JP7383574B2 - personal mobility - Google Patents
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- JP7383574B2 JP7383574B2 JP2020109901A JP2020109901A JP7383574B2 JP 7383574 B2 JP7383574 B2 JP 7383574B2 JP 2020109901 A JP2020109901 A JP 2020109901A JP 2020109901 A JP2020109901 A JP 2020109901A JP 7383574 B2 JP7383574 B2 JP 7383574B2
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- 230000033001 locomotion Effects 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 16
- 230000008859 change Effects 0.000 claims description 7
- 230000036544 posture Effects 0.000 description 55
- 238000009826 distribution Methods 0.000 description 22
- 230000007246 mechanism Effects 0.000 description 22
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 15
- 210000001217 buttock Anatomy 0.000 description 11
- 210000002414 leg Anatomy 0.000 description 7
- 210000001364 upper extremity Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 210000002683 foot Anatomy 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 210000003127 knee Anatomy 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
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Description
本発明は、主として、電動カートや電動式車椅子などのパーソナルモビリティの座席へのユーザの着座や、当該座席からの起立を補助する技術に関するものである。 The present invention mainly relates to technology for assisting a user in sitting on a seat of a personal mobility vehicle such as an electric cart or an electric wheelchair, and assisting the user in standing up from the seat.
座席へのユーザの着座や、当該座席からの起立を補助する技術としては、座面が所定の高さで水平となる第１の状態と、第１の状態よりも座面の後部が上方に位置し座面の前部が下方に位置した座面が前下がりに傾いた第２の状態の間で座面の状態を遷移可能に構成し、第１の状態の座面に着座したユーザが座席から起立するときには、着座したユーザの操作に応答して、第１の状態から第２の状態に座面の状態を遷移させ、ユーザが座席に着座するときには、着座しようとするユーザの操作に応答して、第２の状態から第１の状態に座面の状態を遷移させる技術が知られている（たとえば、特許文献１）。 Technologies for assisting users in sitting on or rising from a seat include a first state in which the seat surface is horizontal at a predetermined height, and a state in which the rear surface of the seat surface is raised higher than in the first state. The state of the seat is configured to be transitionable between a second state in which the front part of the seat is positioned downward and the seat is tilted forward downward, and a user who is seated on the seat in the first state When the user stands up from the seat, the state of the seat surface is changed from the first state to the second state in response to the operation of the seated user, and when the user takes the seat, the state of the seat surface is transitioned from the first state to the second state in response to the operation of the user who is about to sit down. A technique is known in which the state of the seat surface is transitioned from the second state to the first state in response (for example, Patent Document 1).
また、カメラやステレオカメラ(３Ｄカメラ）で撮影した映像から人物の骨格を検出する骨格検出の技術も知られている（たとえば、特許文献２、３）。 Skeleton detection techniques for detecting a human skeleton from an image captured by a camera or a stereo camera (3D camera) are also known (for example, Patent Documents 2 and 3).
上述した座面の状態を遷移させることにより座席へのユーザの着座を支援する技術を、パーソナルモビリティの座席に適用した場合、パーソナルモビリティのユーザが筋力の弱った高齢者等である場合、上述の技術のように、座席へのユーザの着座の際に、座面の傾きや高さなどの状態を予め固定的に定めた態様で遷移させるだけでは、着座動作の全体について充分にユーザをサポートできない場合がある。 If the above-mentioned technology for supporting the user to sit on the seat by changing the state of the seat surface is applied to a personal mobility seat, if the user of the personal mobility vehicle is an elderly person with weak muscles, the above-mentioned As with technology, when a user sits on a seat, simply changing the state of the seat surface such as the inclination and height in a fixed manner in a predetermined manner does not provide sufficient support for the user throughout the sitting motion. There are cases.
そこで、本発明は、パーソナルモビリティにおいて、よりユーザの負担が小さくなるようにユーザの座席への着座動作をサポートすることを課題とする。 Therefore, it is an object of the present invention to support the sitting operation of a user in a seat so as to further reduce the burden on the user in personal mobility.
前記課題達成のために、本発明は、ユーザの移動に用いられるパーソナルモビリティに、ユーザが着座する座面と、前記座面を移動して当該座面の高さと傾きを変更する座面移動手段と、当該パーソナルモビリティを走行させる走行手段と、当該パーソナルモビリティの前方のユーザの位置と姿勢を検出するユーザ検出手段と、制御手段とを設けたものである。ここで、当該制御手段は、当該パーソナルモビリティの形態が、当該パーソナルモビリティの前方で着座を準備する姿勢である着座準備姿勢をとっているユーザの腿の傾きと前記座面の傾きが一致し、前記座面の高さの範囲が前記着座準備姿勢をとっているユーザの腿の高さの範囲と重なる形態である着座待受形態となるように、前記ユーザ検出手段が検出したユーザの姿勢に基づいて、前記座面移動手段による座面の移動を制御する第１の制御動作と、前記第１の制御動作の完了後に、当該パーソナルモビリティの形態が、前記着座待受形態から、前記座面が水平となる着座完了形態に遷移するように、前記座面移動手段による座面の移動を制御する第２の制御動作とを行う。 In order to achieve the above-mentioned problem, the present invention provides a personal mobility device used for user movement, including a seat on which a user sits, and a seat moving means for moving the seat to change the height and inclination of the seat. The present invention is provided with a traveling means for causing the personal mobility to travel, a user detection means for detecting the position and posture of a user in front of the personal mobility, and a control means. Here, the control means is configured such that the inclination of the thighs of the user whose form of the personal mobility is in a sitting preparation posture, which is a posture of preparing to sit in front of the personal mobility, matches the inclination of the seat surface; The posture of the user detected by the user detection means is adjusted so that the height range of the seat surface overlaps the thigh height range of the user who is in the sitting preparation posture. a first control operation for controlling the movement of the seat by the seat moving means; and after the first control operation is completed, the personal mobility mode changes from the seated standby mode to the seat A second control operation is performed to control the movement of the seat surface by the seat surface moving means so that the seat surface transitions to a fully seated state in which the seat surface is horizontal.
