WO2014122750A1

WO2014122750A1 - Mobile object

Info

Publication number: WO2014122750A1
Application number: PCT/JP2013/052888
Authority: WO
Inventors: 丈二五十棲; 伸幸中根; 英明野村
Original assignee: 富士機械製造株式会社
Priority date: 2013-02-07
Filing date: 2013-02-07
Publication date: 2014-08-14
Also published as: JPWO2014122750A1; JP6258875B2

Abstract

Provided is a mobile object that reliably conveys the state of the mobile object, such as the traveling direction thereof, to people around the mobile object, even at a distance. This mobile object (20) is a mobile object that is permitted to move within a residential area where people reside, and that moves within the residential area by being driven by a drive source, the mobile object comprising: a projection device (25) that projects a display content onto a floor surface, a wall surface, and/or a ceiling surface in the periphery of the mobile object (20); a display content derivation unit (26c) that derives a display content indicating state information on the state of the mobile object (20); and a projection unit (26d) that projects, by means of the projection device (25), the display content derived by the display content derivation unit (26c).

Description

Moving body

The present invention relates to a moving body that is allowed to move in a living area where a person lives and moves in the living area by driving by a driving source.

As one type of mobile body, one shown in Patent Document 1 is known. As shown in FIG. 1 of Patent Document 1, the moving body includes a notification unit 3 that notifies the operator that the operation mode has been switched to the autonomous movement mode. As the notification unit 3, a display unit 81 provided in the control unit 8 and including an image data processing unit 811 and a display 812 is described. In addition to the display unit 81, a sound source unit 83 including a speaker 831 and a sound data processing unit 832, and a reaction force applying unit 84 that applies a reaction force to the occupant's operation of the joystick 821 are described. .

In the mobile body configured as described above, the operator can recognize by the notification unit 3 that the operation mode has been switched to the autonomous movement mode, which is one of the states of the mobile body. A person in the area cannot recognize the state of the moving body unless he / she approaches the moving body and looks at the display unit 81 of the moving body.

Further, as another type of mobile object, one disclosed in Patent Document 2 is known. As shown in Patent Document 2, the moving body is a robot for interacting with a person, an annunciator for indicating the presence of the robot, and a beacon for optically indicating the presence of the robot. (Paragraph 0051). It is described that when the robot is moving, the annunciator may emit a characteristic sound continuously or periodically, and the beacon may flash the strobe.

JP 2010-066421 Special table 2009-509673

In the moving object described in Patent Document 2 described above, a person around the moving object can recognize that the moving object is moving even if he / she does not approach the moving object, but proceeds. There was a problem that detailed information such as directions could not be recognized. In addition, there is a problem that states other than the moving body cannot be recognized.

The present invention has been made to solve the above-described problems, and it is an object of the present invention to reliably convey the state of the moving body such as the traveling direction to a person around the moving body. To do.

In order to solve the above problems, a moving body according to the present invention is a moving body that is allowed to move in a living area where a person lives and moves within the living area by driving by a driving source, and is around the moving body. An irradiation device that irradiates display content on the floor, wall, and ceiling of the display, a display content deriving unit that derives display content indicating state information that is the state of the moving object, and a display content derived by the display content deriving unit. And an irradiating unit for irradiating with an irradiating device.

It is a schematic diagram which shows the outline | summary of the care center where the moving body is arrange | positioned about one Embodiment of the moving body by this invention. It is a right view which shows the moving body shown in FIG. It is a top view which shows the moving body shown in FIG. It is a block diagram which shows the moving body shown in FIG. FIG. 4 is a block diagram showing the control device. It is the trace figure which shows each arrow which shows the advancing direction of a moving body, and each passage plan area | region. It is a figure which shows the guide apparatus. It is a top view which shows that an irradiation apparatus moves, irradiating an arrow or a trace figure, an upper stage shows a straight advance, a middle stage shows a left turn, and a lower stage shows a right turn. It is a side view which shows a mode that a mobile body approaches a care receiver. It is a side view which shows a mode that the moving body is supporting the person who is sitting. It is a side view which shows a mode that the to-be-supported person who the moving body has stood up is supported.

