JPWO2018047392A1 - モビリティ及びモビリティシステム - Google Patents
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Abstract
Description
図1に示すように、本発明におけるモビリティシステム1は、利用者の操作に応じた走行速度及び走行方向で走行するモビリティ2と、当該モビリティ2に対して少なくとも1以上の環境情報を提示する環境情報提示ユニット3とを有する。このモビリティシステム1には、モビリティ2との間で双方向に各種のデータを送受信するデータ端末装置4及び管理サーバ5も含めてもよい。
モビリティ2は、図1に示すように、外部操作に応じて又は自律的に走行可能な二輪駆動型の四輪移動体であり、利用者が着座する着座部(支持部)10と、背中を保持するための背もたれ部11と、両腕を保持するための肘掛け部12とを備える。
図2は、モビリティ2に搭載される制御系の構成図である。全体の制御を司る統括制御部(走行調整部)30、走行経路情報を記憶する目標走行経路記憶部40、操作部20からの入力又は統括制御部30による制御に応じて走行駆動部15を制御する走行制御部41を備える。
モビリティ2は、複数の異なる視点から撮像する撮像部を用いて、接近する対象物体を判別するとともに、当該対象物体とモビリティ本体との相対位置関係を算出することにより、所定の目標距離内に接近する対象物体が接近対象又は障害物のいずれかを判断するようになされている。
なお上述の実施の形態においては、モビリティ2として、外部操作に応じて又は自律的に走行可能な二輪駆動型の四輪移動体を適用し、すなわち走行駆動部15を、駆動後輪13a,13bと前車輪14a,14bとモータドライバ42a,42bと駆動モータ43a,43bとから構成するようにした場合について述べたが、本発明はこれに限らず、四輪駆動型の四輪移動体でもよく、利用者が安全に着座した状態で移動できれば、駆動方法や車輪の数など多種多様のものを適用しても良い。また車輪以外でもキャタピラやオムニホイール等の種々の走行機構を適用しても良い。
Claims (11)
- 利用者から入力された操作内容を検出する操作部と、当該操作部による操作内容に応じた走行速度及び走行方向で走行駆動する走行駆動部とを有するモビリティにおいて、
前記操作部に触れる手指を基準とする前記利用者の生体信号を検出するための電極を有する生体信号検出部と、
前記生体信号検出部により取得された生体信号に基づいて、前記利用者の意思に従った動力を前記走行駆動部に発生させるための指令信号を生成する随意的制御部と、
前記モビリティ本体側にて走行時の走行環境を検知する環境検知部と、
外部環境から提示される少なくとも1以上の環境情報を取得する情報取得部と、
前記操作部による現在の操作内容と、前記随意的制御部による指令信号と、前記環境検知部により検知される走行環境と、前記情報取得部により取得される各環境情報とに基づいて、現在の前記モビリティの走行状態を、前記利用者の意思を反映させつつ安全性確保のための最適な走行状態に調整する走行調整部と、
前記走行調整部により調整された走行状態となるように、前記走行駆動部による走行駆動を制御する走行制御部と
を備えることを特徴とするモビリティ。 - 前記利用者の体重を支持する支持部に設けられ、当該利用者の体動変化及び重心変動を検知する姿勢検知部をさらに備え、
前記走行調整部は、前記操作部による現在の操作内容に、前記姿勢検知部により検出された体重変化及び重心変動を反映させて前記走行状態を調整する
ことを特徴とする請求項1に記載のモビリティ。 - 集音マイクを介して集音した前記利用者の音声に基づく発話内容を分析する音声分析部をさらに備え、
前記走行調整部は、操作部による現在の操作内容に、前記音声分析部による分析結果を反映させて前記走行状態を調整する
ことを特徴とする請求項1または2に記載のモビリティ。 - 前記利用者の生理状態を検出する生理状態検出部をさらに備え、
前記走行調整部は、前記生理状態検出部により検出された生理状態について、所定時間以上所定基準の範囲外である場合、前記操作部による現在の操作内容に関わらず、現在の前記モビリティの走行状態を安全性確保を最優先とする走行状態に調整する
ことを特徴とする請求項1から3のいずれか一項に記載のモビリティ。 - 前記環境検知部は、複数の異なる視点から対象物体を撮像する撮像部を有し、
前記走行調整部は、前記撮像部の撮像結果であるRGBデータに基づいて前記対象物体を判別するとともに、当該RGB画像データから算出した深度データに基づいて前記対象物体と前記モビリティ本体との相対位置関係を算出しながら、所定の目標距離内に接近した前記対象物体が障害物であるか否かを判断する
ことを特徴とする請求項1から4のいずれか一項に記載のモビリティ。 - 前記走行調整部による前記走行状態の調整内容及び調整事実のいずれか一方又は両方をリアルタイムで前記利用者に通知する情報内容通知部をさらに備える
ことを特徴とする請求項1から5のいずれか一項に記載のモビリティ。 - 前記情報内容通知部は、前記利用者に対して前記走行調整部による前記走行状態の調整内容に応じた物理的な刺激を付与する刺激付与部からなる
ことを特徴とする請求項6に記載のモビリティ。 - 請求項1から請求項7のいずれかに記載のモビリティと、当該モビリティに対して少なくとも1以上の環境情報を提示する環境情報提示ユニットとを有するモビリティシステムにおいて、
前記環境情報提示ユニットは、
環境情報ごとに設けられ、前記モビリティからの要求に応じて対応する環境情報を提示する情報提示部を備え、
前記モビリティの前記情報取得部は、前記各情報提示部から利用可能な環境情報のみを取得する
ことを特徴とするモビリティシステム。 - 前記モビリティは、前記走行調整部による前記走行状態の調整内容を、前記姿勢検知部により検出された体重変化及び重心変動と、前記認知能力検知部により検出された認知能力と、前記生理状態検出部により検出された生理状態とのうち少なくとも1以上とともに、外部に発信する情報通信部を備え、
前記モビリティと別体に設けられ、前記情報通信部から送信される各種情報を受信し、通信回線を介して管理サーバに送信するデータ端末装置を備える
ことを特徴とする請求項8に記載のモビリティシステム。 - 前記モビリティは、当該モビリティの位置情報を検出する位置情報検出部をさらに備え、
前記情報通信部は、前記位置情報発信部から得られる現在の位置情報を発信する
ことを特徴とする請求項9に記載のモビリティシステム。 - 前記データ端末装置は、外部入力された前記モビリティに対する操作指令を表す指令信号を送信し、
前記モビリティの前記操作調整部は、前記情報通信部を介して前記指令信号を受信すると、現在の操作内容にかかわらず、当該指令信号に基づく操作指令に応じた走行状態に優先的に移行させる
ことを特徴とする請求項9又は10に記載のモビリティシステム。
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