ここで、このようなパーソナルモビリティは、前記着座完了形態を、前記座面が水平であり、かつ、当該水平な座面の高さが、当該座面に着座したユーザの足が地に付く高さとなる形態とし、前記制御手段において、前記第２の制御動作において、前記座面の後端が下降するように前記座面が回転して当該座面を水平とするように、前記座面移動手段による座面の移動を制御するようにしてもよい。 Here, in such personal mobility, the seating completion mode is such that the seating surface is horizontal and the height of the horizontal seating surface is the height at which the feet of the user seated on the seating surface touch the ground. In the second control operation, the seat surface is moved such that the seat surface is rotated so that the rear end of the seat surface is lowered and the seat surface is made horizontal. The movement of the seat surface by the means may be controlled.
また、この場合には、前記制御手段において、前記第２の制御動作の完了後に、当該座面に着座したユーザの足が地に届かなくなる高さまで前記座面が水平を維持したまま上昇するように、前記座面移動手段による座面の移動を制御する第３の制御動作を行うようにしてもよい。 In this case, the control means may be arranged such that after the second control operation is completed, the seat surface is raised to a height where the feet of the user seated on the seat surface do not reach the ground while maintaining the horizontal position. Additionally, a third control operation may be performed to control the movement of the seat by the seat moving means.
ここで、前記着座準備姿勢は、腰をかがめて立っている姿勢とすることが好ましい。
また、以上のパーソナルモビリティは、前記制御手段において、前記第１の制御動作において、前記着座待受形態にあるパーソナルモビリティの前記座面が、前記着座準備姿勢をとっているユーザの腿の裏に当接するように、前記ユーザ検出手段が検出したユーザの位置と姿勢に基づいて、前記座面移動手段による座面の移動と、前記走行手段による当該パーソナルモビリティの走行とを制御するように構成してもよい。
Here, it is preferable that the sitting preparation posture is a posture in which the person bends over and stands.
Further, in the above-mentioned personal mobility, in the first control operation, the seat surface of the personal mobility in the seated standby mode touches the back of the thigh of the user who is in the sitting preparation posture. Based on the position and posture of the user detected by the user detection means, the movement of the seat by the seat movement means and the running of the personal mobility by the travel means are controlled. You can.
また、この場合には、パーソナルモビリティに、前記座面に加わる圧力を検知する圧力検知手段を設け、前記制御手段において、前記第２の制御動作において、前記圧力検知手段が検知する圧力が所定の範囲に維持されるように、前記座面移動手段による座面の移動を制御するようにしてもよい。 Further, in this case, the personal mobility is provided with a pressure detection means for detecting the pressure applied to the seat surface, and in the control means, the pressure detected by the pressure detection means in the second control operation is set to a predetermined value. The movement of the seat surface by the seat surface moving means may be controlled so that the seat surface is maintained within the range.
ここで、以上のパーソナルモビリティは、前記制御手段において、前記ユーザ検出手段が、当該パーソナルモビリティの前方の所定距離内に前記着座準備姿勢をとったユーザを検出したときに、前記第１の制御動作を開始するように構成してもよい。 Here, in the above-mentioned personal mobility, when the user detection means detects a user who has taken the seating preparation posture within a predetermined distance in front of the personal mobility, the first control operation is performed. may be configured to start.
また、以上のパーソナルモビリティにおいて、前記ユーザ検出手段は、当該パーソナルモビリティの前方を撮影するカメラと、当該カメラで撮影した映像を解析して当該パーソナルモビリティの前方のユーザの位置と姿勢を認識する認識手段とを備えたものとしてよい。 Further, in the personal mobility described above, the user detection means includes a camera that photographs the front of the personal mobility, and a recognition system that analyzes the video shot by the camera and recognizes the position and posture of the user in front of the personal mobility. It may be provided with means.
以上のようなパーソナルモビリティによれば、ユーザが着座を準備する姿勢にあるときから腿の裏を座面で広く支持しながら、ユーザを水平な座面に着座した状態に遷移させることができ、ユーザの座席へのユーザの着座動作の負担が軽減される。 According to the above-described personal mobility, it is possible to transition the user to a state where the user is seated on a horizontal seat surface while the backs of the thighs are widely supported on the seat surface from the time when the user is in a posture preparing to sit down. The burden of sitting on the user's seat is reduced.
以上のように、本発明によれば、パーソナルモビリティにおいて、よりユーザの負担が小さくなるようにユーザの座席への着座動作をサポートすることができる。 As described above, according to the present invention, in personal mobility, it is possible to support the user's sitting operation in a seat so as to further reduce the burden on the user.