Hereinafter, an embodiment of a moving body according to the present invention will be described. FIG. 1 is a schematic view showing an outline of a care center 10 in which the moving body 20 is arranged. The care center 10 is provided with a station 11, a training room 12, and individual rooms 13a to 13d. The care center 10 is a living area where people live. A person existing in the care center 10 is a person M1 who needs assistance or a person M2 who helps the person M1.

As shown in FIG. 1, the station 11 is a place where the assistant M2 is packed, and is a base on which the mobile unit 20 is waiting or charged. The moving body 20 is allowed to move in a living area where a person lives, and moves in the living area by driving by left and right

drive wheel motors

21g and 21h as drive sources. The training room 12 is a room where the person being assisted M1 performs training and rehabilitation. Each of the private rooms 13a to 13d is a room in which the care recipient M1 lives.

The station 11, the training room 12, and the individual rooms 13a to 13d are provided with entrances /

exits

11a, 12a, 13a1 to 13d1, respectively, and the entrances /

exits

11a, 12a, and 13a1 to 13d1 are connected via a passage 14. . In FIG. 1, an arrow in the vicinity of the moving body 20 indicates the traveling direction of the moving body 20.

The moving body 20 is an assistance moving body for assisting the person being assisted M1. As shown in FIGS. 2 and 3, the moving body 20 includes a base 21, a robot arm unit 22, a holding unit 23, a handle 24, an irradiation device 25, and a control device 26.

The base 21 includes left and

right base portions

21a and 21b and left and

right leg portions

21c and 21d. The left and

right base portions

21a and 21b are disposed at a predetermined distance in the left and right direction. The left and

right base portions

21a and 21b are provided with left and

right drive wheels

21e and 21f, respectively, and drive the left and

right drive wheels

21e and 21f, respectively. The left and right

drive wheel motors

21g and 21h (drive sources) are incorporated. The moving body 20 travels by left and

right drive wheels

21e and 21f driven by left and right

drive wheel motors

21g and 21h (drive sources), respectively.

The left and

right leg portions

21c and 21d extend horizontally from the left and

right base portions

21a and 21b in the forward direction. Left and right driven

wheels

21i and 21j are provided at the distal ends of the left and

right leg portions

21c and 21d, respectively. A pair of collision prevention sensors 21k and 21l are provided at the ends of the left and

right leg portions

21c and 21d, respectively. The collision prevention sensors 21k and 21l are sensors that detect obstacles, and the detection signals thereof are transmitted to the control device 26.

The robot arm unit 22 is attached to the base 21 and can be moved relative to each other by a drive unit including the first and second rotation motors 22a1b and 22b2 and the slide motor 22a2a. A plurality of

arms

22a, 22b, and 22c are provided.

The base of the first arm 22 a is attached to the base 21. The first arm 22a includes a slide base 22a1, a first slide 22a2, and a second slide 22a3. The slide base 22a1 is formed in a substantially rectangular parallelepiped shape, and its base end is attached to the base 21 so as to be rotatable around the first rotation shaft 22a1a. The slide base 22a1 is rotationally driven by a first rotation motor 22a1b. The first rotation motor 22 a 1 b is provided on the base 21.
A knee sensor 22a1c that detects the distance from the knee of the person being assisted M1 is provided on the front surface of the slide base 22a1. The knee sensor 22a1c is composed of, for example, an ultrasonic sensor or a distance sensor using a laser.

The first slide portion 22a2 is formed in a substantially rectangular parallelepiped shape, and is configured to be smaller than the slide base portion 22a1. The first slide portion 22a2 slides in the longitudinal direction (axial direction) with respect to the slide base portion 22a1, and is configured to be substantially accommodated in the slide base portion 22a1 when contracted.

The second slide portion 22a3 is formed in a substantially rectangular parallelepiped shape, and is configured to be smaller than the first slide portion 22a2. The second slide portion 22a3 slides in the longitudinal direction (axial direction) with respect to the first slide portion 22a2, and is configured to be substantially accommodated in the first slide portion 22a2 when contracted. .

