

Software, instructions, etc. may also be sent and received over a transmission medium. For example, the software can be used to access websites, servers, or other When transmitted from a remote source, these wired and/or wireless technologies are included within the definition of transmission media.

Information, signals, etc. described herein may be represented using any of a variety of different technologies. For example, data, instructions, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description may refer to voltages, currents, electromagnetic waves, magnetic fields or magnetic particles, light fields or photons, or any of these. may be represented by a combination of

The terms explained in this specification and/or terms necessary for understanding this specification may be replaced with terms having the same or similar meanings.

As used herein, the terms "system" and "network" are used interchangeably.

In addition, the information, parameters, etc. described in this specification may be represented by absolute values, may be represented by relative values from a predetermined value, or may be represented by corresponding other information. .

The names used for the parameters described above are not limiting in any way. Further, the formulas, etc. using these parameters may differ from those explicitly disclosed herein.

As used herein, the terms "judging" and "determining" may encompass a wide variety of actions. "Judgement", "determining" are, for example, judging, calculating, computing, processing, deriving, investigating, looking up (e.g., table , searching in a database or other data structure), regarding ascertaining as "determining" or "determining". Also, "judgment" and "determination" are used for receiving (e.g., receiving information), transmitting (e.g., transmitting information), input, output, access (accessing) (for example, accessing data in memory) may include deeming that a "judgment" or "decision" has been made. In addition, "judgment" and "decision" are considered to be "judgment" and "decision" by resolving, selecting, choosing, establishing, comparing, etc. can contain. In other words, "judgment" and "decision" may include considering that some action is "judgment" and "decision".

The terms "connected", "coupled", or any variation thereof, mean any direct or indirect connection or coupling between two or more elements, It can include the presence of one or more intermediate elements between two elements being "connected" or "coupled." Couplings or connections between elements may be physical, logical, or a combination thereof. As used herein, two elements are referred to by the use of one or more wires, cables and/or printed electrical connections and, as some non-limiting and non-exhaustive examples, radio frequency They can be considered to be “connected” or “coupled” to each other through the use of electromagnetic energy, such as electromagnetic energy having wavelengths in the microwave, light (both visible and invisible) regions.

As used herein, the phrase "based on" does not mean "based only on," unless expressly specified otherwise. In other words, the phrase "based on" means both "based only on" and "based at least on."

Wherever "include," "including," and variations thereof are used in the specification or claims, these terms are synonymous with the term "comprising." are intended to be inclusive. Furthermore, the term "or" as used in this specification or the claims is not intended to be an exclusive OR.

In this specification, plural devices shall be included unless the context or technicality clearly dictates that there is only one. Throughout this disclosure, the plural shall be included unless the context clearly indicates the singular.

DESCRIPTION OF SYMBOLS 1, 1A, 1B... Walking control device, 2... Propulsion part, 3, 3A... Connection part, 4... Mounting part, 5... Imaging part, 6... Control part, 20... Thrust generation part, 21... Position estimation part, 22 Obstacle detection unit 30 Coupling mechanism 31 Tilt angle control mechanism 50 Camera 51 Movable mirror 61 Attitude information acquisition unit 62 Environment information acquisition unit 63 Route calculation unit 64 an external force calculation unit, 65... an external force control unit;

Claims (1)

A walking control device that is worn by a user and controls walking of the user,
an external force presentation unit that presents an external force for guiding the user to walk along a predetermined route;
a mounting section connected to the external force presenting section;
a posture measurement unit that measures the posture of the user;
an environment measurement unit that measures the environment around the device;
an external force changing unit that changes the external force presented by the external force presenting unit based on the measurement results of the posture measuring unit and the environment measuring unit;
has
further comprising a route calculation unit that calculates a route for the user to walk;
When the external force change unit changes the external force presented by the external force presentation unit, the route calculation unit updates the route based on the change,
The walking control device , wherein the external force presenting unit presents an external force for movement of the user along the changed route .

Images