以下、本発明の実施形態について説明する。
図１ａ、ｂ、ｃに、本実施形態に係るパーソナルモビリティ１００を示す。
図１ａはパーソナルモビリティ１００の右側面を、図１ｂはパーソナルモビリティ１００の正面を、図１ｃはパーソナルモビリティ１００の上面を表している。
図示するように、本実施形態に係るパーソナルモビリティ１００は、ベース１と、ベース１に対して固定された座面２とバックレスト３とアームレスト４を備えている。
また、パーソナルモビリティ１００は、左右二つの前脚部５と左右二つの前輪６と左右二つの後脚部７と左右二つの後輪８を備えている。左の前脚部５の上端部はベース１の左側部の前方側の位置に連結され、左の前脚部５の下端部は左の前輪６を支持している。また、右の前脚部５の上端部はベース１の右側部の前方側の位置に連結され、右の前脚部５の下端部は右の前輪６を支持している。そして、左の後脚部７の上端部はベース１の左側部の後方側の位置に連結され、左の後脚部７の下端部は左の後輪８を支持している。また、右の後脚部７の上端部はベース１の右側部の後方側の位置に連結され、右の後脚部７の下端部は右の後輪８を支持している。
Embodiments of the present invention will be described below.
A personal mobility 100 according to the present embodiment is shown in FIGS. 1a, b, and c.
1a shows the right side of the personal mobility 100, FIG. 1b shows the front of the personal mobility 100, and FIG. 1c shows the top of the personal mobility 100.
As illustrated, the personal mobility 100 according to the present embodiment includes a base 1, a seat surface 2 fixed to the base 1, a backrest 3, and an armrest 4.
Further, the personal mobility 100 includes two left and right front leg sections 5, two left and right front wheels 6, two left and right rear leg sections 7, and two left and right rear wheels 8. The upper end of the left front leg 5 is connected to the front side of the left side of the base 1, and the lower end of the left front leg 5 supports the left front wheel 6. The upper end of the right front leg 5 is connected to the front side of the right side of the base 1, and the lower end of the right front leg 5 supports the right front wheel 6. The upper end of the left rear leg 7 is connected to the rear side of the left side of the base 1, and the lower end of the left rear leg 7 supports the left rear wheel 8. Further, the upper end of the right rear leg 7 is connected to a position on the rear side of the right side of the base 1, and the lower end of the right rear leg 7 supports the right rear wheel 8.
次に、図２に、パーソナルモビリティ１００の機能構成を示す。
図示するように、パーソナルモビリティ１００は、カメラ９、距離センサ１０、圧力分布センサ１１、操作部１２、音声出力装置１３、音声入力装置１４、走行機構１５、姿勢可変機構１６、制御装置１７を備えている。
Next, FIG. 2 shows the functional configuration of the personal mobility 100.
As illustrated, the personal mobility 100 includes a camera 9, a distance sensor 10, a pressure distribution sensor 11, an operation unit 12, a voice output device 13, a voice input device 14, a traveling mechanism 15, a posture variable mechanism 16, and a control device 17. ing.
カメラ９は、パーソナルモビリティ１００の前方のようすを撮影するものであり、たとえば、図３ａ、ｂに示すように、バックレスト３の後ろ斜め上方の位置に前方向を撮影するように配置される。なお、カメラ９としてはステレオカメラ(３Ｄカメラ）を用いてもよい。 The camera 9 is for photographing the front of the personal mobility 100, and is arranged, for example, at a position diagonally above the back of the backrest 3 so as to photograph the front direction, as shown in FIGS. 3a and 3b. Note that a stereo camera (3D camera) may be used as the camera 9.
操作部１２は、パーソナルモビリティ１００に搭乗したユーザの操作を受け付けるものであり、操作部１２としては、たとえば、図３ａ、ｂに示すように、右のアームレスト前端に配置したジョイステックを用いる。 The operation unit 12 receives operations from a user riding the personal mobility 100, and as the operation unit 12, for example, a joystick placed at the front end of the right armrest is used, as shown in FIGS. 3a and 3b.
次に、距離センサ１０は、たとえば、図３ｂに黒丸で示したように座面２に複数配列され、座面２の接近した物体までの座面２からの距離を検出する。
また、圧力分布センサ１１は、図３ｂに白丸で示した、座面２にマトリクス状に複数配置された圧力センサで構成され、座面２に加わる圧力の分布を検出する。
走行機構１５は、図３ｃに示すように、前輪６もしくは後輪８を回転して、パーソナルモビリティ１００を前進させたり後進させたりする機構であり、走行用のモータと、走行用のモータの動力をトルクとして前輪６もしくは後輪８に伝達する動力伝達機構などより構成される。
Next, a plurality of distance sensors 10 are arranged on the seat surface 2, for example, as shown by black circles in FIG. 3B, and detect the distance from the seat surface 2 to an object approaching the seat surface 2.
Further, the pressure distribution sensor 11 is composed of a plurality of pressure sensors arranged in a matrix on the seat surface 2, as shown by white circles in FIG. 3B, and detects the distribution of pressure applied to the seat surface 2.
As shown in FIG. 3c, the traveling mechanism 15 is a mechanism that rotates the front wheels 6 or the rear wheels 8 to move the personal mobility 100 forward or backward, and uses a traveling motor and the power of the traveling motor. It is composed of a power transmission mechanism that transmits torque to the front wheels 6 or rear wheels 8 as torque.
そして、制御装置１７は、ユーザの操作部１２の操作に応じて、走行機構１５にパーソナルモビリティ１００の前進や後進を行わせる。
次に、姿勢可変機構１６は、座面２の高さや傾きを変化させる機構であり、前脚部５や後脚部７が水平に対して成す角度を変化させるアクチュエータや、バックレスト３やアームレスト４のベース１に対する傾きを変化させるアクチュエータ等から構成される。
Then, the control device 17 causes the traveling mechanism 15 to move the personal mobility 100 forward or backward in response to the user's operation of the operation unit 12.
Next, the posture variable mechanism 16 is a mechanism that changes the height and inclination of the seat surface 2, and includes an actuator that changes the angle that the front leg portion 5 and the rear leg portion 7 form with respect to the horizontal, and the backrest 3 and armrest 4. It is composed of an actuator and the like that change the inclination of the base 1 with respect to the base 1.