The first slide portion 22a2 is provided with a slide motor 22a2a and a drive belt (not shown) driven by the slide motor 22a2a. A slide base portion 22a1 and a second slide portion 22a3 are fixed to the drive belt. When the slide motor 22a2a is driven, the first slide portion 22a2 extends (or contracts) along the axial direction with respect to the slide base portion 22a1, and at the same time, the second slide portion 22a3 extends (or contracts) with respect to the first slide portion 22a2. Shrink).

The second arm 22b is formed in a substantially rectangular parallelepiped shape, and is formed at the distal end portion of the second slide portion 22a3 so as to extend in a direction orthogonal to the longitudinal direction (forward direction).
The third arm 22c is formed in a substantially rectangular parallelepiped shape, and the base end portion thereof is attached to the distal end portion of the second arm 22b so as to be rotatable around the second rotation shaft 22b1. The third arm 22c is rotationally driven by the second rotation motor 22b2. The second rotation motor 22b2 is accommodated in the second arm 22b.

The holding part 23 is fixed to the tip of the third arm 22c. The holding portion 23 is a member that supports both arms (both sides) from the lower side when facing the person being assisted M1 in the standing and sitting movements of the person being assisted, for example, in the forward direction. It is formed in a substantially U shape in plan view that opens toward the top. The holding portion 23 is formed of, for example, a relatively soft material on the premise that the holding portion 23 contacts the person being assisted.

The handle 24 is fixed to the upper surface of the third arm 22c. The handle 24 is composed of a pair of left and right bar-shaped handles, and is gripped by the left and right hands of the person being assisted M1. The handle 24 is provided with

contact sensors

24a and 24b that detect gripping. The handle 24 is provided with a left turning switch 24c for turning the moving body 20 to the left and a right turning switch 24d for turning the moving body 20 to the right. Further, the handle 24 is provided with a stop switch 24e for stopping the moving body 20.

In addition, the third arm 22c receives from the person being assisted M1 when walking while the person being assisted M1 is supported by the holding unit 23 or when the person being assisted is holding the handle 24. A load sensor 22c1 for detecting the force received is provided. The load sensor 22c1 detects a strain amount of the strain generating body that changes due to a change in load as a voltage change, or when pressure is applied to the silicon chip, the gauge resistance changes according to the deflection and is converted into an electric signal. For example, a semiconductor pressure sensor.

The irradiation device 25 is a device that irradiates display contents on the floor surface, wall surface, and ceiling surface around the moving body 20. The irradiation device 25 is a device that displays an image or video by enlarging and projecting the image or video on a floor surface, a wall surface, or a ceiling surface. The irradiation device 25 is configured in the same manner as, for example, a projector or a projector, and includes a light source, a lens, and the like.

That is, the irradiation device 25 transmits the light emitted from the light source through the transmissive liquid crystal on which an image, video, or the like is displayed, and irradiates the image, video, or the like to the floor surface, wall surface, or ceiling surface through the lens. It is configured. In addition, after the white light emitted from the light source is collected by the condenser lens, each of the white light is reflected by a reflecting mirror made up of a number of micro-mirrors whose reflection angles can be controlled independently, and the reflected light passes through the lens. You may make it comprise so that a floor surface, a wall surface, and a ceiling surface may be irradiated. In this case, the reflection angle of each micromirror is controlled according to the image and video.

The irradiation device 25 is provided on each of the front surface of the slide base portion 22a1 and the back surface of the first slide portion 22a2. The irradiation device 25 provided on the front surface of the slide base 22a1 irradiates an image or video on the floor or wall surface in front of the moving body 20. The irradiation device 25 provided on the back surface of the first slide portion 22a2 irradiates the floor surface, wall surface, or ceiling surface behind the moving body 20 with an image or video.
Note that the irradiation device 25 may adjust the focus and brightness of the image or video emitted by the irradiation device 25 and adjust the brightness based on the result of imaging by the imaging device 28.