そして、姿勢可変機構１６により、図３ｄに示すように座面２を上下に昇降することができる。また、姿勢可変機構１６により、図３ｅに示すように、バックレスト３やアームレスト４の傾きを維持したまま、座面２の高さや傾きを変化させることができる。 The posture variable mechanism 16 allows the seat surface 2 to be raised and lowered as shown in FIG. 3d. Further, the posture variable mechanism 16 allows the height and inclination of the seat surface 2 to be changed while maintaining the inclinations of the backrest 3 and armrest 4, as shown in FIG. 3e.
次に、本実施形態において、パーソナルモビリティ１００が停車中であって座面２にユーザが着座していないときに制御装置１７が行う着座支援処理について説明する。
なお、座面２にユーザが着座していないことの検出は、たとえば、圧力分布センサ１１で検出した座面２の圧力分布から求まる座面２に加わる総荷重が、所定のしきい値未満であるときに、座面２にユーザが着座していないことを検出すること等により行う。
Next, in this embodiment, a description will be given of the seating support process that the control device 17 performs when the personal mobility 100 is stopped and the user is not seated on the seat surface 2.
Note that the detection that the user is not seated on the seat surface 2 is performed, for example, when the total load applied to the seat surface 2 determined from the pressure distribution of the seat surface 2 detected by the pressure distribution sensor 11 is less than a predetermined threshold value. This is done by, for example, detecting that the user is not sitting on the seat surface 2 at a certain time.
図４に、この着座支援処理の手順を示す。
図示するように、制御装置１７は、着座支援処理において、パーソナルモビリティ１００の前方の所定距離内(所定距離は、たとえば１ｍ）に着座準備姿勢をとったユーザが存在するかどうかの判定を、存在すると判定されるまで繰り返す（ステップ４０２）。
FIG. 4 shows the procedure of this seating support process.
As shown in the figure, in the seating support process, the control device 17 determines whether or not there is a user in a sitting preparation posture within a predetermined distance in front of the personal mobility 100 (the predetermined distance is, for example, 1 m). Then, the process is repeated until a determination is made (step 402).
ここで、ステップ４０２では、カメラ９で撮影した映像から、パーソナルモビリティ１００の前方所定距離内のユーザの有無、パーソナルモビリティ１００の前方所定距離内のユーザの顔の向き、パーソナルモビリティ１００の前方所定距離内のユーザの姿勢を画像認識し、パーソナルモビリティ１００の前方所定距離内に後方に顔を向け、腰をかがめて立っている姿勢のユーザが存在する場合に、パーソナルモビリティ１００の前方の所定距離内に着座準備姿勢をとったユーザが存在すると判定する。ただし、顔の向きに関わらずに、前方所定距離内に腰をかがめて立っている姿勢のユーザが存在する場合に、パーソナルモビリティ１００の前方の所定距離内に着座準備姿勢をとったユーザが存在すると判定するようにしてもよい。 Here, in step 402, the presence or absence of a user within a predetermined distance in front of the personal mobility 100, the orientation of the user's face within a predetermined distance in front of the personal mobility 100, and the predetermined distance in front of the personal mobility 100 are determined from the image taken by the camera 9 in step 402. image recognition of the posture of the user within the vehicle, and if there is a user within a predetermined distance in front of the personal mobility 100 who is standing with his/her face facing backwards and bent over, the user is within a predetermined distance in front of the personal mobility 100 It is determined that there is a user who has taken the sitting preparation posture. However, regardless of the direction of the face, if there is a user in a bent-down standing posture within a predetermined distance in front of the personal mobility 100, there is a user in a sitting preparation posture within a predetermined distance in front of the personal mobility 100. Then, the determination may be made.
ここで、腰をかがめて立っている姿勢の検出は、骨格検出技術を用いて、たとえば、図５ａ、ｂ、ｃに示す、足首と膝を結ぶ骨格要素Ｌ１、膝と腰を結ぶ骨格要素Ｌ２、腰と首を結ぶ骨格要素Ｌ３、首と頭部を結ぶ骨格要素Ｌ４を検出し、各骨格要素の向きからユーザが立っているかどうかを判定すると共に、ユーザの骨格要素Ｌ１と骨格要素Ｌ２の成す角と、骨格要素Ｌ２と骨格要素Ｌ３の成す角が所定角度範囲内にあるときにユーザの姿勢が腰をかがめている姿勢であると判定することにより行う。所定角度範囲は、たとえば、１２０度以上１５０度未満とする。ただし、骨格要素Ｌ１と骨格要素Ｌ２の成す角は考慮せずに、立っていると判定されたユーザの骨格要素Ｌ２と骨格要素Ｌ３の成す角が所定角度範囲内にあれば、腰をかがめて立っている姿勢として検出するようにしてもよい。 Here, the posture of standing bent over is detected using skeleton detection technology, for example, the skeletal element L1 connecting the ankle and the knee, the skeletal element L2 connecting the knee and the waist, as shown in FIGS. 5a, b, and c. , detects the skeletal element L3 that connects the waist and the neck, and the skeletal element L4 that connects the neck and the head, and determines whether the user is standing based on the orientation of each skeletal element. This is performed by determining that the user's posture is bent over when the angle formed by the skeletal element L2 and the skeletal element L3 is within a predetermined angle range. The predetermined angle range is, for example, 120 degrees or more and less than 150 degrees. However, without considering the angle formed by the skeletal element L1 and the skeletal element L2, if the angle formed by the skeletal element L2 and the skeletal element L3 of the user who is determined to be standing is within a predetermined angle range, the user can bend down. It may be detected as a standing posture.
そして、パーソナルモビリティ１００の前方の所定距離内に着座準備姿勢をとったユーザが存在すると判定されたならば（ステップ４０２）、姿勢可変機構１６を制御して、パーソナルモビリティ１００の形状を着座待受姿勢に変形し、走行機構１５を制御しパーソナルモビリティ１００を着座待受位置に移動させる（ステップ４０４）。 If it is determined that there is a user in the sitting preparation posture within a predetermined distance in front of the personal mobility 100 (step 402), the posture variable mechanism 16 is controlled to adjust the shape of the personal mobility 100 to the sitting preparation posture. The personal mobility device 100 changes its posture and controls the traveling mechanism 15 to move the personal mobility device 100 to the seated standby position (step 404).
ここで、着座待受姿勢とは、バックレスト３やアームレスト４の水平に対する傾きを維持したまま、座面２の傾きを、膝と腰を結ぶ骨格要素Ｌ２の傾き、すなわち、腿の傾きに一致する傾きとし、座面２の後端の高さを、骨格要素Ｌ２の上端の高さよりも少し上の高さ、すなわち、尻の高さよりも少し上の高さとした姿勢である。 Here, the seated standby posture means that the inclination of the seat surface 2 matches the inclination of the skeletal element L2 connecting the knees and hips, that is, the inclination of the thighs, while maintaining the inclination of the backrest 3 and armrest 4 with respect to the horizontal. This is a posture in which the height of the rear end of the seat surface 2 is slightly higher than the height of the upper end of the skeletal element L2, that is, slightly higher than the height of the buttocks.
また、着座待受位置とは、着座待受姿勢にあるパーソナルモビリティ１００の座面２が、ユーザの尻から腿の裏に所定の軽い圧力で押し当てられる位置である。
ここで、着座待受位置への移動は、たとえば、カメラ９で撮影した映像から識別したユーザの位置や姿勢と、距離センサ１０で検出される座面２とユーザの距離に応じて、走行機構１５によってパーソナルモビリティ１００を、ユーザの後方において、座面２がユーザの尻や腿の裏と至近となる位置まで走行させた後、圧力分布センサ１１で検出される座面２のユーザの尻や腿の裏に当接する範囲の圧力分布が、所定の軽い圧力の一様な分布となるように、走行機構１５によってパーソナルモビリティ１００の位置や向きを調整したり、姿勢可変機構１６によって座面２の傾きを調整したりすることにより行う。
Further, the seated standby position is a position where the seat surface 2 of the personal mobility device 100 in the seated standby position is pressed against the user's buttocks and the backs of the thighs with a predetermined light pressure.
Here, the movement to the seated standby position is performed by the traveling mechanism according to, for example, the position and posture of the user identified from the image taken by the camera 9, and the distance between the seat 2 and the user detected by the distance sensor 10. 15, the personal mobility 100 is driven behind the user to a position where the seat surface 2 is close to the user's buttocks and the back of the thighs, and then the pressure distribution sensor 11 detects the user's buttocks and thighs on the seat surface 2. The traveling mechanism 15 adjusts the position and direction of the personal mobility 100, and the variable posture mechanism 16 adjusts the seat surface 2 so that the pressure distribution in the area that contacts the back of the thigh becomes a uniform distribution of predetermined light pressure. This is done by adjusting the slope of the image.
そして、着座待受姿勢のパーソナルモビリティ１００を着座待受位置に移動させたならば（ステップ４０４）、座面２からユーザに加わる圧力分布を所定範囲内の分布に維持しながら、姿勢可変機構１６を制御して、パーソナルモビリティ１００の形状を着席完了姿勢に変形させる（ステップ４０６）。 When the personal mobility device 100 in the seated standby position is moved to the seated standby position (step 404), the posture variable mechanism 16 maintains the pressure distribution applied to the user from the seat surface 2 within a predetermined range. is controlled to change the shape of the personal mobility 100 to the fully seated posture (step 406).
ここで、着席完了姿勢とは、着座待受姿勢から、バックレスト３やアームレスト４の水平に対する傾きを維持したまま、座面２の前端を左右に通る軸を回転軸として、座面２の後端が下降する回転方向に、座面２を水平となるまで回転させた姿勢である。 Here, the fully seated posture is defined as the seated standby posture, while maintaining the inclination of the backrest 3 and armrest 4 with respect to the horizontal. This is a posture in which the seat surface 2 is rotated in the direction of rotation in which the end descends until it becomes horizontal.
また、座面２からユーザに加わる圧力分布の所定範囲内の分布への維持は、圧力分布センサ１１で検出される座面２のユーザの尻や腿の裏に当接する範囲の圧力分布が、おおよそ一様となり、かつ、圧力分布センサ１１で検出した座面２の圧力分布から求まる座面２に加わる総荷重が所定の範囲内となるように、パーソナルモビリティ１００の位置や座面２の傾きや変形の速度を微調整することにより行う。なお、座面２に加わる総荷重が所定の範囲内となるようにするのは、ユーザの尻や腿の裏を座面２から反力を与えて支持しつつ、座面２が尻や腿の裏から離れてしまうことを抑止するためである。 In addition, maintaining the pressure distribution applied to the user from the seat surface 2 within a predetermined range is achieved by maintaining the pressure distribution within a predetermined range of the seat surface 2 in the range where the seat surface 2 contacts the user's buttocks and backs of the thighs, as detected by the pressure distribution sensor 11. The position of the personal mobility 100 and the inclination of the seat surface 2 are adjusted such that the total load applied to the seat surface 2 is approximately uniform and is within a predetermined range based on the pressure distribution of the seat surface 2 detected by the pressure distribution sensor 11. This is done by finely adjusting the speed of deformation. The purpose of ensuring that the total load applied to the seat 2 is within a predetermined range is to support the backs of the user's buttocks and thighs by applying a reaction force from the seat 2, while also ensuring that the seat 2 does not support the backs of the user's buttocks and thighs. This is to prevent them from leaving the back.