The control device 26 controls the traveling and irradiation of the moving body 20. As shown in FIG. 4, the control device 26 includes the above-described collision prevention sensors 21k and 21l, knee sensors 22a1c, load sensors 22c1,

contact sensors

24a and 24b, a left turn switch 24c, a right turn switch 24d, a stop switch 24e, The left and right

drive wheel motors

21g and 21h, the first rotation motor 22a1b, the slide motor 22a2a, the second rotation motor 22b2, the irradiation device 25, the storage device 27, the imaging device 28, and the

guide devices

29 and 31 are connected. . The control device 26 includes a microcomputer (not shown), and the microcomputer includes an input / output interface, a CPU, a RAM, and a ROM (all not shown) connected via a bus.

As shown in FIG. 5, the control device 26 includes an information acquisition unit 26a, an information deriving unit 26b, a display content deriving unit 26c, and an irradiation unit 26d.
The information acquisition unit 26 a acquires information related to the control of the moving body 20. For example, as the information acquisition unit 26a, there is a steering angle information acquisition unit that acquires steering angle information related to the steering angle of the moving body 20. In the present embodiment, as the steering angle information, the left steering angle (or right steering angle) obtained by converting the on-time of the left turning switch 24c (or right turning switch 24d) into the steering angle, or the left drive wheel motor 21g. There is a left steering angle (or a right steering angle) obtained by converting a control signal of the (or right drive wheel motor 21h) into a steering angle.

The information deriving unit 26b derives information regarding the state of the moving body 20 as state information from the information acquired by the information acquiring unit 26a. For example, as the information deriving unit 26b, there is a progress information deriving unit that derives progress information regarding the progress of the moving body 20 as state information from the rudder angle information acquired by the rudder angle information acquiring unit 26a. In the present embodiment, as the progress information, the left turn, the right turn, the straight direction (going straight forward), and the backward direction (going straight forward), the turning degree (turning angle, turning radius) ) These traveling direction and turning degree can be derived from the steering angle information.

In addition, the information acquisition unit 26a includes information on whether the moving body 20 is in a normal state or an abnormal state (a control signal indicating a normal state or an abnormal state), whether the moving body 20 is in a standing operation, or in a seating operation. Also, information related to the operation state such as whether it is (an operation signal such as a standing operation signal for instructing a standing operation and a seating operation signal for instructing a seating operation) is acquired. The abnormal state is a state where the moving body 20 cannot travel (for example, due to an abnormality of the left drive wheel motor 21g) or a state where the robot arm unit 22 cannot be driven (for example, due to an abnormality of the first rotation motor 22a1b). The normal state is a state in which the moving body 20 is normal as a whole. Furthermore, the information deriving unit 26b provides information on the state of the moving body 20 (normal state or abnormal state, or standing state or sitting state) from these signals. Derived as state information.

The display content deriving unit 26c derives display content indicating state information that is the state of the moving body 20. The display contents are composed of characters, figures, symbols, shapes, and the like representing the contents. For example, when the status information is progress information, display contents indicating the travel direction and the degree of turning are derived. That is, the display content deriving unit 26c derives display content corresponding to the progress information from the progress information derived by the progress information deriving unit 26b.

When the progress information is the direction of travel, the corresponding arrows are read from the storage device 27. Specifically, when the traveling direction is a left turn, an arrow indicating a left turn shown in FIG. 6 is read. Similarly, when it is a right turn, an arrow indicating a right turn is read. When the vehicle is going straight, an arrow indicating straight running is read. When the vehicle is in reverse, an arrow indicating reverse is read.
Further, when the progress information is a turning degree, the degree of turning of an arrow indicating left turning or right turning may be set according to the turning degree.

Furthermore, the display content deriving unit 26c derives the display content corresponding to the scheduled passage area through which the moving body 20 is scheduled to pass from the steering angle information acquired by the steering angle information acquiring unit 26a. The scheduled passage area is calculated by tracing each position every predetermined short time until several seconds after the moving body 20 calculated from the steering angle information and the speed of the moving body 20. This scheduled passage area is an interference area that may collide with the moving body 20 if a person is present in the area. The display content corresponding to the scheduled passage area is created by tracing up to a position several seconds later, having a width that is substantially the same as or slightly wider than the width of the moving body 20 when illuminated on the floor surface. A figure (hereinafter referred to as a trace figure).