そして、このようにしてパーソナルモビリティ１００を着席完了姿勢に変形したならば（ステップ４０６）、ユーザの着座の完了を判定する（ステップ４０８）。
このステップ４０８では、圧力分布センサ１１で検出した座面２の圧力分布の重心が安定的に座面２の内側部分にあるときに、ユーザが座面２にしっかりと着座したものと見なして、着座の完了を判定する。
Then, once the personal mobility 100 has been transformed into the seating completion posture in this manner (step 406), it is determined whether the user has finished sitting (step 408).
In this step 408, when the center of gravity of the pressure distribution of the seat surface 2 detected by the pressure distribution sensor 11 is stably located at the inner part of the seat surface 2, it is assumed that the user is firmly seated on the seat surface 2, Determine whether seating is complete.
そして、ユーザの着座が完了したと判定されたならば（ステップ４０８）、姿勢可変機構１６を制御して、パーソナルモビリティ１００の形状を標準姿勢に変形し（ステップ４１０）、着座支援処理を終了する。 If it is determined that the user has been seated (step 408), the posture changing mechanism 16 is controlled to change the shape of the personal mobility 100 to the standard posture (step 410), and the seating support process is ended. .
ここで、標準姿勢とは、パーソナルモビリティ１００の走行時に用いられる形状であり、着席完了姿勢から座面２を水平を維持したまま上方に移動した姿勢であり、標準姿勢のときの座面２の高さは、座面２に着座したユーザの足は床面(路面）から離れる高さに設定されている。 Here, the standard posture is a shape used when the personal mobility 100 runs, and is a posture in which the seat surface 2 is moved upward from the fully seated posture while keeping the seat surface 2 horizontal. The height is set to such a level that the feet of the user seated on the seat surface 2 are away from the floor (road surface).
以上、制御装置１７が行う着座支援処理について説明した。
次に、このような着座支援処理の処理例を図６に示す。
図６ａに示すように、ユーザがパーソナルモビリティ１００に座ろうと、パーソナルモビリティ１００の前方で後方のパーソナルモビリティ１００に顔を向けながら腰をかがめると、これを検出したパーソナルモビリティ１００は、図６ｂ、ｃに示すように、着座待受姿勢に変形して移動し、腿の傾きに一致する傾きとした座面２をユーザの尻から腿の裏に軽い圧力で押し当てる。
The seating support process performed by the control device 17 has been described above.
Next, an example of such seating support processing is shown in FIG.
As shown in FIG. 6a, when the user bends down to sit on the personal mobility device 100 while facing the personal mobility device 100 in front of the personal mobility device 100 and the rear personal mobility device 100, the personal mobility device 100 detects this and As shown in FIG. 2, the seat is transformed into a sitting standby position and moved, and the seat surface 2, which has an inclination that matches the inclination of the user's thighs, is pressed with light pressure from the user's buttocks to the back of the thighs.
そして、その後、図６ｄ、ｅ、ｆに示すように、パーソナルモビリティ１００は、座面２からユーザに加わる圧力分布を所定範囲内の分布に維持しながら、座面２を後部が下降するように回転して、座面２が水平となる着席完了姿勢に変形する。 Thereafter, as shown in FIGS. 6d, e, and f, the personal mobility 100 moves the seat 2 so that the rear part descends while maintaining the pressure distribution applied to the user from the seat 2 within a predetermined range. The seat rotates and transforms into a fully seated position in which the seat surface 2 becomes horizontal.
ここで、この変形に伴って、ユーザは、座面２のサポートを受けながら着座動作を行って、水平な座面２に着座した状態に移行することができる。
そして、ユーザの座面２への着座状態が安定したなら、パーソナルモビリティ１００において、圧力分布センサ１１で検出した座面２の圧力分布より着座の完了が検出され、パーソナルモビリティ１００は、図６ｇ、ｈに示すように、座面２を水平を維持したまま上方に移動して標準姿勢に遷移する。
Here, as a result of this deformation, the user can perform a sitting motion while receiving support from the seat surface 2, and shift to a state where the user is seated on the horizontal seat surface 2.
Then, when the user's sitting state on the seat surface 2 becomes stable, the personal mobility 100 detects the completion of the seating based on the pressure distribution on the seat surface 2 detected by the pressure distribution sensor 11, and the personal mobility 100 As shown in h, the seat surface 2 is moved upward while maintaining the horizontal position to transition to the standard posture.
ここで、図６ｈに示すように、標準姿勢では、座面２に着座したユーザの足が床面(路面）から離れ、パーソナルモビリティ１００の走行が可能となる。
以上、着座支援処理の処理例について説明した。
このように着座支援処理によれば、ユーザが着座を準備する姿勢にあるときから腿の裏を座面２で広く支持しながら、ユーザを水平な座面２に着座した状態に遷移させることができ、ユーザの座席への着座動作の負担を軽減することができる。
Here, as shown in FIG. 6h, in the standard posture, the feet of the user seated on the seat surface 2 are separated from the floor surface (road surface), allowing the personal mobility 100 to travel.
The example of the seating support process has been described above.
In this way, according to the seating support process, it is possible to transition the user to a state where the user is seated on the horizontal seat surface 2 while the backs of the thighs are widely supported by the seat surface 2 from the time when the user is in the posture of preparing to sit down. This reduces the burden on the user when sitting on the seat.
ところで、以上の着座支援処理は、ステップ４０４でパーソナルモビリティ１００を移動させる着座待受位置は、座面２がユーザの尻から腿の裏に所定の軽い圧力で押し当てられる位置ではなく、ユーザの後方において座面２がユーザの尻や腿の裏と至近となる位置としてもよい。ただし、この場合には、ステップ４０４実行後に、ユーザの尻や腿の裏が座面２に所定程度の圧力で当接するのを待ってから、ステップ４０６のパーソナルモビリティ１００の形状の着席完了姿勢への変形を開始するようにする。ここで、この所定程度の圧力での当接は、当接圧力分布センサ１１で検出することができる。 By the way, in the above-mentioned seating support process, the seating standby position to which the personal mobility 100 is moved in step 404 is not a position where the seat surface 2 is pressed from the user's buttocks to the back of the thighs with a predetermined light pressure, but is At the rear, the seat surface 2 may be located in close proximity to the user's buttocks and the backs of the thighs. However, in this case, after executing step 404, wait until the user's buttocks and backs of thighs come into contact with the seat surface 2 with a predetermined amount of pressure, and then go to step 406, which is the completed sitting posture of the personal mobility 100. to start transforming. Here, the contact at a predetermined pressure can be detected by the contact pressure distribution sensor 11.
また、以上の着座支援処理では、ステップ４０２でパーソナルモビリティ１００の前方の所定距離内に着座準備姿勢をとったユーザの存在の有無を判定し、存在するときにステップ４０４以降の処理に進んだが、ステップ４０２は、たとえば「座らせて」といったような着座補助の指示を表す音声入力を音声入力装置１４で受け付けたときに、ステップ４０４以降の処理に進むものとしてもよい。 In addition, in the above-described seating support processing, it is determined in step 402 whether or not there is a user who has taken the seating preparation posture within a predetermined distance in front of the personal mobility 100, and when there is a user, the process proceeds to step 404 and subsequent steps. In step 402, the process may proceed to step 404 and subsequent steps when the voice input device 14 receives a voice input representing a seating assistance instruction such as "Please sit."
次に、制御装置１７が、座面２にユーザが着座しているときに制御装置１７が行う起立支援処理について説明する。
起立支援処理では、たとえば「立たせて」といったような起立補助の指示を表す音声入力を音声入力装置１４で受け付けたならば、パーソナルモビリティ１００が走行中で有る場合には走行機構１５を制御して走行を停止した上で、姿勢可変機構１６を制御してパーソナルモビリティ１００の形状を図６ｈに示す標準姿勢から、図６ｇに示す着席完了姿勢に変形させる。
Next, a description will be given of the standing-up support process that the control device 17 performs when the user is seated on the seat surface 2.
In the standing-up support process, when the voice input device 14 receives a voice input representing a standing-up assistance instruction such as "stand up", the running mechanism 15 is controlled if the personal mobility 100 is running. After stopping traveling, the posture changing mechanism 16 is controlled to change the shape of the personal mobility 100 from the standard posture shown in FIG. 6h to the fully seated posture shown in FIG. 6g.
また、次に、姿勢可変機構１６を制御して、図６ｆ、ｅ、ｄ、ｃのように、パーソナルモビリティ１００の形状を着座待受姿勢に変形させることによりユーザの起立を補助する。
そして、その後、圧力分布センサ１１で検出した座面２の圧力分布より、ユーザが座面２から完全に離れたことが検出されたならば、パーソナルモビリティ１００の形状を標準姿勢に復帰し起立支援処理を終了する。
以上、本発明の実施形態について説明した。
Next, the posture changing mechanism 16 is controlled to change the shape of the personal mobility 100 to the seated standby posture as shown in FIGS. 6f, e, d, and c to assist the user in standing up.
After that, if it is detected that the user has completely left the seat 2 based on the pressure distribution of the seat 2 detected by the pressure distribution sensor 11, the shape of the personal mobility 100 is returned to the standard posture to provide support for standing up. Finish the process.
The embodiments of the present invention have been described above.
１…ベース、２…座面、３…バックレスト、４…アームレスト、５…前脚部、６…前輪、７…後脚部、８…後輪、９…カメラ、１０…距離センサ、１１…圧力分布センサ、１２…操作部、１３…音声出力装置、１４…音声入力装置、１５…走行機構、１６…姿勢可変機構、１７…制御装置、１００…パーソナルモビリティ。 1...base, 2...seat, 3...backrest, 4...armrest, 5...front leg, 6...front wheel, 7...rear leg, 8...rear wheel, 9...camera, 10...distance sensor, 11...pressure Distribution sensor, 12... Operation unit, 13... Voice output device, 14... Voice input device, 15... Traveling mechanism, 16... Attitude variable mechanism, 17... Control device, 100... Personal mobility.