Further, the display content corresponding to the scheduled passage area may be configured from display contents in a plurality of stages corresponding to the magnitude of the steering angle acquired by the steering angle information acquisition unit 26a. At this time, the trace figure may be stored in the storage device 27 according to the degree of bending at a plurality of stages. The control device 26 reads a trace figure corresponding to the steering angle.

If the state information is information regarding a normal state (or abnormal state), the control device 26 reads characters, figures, symbols, shapes, etc. indicating the normal state (or abnormal state) from the storage device 27. When the state information is information related to the operation state, characters, figures, symbols, shapes, etc. indicating the operation state are read from the storage device 27.

The irradiation unit 26d irradiates the display surface derived from the display content deriving unit 26c to the floor surface, wall surface, and ceiling surface around the moving body 20 by the irradiation device 25.

The storage device 27 stores each display content indicating each state information. As shown in FIG. 6, the display contents include an arrow indicating a forward direction, an arrow indicating a backward direction, an arrow indicating a left turn and an arrow showing a right turn, a trace figure indicating a scheduled passage area when going straight, There are a trace figure indicating a scheduled passage area during rotation and a trace figure indicating a scheduled passage area during right turn. The arrow indicating the left turn and the arrow indicating the right turn shown in FIG. 6, the trace figure indicating the scheduled passage area when turning left, and the trace figure indicating the scheduled passage area when turning right are 90 degrees. Although what turns is shown, you may make it the memory | storage device 27 memorize | store what turns at each angle.

The imaging device 28 is provided on each of the front surface of the slide base portion 22a1 and the back surface of the first slide portion 22a2. The imaging device 28 provided on the front surface of the slide base 22a1 captures an object in front of the moving body 20. The imaging device 28 provided on the back surface of the first slide portion 22a2 captures an object behind or above the moving body 20.

The moving body 20 is provided with a guide device 29 that guides the state of the moving body 20 by voice or display to people around the person including the care recipient M1 and the assistant M2. The guidance device 29 may be a speaker that outputs voice, or a display device such as an LCD or LED that displays characters, graphics, and the like.

Furthermore, the moving body 20 is also provided with a guide device 31 for displaying that it is standing up, sitting, and in standby. As shown in FIG. 7, the guide device 31 includes an upward arrow 31a, a circle 31b, and a downward arrow 31c arranged in order from the top. The upward arrow 31a, the circle 31b, and the downward arrow 31c are turned on and off, respectively. An upward arrow 31a, a circle 31b, and a downward arrow 31c indicate a standing operation, a standby operation, and a seating operation, respectively.

Next, the operation of the moving body 20 configured as described above will be described. First, the movement of the moving body 20 will be described. A case where the moving body 20 moves independently from the station 11 to each of the individual rooms 13a to 13d (or from each of the individual rooms 13a to 13d to the station 11) will be described. When moving along the passage 14 from the station 11 to each of the individual rooms 13a to 13d, the moving body 20 is a route from the entrance / exit 11a of the station 11 to each of the entrances / exits 13a1 to 13d1 of the individual rooms 13a to 13d. It moves along the route stored in the storage device 27.

The moving body 20 reads the guide mark 14a provided in the passage 14 via the imaging device 28, calculates the remaining journey from the information, and moves based on the result. The guide mark 14a is, for example, a two-dimensional barcode. The two-dimensional barcode includes the current point (for example, the intersection of the passage 14), the distance and direction from the current point to the destination (for example, the passage when the moving body 20 moves from the station 11 to the first private room 13a). Information such as the distance and direction (left turn) from the intersection to the first private room 13a when 14 intersections are reached is described. The guide marks 14a are provided at the corners of the entrance / exit 11a of the station 11, the entrances / exits 13a1 to 13d1 of the individual chambers 13a to 13d, and predetermined locations of the passage 14 (for example, the corners of the intersections and the ceiling surface).

In these cases, irradiation by the irradiation device 25 when the moving body 20 moves will be described. For example, a case where the moving body 20 moves from the station 11 to the first private room 13a will be described. At this time, the moving body 20 turns left at the entrance / exit 11a of the station 11 and exits to the passage 14, turns right at the intersection of the passage 14, turns left at the entrance / exit 13a1 of the first private room 13a, and enters the first private room 13a. To do. In principle, the moving body 20 moves forward with the front surface of the moving body 20 in the traveling direction. At this time, irradiation is performed from the irradiation device 25 on the front surface. When the moving body 20 goes straight, the moving body 20 irradiates the floor surface or wall surface (including the ceiling surface in the case of the irradiation device 25 on the back surface) with an arrow indicating straight travel (or a trace figure indicating a scheduled passage area during straight travel). (See the upper part of FIG. 8). When making a left turn, the robot moves while irradiating a floor surface or a wall surface with an arrow indicating a left turn (a trace figure indicating a scheduled passage area during a left turn) (see the middle of FIG. 8). When making a right turn, the robot moves while irradiating the floor or wall surface with an arrow indicating a right turn (a trace figure indicating a scheduled passage area during a right turn) (see the lower part of FIG. 8).

In FIG. 8, an arrow indicating the direction of travel is superimposed on the race figure to indicate the scheduled passage area, but only the trace figure may be displayed or only the arrow indicating the direction of travel may be displayed. Good.

In addition, when the assisting mobile body 20 is moving to a place where the attendee M1 is located (for example, the first private room 13a), at least one of the persons present around the attendee M1 and the assisting mobile body 20 In addition, the guiding device 29 guides that the assistance moving body 20 is moving to the place where the person being assisted M1 is (for example, the first private room 13a).

Next, the case where the moving body 20 is approaching the person M1 who is seated will be described. At this time, the moving body 20 enters the first private room 13a from the entrance / exit 13a1 of the first private room 13a, and then approaches the person M1 sitting on the side of the bed. The moving body 20 moves forward with the front surface of the moving body 20 in the traveling direction. The moving body 20 reads the guidance mark 14b provided in the vicinity of the person being assisted M1 through the front imaging device 28, and approaches the person assisted by M1 based on the information.

At this time, the moving body 20 moves from the irradiation device 25 on the front side while irradiating the floor surface or the wall surface with an arrow indicating a straight line (or a trace figure indicating a scheduled passage area during the straight line) (see the upper part of FIG. 8). Further, the display content indicating that the user is approaching may be emitted from the rear irradiation device 25 to the wall surface (the front wall surface of the person being assisted M1) or the ceiling surface.

And when the mobile body 20 approaches to the distance which detects the knee of the care recipient M1 by the knee sensor 22a1c (see FIG. 9), the mobile body 20 is approaching by stopping the irradiation from the front surface. The display content indicating this is irradiated from the back to the wall surface (the wall surface in front of the person being assisted M1) and the ceiling surface.

Further, the standing operation and the sitting operation of the moving body 20 will be described with reference to FIGS. The moving body 20 uses a detection result of the knee sensor 22a1c (a distance between the moving body 20 and the knee of the person being assisted M1), and a predetermined position where the distance from the seated person M1 is a predetermined distance. Move up. This predetermined position is an optimum position (an optimum standing position) for raising the person being assisted M1.

Then, the moving body 20 provides guidance to the person being assisted with “hold the handle”. For example, the moving body 20 irradiates the display surface urging the user to hold the handle 24 from the rear surface to the wall surface (the front wall surface of the person being assisted M1) or the ceiling surface. In addition, a voice prompting the user to hold the handle 24 from the guide device 29 may be output.

When the person being assisted M1 grasps the handle 24 with both hands, the moving body 20 performs an erection operation to erect the person to be assisted M1 in order to detect that the handle 24 has been grasped by the

contact sensors

24a and 24b. At this time, the moving body 20 provides guidance to the person being assisted M1 (or a nearby person) that “the person is standing up”. For example, the moving body 20 irradiates the display surface indicating that the standing operation is being performed from the back to the wall surface (the front wall surface of the person being assisted M1) and the ceiling surface. Moreover, you may make it output the audio | voice which shows that it is standing-up operation from the guidance apparatus 29. FIG. In addition to this, the upward arrow of the guide device 31 may be turned on.