Claims (8)
ユーザが着座する座面と、
前記座面を移動して当該座面の高さと傾きを変更する座面移動手段と、
当該パーソナルモビリティを走行させる走行手段と、
当該パーソナルモビリティの前方のユーザの位置と姿勢を検出するユーザ検出手段と、
制御手段とを有し、
当該制御手段は、
当該パーソナルモビリティの形態が、当該パーソナルモビリティの前方で着座を準備する姿勢である着座準備姿勢をとっているユーザの腿の傾きと前記座面の傾きが一致し、前記座面の高さの範囲が前記着座準備姿勢をとっているユーザの腿の高さの範囲と重なる形態である着座待受形態となるように、前記ユーザ検出手段が検出したユーザの姿勢に基づいて、前記座面移動手段による座面の移動を制御する第１の制御動作と、
前記第１の制御動作の完了後に、当該パーソナルモビリティの形態が、前記着座待受形態から、前記座面が水平となる着座完了形態に遷移するように、前記座面移動手段による座面の移動を制御する第２の制御動作とを行うことを特徴とするパーソナルモビリティ。 Personal mobility used for user movement,
A seat surface on which a user sits;
Seat moving means for moving the seat to change the height and inclination of the seat;
A driving means for driving the personal mobility,
user detection means for detecting the position and posture of the user in front of the personal mobility;
control means;
The control means is
The form of the personal mobility is such that the inclination of the thighs of the user who is in a sitting preparation position in front of the personal mobility matches the inclination of the seat surface, and the height range of the seat surface is Based on the posture of the user detected by the user detection means, the seat surface moving means a first control operation for controlling movement of the seat surface by;
After the first control operation is completed, the seat surface is moved by the seat surface moving means so that the mode of the personal mobility changes from the seated standby mode to a seated completed mode in which the seat surface is horizontal. A personal mobility device characterized by performing a second control operation for controlling.
前記着座完了形態は、前記座面が水平であり、かつ、当該水平な座面の高さが、当該座面に着座したユーザの足が地に付く高さとなる形態であり、
前記制御手段は、前記第２の制御動作において、前記座面の後端が下降するように前記座面が回転して当該座面を水平とするように、前記座面移動手段による座面の移動を制御することを特徴とするパーソナルモビリティ。 The personal mobility according to claim 1,
The seating completion mode is a mode in which the seat surface is horizontal, and the height of the horizontal seat surface is the height at which the feet of the user seated on the seat surface touch the ground;
In the second control operation, the control means causes the seat moving means to move the seat surface so that the seat surface is rotated so that the rear end of the seat surface is lowered and the seat surface is made horizontal. Personal mobility is characterized by controlled movement.
前記制御手段は、前記第２の制御動作の完了後に、当該座面に着座したユーザの足が地に届かなくなる高さまで前記座面が水平を維持したまま上昇するように、前記座面移動手段による座面の移動を制御する第３の制御動作を行うことを特徴とするパーソナルモビリティ。 Personal mobility according to claim 2, comprising:
The control means controls the seat moving means so that after the second control operation is completed, the seat rises to a height where the feet of the user seated on the seat do not reach the ground while maintaining the seat horizontal. A personal mobility device characterized in that a third control operation is performed to control movement of a seat surface.
前記着座準備姿勢は、腰をかがめて立っている姿勢であることを特徴とするパーソナルモビリティ。 Personal mobility according to claim 1, 2 or 3,
The personal mobility device is characterized in that the sitting preparation posture is a standing posture with the waist bent.
前記制御手段は、前記第１の制御動作において、前記着座待受形態にあるパーソナルモビリティの前記座面が、前記着座準備姿勢をとっているユーザの腿の裏に当接するように、前記ユーザ検出手段が検出したユーザの位置と姿勢に基づいて、前記座面移動手段による座面の移動と、前記走行手段による当該パーソナルモビリティの走行とを制御することを特徴とするパーソナルモビリティ。 Personal mobility according to claim 1, 2, 3 or 4,
In the first control operation, the control means detects the user so that the seat surface of the personal mobility device in the seated standby mode comes into contact with the back of the thigh of the user who is in the seat preparation position. A personal mobility device characterized in that movement of the seat by the seat moving device and travel of the personal mobility by the traveling device are controlled based on the user's position and posture detected by the device.
前記座面に加わる圧力を検知する圧力検知手段を有し、
前記制御手段は、前記第２の制御動作において、前記圧力検知手段が検知する圧力が所定の範囲に維持されるように、前記座面移動手段による座面の移動を制御することを特徴とするパーソナルモビリティ。 The personal mobility according to claim 5,
comprising a pressure detection means for detecting pressure applied to the seat surface,
The control means is characterized in that in the second control operation, the control means controls the movement of the seat surface by the seat surface movement means so that the pressure detected by the pressure detection means is maintained within a predetermined range. personal mobility.
前記制御手段は、前記ユーザ検出手段が、当該パーソナルモビリティの前方の所定距離内に前記着座準備姿勢をとったユーザを検出したときに、前記第１の制御動作を開始することを特徴とするパーソナルモビリティ。 Personal mobility according to claim 1, 2, 3, 4, 5 or 6,
The control means starts the first control operation when the user detection means detects a user who has taken the seating preparation posture within a predetermined distance in front of the personal mobility device. Mobility.
前記ユーザ検出手段は、当該パーソナルモビリティの前方を撮影するカメラと、当該カメラで撮影した映像を解析して当該パーソナルモビリティの前方のユーザの位置と姿勢を認識する認識手段とを有することを特徴とするパーソナルモビリティ。 Personal mobility according to claim 1, 2, 3, 4, 5, 6 or 7, comprising:
The user detection means is characterized by having a camera that photographs the front of the personal mobility, and a recognition means that analyzes the image taken by the camera and recognizes the position and posture of the user in front of the personal mobility. personal mobility.
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| JP2005323692A (en) | 2004-05-12 | 2005-11-24 | Suzuki Motor Corp | Motor-driven wheelchair |
| JP2010154929A (en) | 2008-12-26 | 2010-07-15 | Gifu Univ | Standing assisting chair |
| US20150164719A1 (en) | 2011-07-19 | 2015-06-18 | Skip's Patents, Llc | Seat structure with sit-to-stand feature |
| JP2017000190A (en) | 2015-06-04 | 2017-01-05 | シャープ株式会社 | Motion support device |
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