When the standing motion is started, the moving body 20 holds the upper half of the sitting person M1 by the holding unit 23 (see FIG. 10). And the moving body 20 raises the care receiver M1 in the state which hold | maintained the upper body (refer FIG. 11). During the period from the sitting state to the standing state, as described above, the moving body 20 provides guidance to the person being assisted M1 (or a nearby person) that the person is standing.

The moving body 20 is assisting in the standing state of the person being assisted M1. The person being assisted M1 walks and moves while the armpit is held by the holding unit 23. As described above, when the moving body 20 that assists the walking of the person being assisted M1 moves from the first private room 13a to the training room 12, in the same manner as the case where the moving body 20 moves alone as described above, It moves along the stored route, or moves by reading the guide mark 14a with the imaging device 28.

At this time, the moving body 20 turns right at the entrance / exit 13a1 of the first private room 13a, exits the passage 14, turns right at the intersection of the passage 14, turns left at the entrance / exit 12a of the training room 12, and enters the training room 12 To do. The moving body 20 moves forward with the back surface of the moving body 20 in the traveling direction. At this time, the moving body 20 irradiates the irradiation device 25 on the back surface with an arrow or a trace figure indicating the traveling direction as shown in FIG. 8 as in the case where the front surface moves forward in the traveling direction.

In addition, when the sitting operation for seating the person being assisted M1 is started, the moving body 20 causes the person M1 (see FIG. 11) in the standing state to hold the upper body of the person being assisted by the holding unit 23. The seat is held in a held state (see FIG. 10). At this time, during the period from the standing state to the seated state, the moving body 20 provides guidance to the person being assisted M1 (or a nearby person) that the seating operation is being performed. For example, the moving body 20 irradiates the display surface indicating that the seating operation is being performed on the wall surface (the wall surface in front of the person being assisted M1) or the ceiling surface from the back surface. Moreover, you may make it output the audio | voice which shows that it is standing-up operation from the guidance apparatus 29. FIG. In addition to this, the downward arrow of the guide device 31 may be turned on.

Then, when the seating operation is completed, the moving body 20 provides guidance to the person being assisted, “Please let go of the handle”. For example, the moving body 20 irradiates the display surface that prompts the user to release the handle 24 to the wall surface (the front wall surface of the person being assisted M1) or the ceiling surface. Further, a sound prompting the user to release his / her hand from the handle 24 may be output from the guide device 29.

When the person being assisted M1 releases his / her hand from the handle 24, the moving body 20 moves away from the person being assisted M1 in order to detect that his / her hand has been released from the handle 24 by the

contact sensors

24a and 24b.

According to the present embodiment, the display content deriving unit 26c displays state information that is the state of the moving body 20 (for example, information such as the traveling direction of the moving body and whether the moving body is normal or abnormal). The content is derived, and the irradiation unit 26d irradiates the display content derived by the display content deriving unit 26c with the irradiation device 25 that irradiates the display content on the floor surface, wall surface, and ceiling surface around the moving body 20. Thereby, the person around the moving body 20 can directly visually recognize the display contents indicating the state information of the moving body 20 irradiated on the floor surface, wall surface, and ceiling surface around the moving body 20. Therefore, even if the mobile object 20 is separated without being close to the mobile object 20, it can be reliably recognized. In other words, the moving body 20 can reliably convey the state of the moving body 20 even if it is away from a person around the moving body 20.

Further, the steering angle information acquisition unit 26a acquires the steering angle information related to the steering angle of the moving body 20, and the progress information deriving unit 26b progresses of the moving body 20 from the steering angle information acquired by the steering angle information acquisition unit 26a. The progress information regarding is derived as state information. Then, the display content deriving unit 26c derives display content corresponding to the progress information from the progress information derived by the progress information deriving unit 26b. Thereby, since the person around the moving body 20 can directly view the display content indicating the progress information of the moving body 20 irradiated on the floor surface, the wall surface and the ceiling surface around the moving body 20, Progress information of the moving body 20 can be grasped intuitively and accurately.

Further, the display content deriving unit 26c derives display content corresponding to a scheduled passage area through which the moving body 20 is scheduled to pass from the steering angle information acquired by the steering angle information acquiring unit 26a (see FIG. 6). Thereby, since the person around the moving body 20 can intuitively and accurately grasp the scheduled passage region (see FIG. 8) of the moving body 20, the person around the moving body 20 and the moving body 20 Can be avoided as much as possible.

Also, the display content corresponding to the scheduled passage area is composed of display contents in a plurality of stages according to the size of the steering angle acquired by the steering angle information acquisition unit. Thereby, the person around the moving body 20 can more accurately grasp the scheduled passage area of the moving body 20.

Moreover, the moving body 20 is a moving body for assistance for assisting the person M1 who needs assistance. Thereby, even when the moving body 20 is an assistance moving body, a person around the assistance moving body 20 can intuitively and accurately grasp the progress information of the assistance moving body 20.

Further, when the assistance mobile body 20 is moving to a place where the person being assisted M1 is present, the guidance device 29 is provided to at least one of the persons around the assistance person M1 and the assistance mobile body 20, The assistance moving body 20 guides that it is moving to the place where the person being assisted M1 is. Thereby, when the assistance moving body 20 is moving to the place where the person being assisted M1 is present, the guide device 29 further assists in addition to the state information of the assistance moving body irradiated by the irradiation device 25. Since it is guided that the moving body 20 is moving, it can be notified more reliably that it is moving.

The moving body according to the present invention is not limited to the assisting moving body, and is allowed to move within a living area where a person lives (or within a pedestrian area where a person walks) and is driven within the living area by a drive source. For example, an automatic guided vehicle in a factory, an electric wheelchair, a so-called senior car (single-seater electric vehicle), and the like are also included. There is no distinction between indoor and outdoor activities. When a person gets on and operates (drives) the steering wheel, the rudder angle information acquisition unit is configured to acquire rudder angle information related to the rudder angle from a rudder angle sensor that detects the rudder angle of the steering wheel operated by the person. That's fine.

DESCRIPTION OF SYMBOLS 10 ... Care center, 11 ... Station, 12 ... Training room, 13a-13d ... 1st-4th private room, 14 ... Passage, 20 ... Moving body, 21 ... Base, 21g, 21h ... Motor for right and left driving wheels (drive) Source), 22 ... Robot arm unit, 23 ... Holding unit, 24 ... Handle, 25 ... Irradiation device, 26 ... Control device, 26a ... Information acquisition unit (steering angle information acquisition unit), 26b ... Information derivation unit (progress information derivation) Part), 26c ... display content deriving part, 26d ... irradiating part, 27 ... storage device, 28 ... imaging device, 29,31 ... guide device, M1 ... assistant, M2 ... assistant.

Claims

A moving body that is allowed to move in a living area where a person lives and moves in the living area by driving by a driving source,
An irradiation device for irradiating display content on a floor surface, a wall surface or a ceiling surface around the mobile body;
A display content deriving unit for deriving the display content indicating the state information that is the state of the mobile body;
An irradiation unit for irradiating the display content derived by the display content deriving unit with the irradiation device;
A moving object comprising:
Rudder angle information acquisition unit for acquiring rudder angle information related to the rudder angle of the moving body;
A progress information deriving unit for deriving progress information regarding the progress of the moving body as the state information from the rudder angle information acquired by the rudder angle information acquiring unit;
The mobile body according to claim 1, wherein the display content deriving unit derives the display content corresponding to the progress information from the progress information derived by the progress information deriving unit.
The display content deriving unit derives the display content corresponding to a scheduled passage area where the moving body is scheduled to pass from the steering angle information acquired by the steering angle information acquiring unit. Item 2. The moving object according to item 2.
4. The movement according to claim 3, wherein the display content corresponding to the scheduled passage region is configured by display content in a plurality of stages according to the size of the steering angle acquired by the steering angle information acquisition unit. body.
The moving body according to any one of claims 1 to 4, wherein the moving body is an assisting moving body for assisting a person who needs assistance.
When the assistance moving body is moving to a place where the person being assisted is present, at least one of the person being assisted and the person around the assistance moving body, the assistance moving body is 6. The moving body according to claim 5, further comprising a guide device for guiding that the person being assisted is moving.