Patent Grant
11992454
This application is a National Stage Entry of PCT/JP2020/017351 filed on Apr. 22, 2020, which claims priority from Japanese Patent Application 2019-081812 filed on Apr. 23, 2019, the contents of all of which are incorporated herein by reference, in their entirety.
The present invention is based on claiming priority of Japanese patent application No. 2019-081812 (filed on Apr. 23, 2019), and the entire contents of the present application shall be incorporated and stated in the present application by reference thereto.
The present invention relates to a movement support system, a tool and a method for a physically disabled person.
As a method of supporting (guidance, assisting) the movement (for example, walking) of a physically disabled person (for example, a visually impaired person), a method of inducing walking by braille blocks with protrusions on a surface so that the visually impaired person can recognize it by a tactile sensation of sole of foot, is common. Since an area where the braille blocks are installed is limited and information that can be obtained from the braille blocks is also minimum necessary information for safely guiding, a method that replaces the braille blocks is desired.
In order to guide walking of a visually impaired person, it is necessary to use a position recognizing means (position information acquisition means). For example, in Patent Literature (PTL) 1, a system is disclosed, wherein the system informs information such as a route, a dangerous place, a branch point, and a destination guidance, of a user by voice message, using an RFID (Radio Frequency IDentifier) tag built in a block as the position recognizing means, based on information read from the RFID tag.
Also, in PTL 2, a method is disclosed, wherein the method can go toward a desired direction by recognizing a magnetic force, using a magnet embedded in an upper part of a block as the position recognizing means, when a user wearing shoes having a magnet plate inserted inside passes the upper part of the block.
Further, in Non-Patent Literature (NPL) 1, a system is disclosed, wherein the system derives an accurate travel route from a current location to a destination and navigates to the destination by voice, using a QR (Quick Response) code (registered trademark) displayed on a braille block as the position recognizing means, by reading the QR code (registered trademark) due to a camera of a smartphone executing a dedicated application.
Furthermore, in NPL 2, a system is disclosed, wherein the system guides according to a destination by voice or vibration, using a RFID and a quasi-zenith satellite system (QZSS) as the position recognizing means, when detecting that a user is approaching the destination by the RFID and the quasi-zenith satellite system.
The following analysis is given by the inventors of the present application.
However, if an RFID built into a block such as PTL 1 is used or a QR code (registered trademark) displayed on a braille block such as NPL 2 is used, the time and effort to place the position recognizing means within a reading range has an effect, thereby, it is not possible to give as much walking speed as a guide dog. Also, if using a QR code (registered trademark) or an RFID tag, only static information registered in advance at an embedded point can be notified to a terminal side.
Also, if using a quasi-zenith satellite system or GPS (Global Positioning System) such as NPL 2, since a positioning error affects, it is not possible to obtain a walking speed as much as that of a guide dog.
Further, virtual attraction (pull) by positioning such as PTL 1 and NPLs 1 and 2 may be sensuous essentially, and individual differences occur, and there is a possibility that it is not possible to guide to a destination as an attraction (pull) distance becomes longer.
Furthermore, if using a magnet such as PTL 2, since the magnet is simply embedded in the upper part of the block, it is only possible to recognize that the place is at a braille block. Also, since the magnet embedded in the upper part of the block always generates a magnetic force, a traveling direction can not be specified and an attraction (pull) to the traveling direction can not be performed.
It is a main object of the present invention to provide a movement support system, a tool and a method for a physically disabled person, that it is possible to contribute to navigating a physically disabled person to a destination safely, quickly and without stalling.
A movement support system for a physically disabled person according to a first aspect is a movement support system that comprises: a movement support tool configured to support movement of a user in a passage; a plurality of passage units configured to be arranged side by side in the passage and operate to act on the movement support tool: and a control apparatus configured to be able to communicate with the movement support tool and control operations of the plurality of passage units. The movement support tool comprises: a magnetically attractive part configured to be attracted to a magnet; a non-contact tag part configured so that a user ID is embedded; a reception part configured to receive a wireless signal; an input part configured to be able to input destination information; an output part configured to be able to output a guidance; and a control part configured to control the reception part, the input part, and the output part. The passage units comprise: an electromagnet part configured to be able to attract the magnetically attractive part; a non-contact reading part configured to be able to read the user ID from the non-contact tag part; a transmission part configured to be able to transmit the wireless signal to the reception part; and a control part configured to control the electromagnet part, the non-contact reading part and the transmission part. The control apparatus is configured to execute processings of: acquiring the destination information and the user ID from the movement support tool; acquiring the user ID of the non-contact tag part read by the non-contact reading part of a first passage unit closest to the movement support tool among the plurality of passage units, and preset position information of the first passage unit, from the first passage unit; calculating a route from the position information of the first passage unit to the destination information; generating a guidance based on the route and the preset position information of the first passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool; outputting the generated guidance from the output part of the movement support tool through the transmission part of the first passage unit and the reception part of the movement support tool; and controlling each of the electromagnet parts of the plurality of passage units so as to attract (pull) the magnetically attractive part in a traveling direction of the route based on the route and the preset position information of the first passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool.
A movement support tool for a physically disabled person according to a second aspect is a movement support tool in a movement support system for a physically disabled person, such that the movement support system comprises: the movement support tool configured to support movement of a user in a passage; a plurality of passage units configured to be arranged side by side in the passage and operate to act on the movement support tool; and a control apparatus configured to be able to communicate with the movement support tool and control operations of the plurality of passage units. The movement support tool comprises: a magnetically attractive part configured to be attracted to a magnet; a non-contact tag part configured so that a user ID is embedded; a reception part configured to receive a wireless signal; an input part configured to be able to input destination information; an output part configured to be able to output a guidance; and a control part configured to control the reception part, the input part, and the output part. The magnetically attractive part is attracted to an electromagnet part of the passage unit. The user ID of the non-contact tag part is read by a non-contact reading part of the passage unit. The reception part receives the wireless signal transmitted from a transmission part of the passage unit. The control apparatus is configured to execute processing of acquiring the destination information and the user ID from the movement support tool. The control apparatus is configured to execute processing of acquiring the user ID of the non-contact tag part read by the non-contact reading part of a first passage unit closest to the movement support tool among the plurality of passage units, and preset position information of the first passage unit, from the first passage unit. The control apparatus is configured to execute processing of calculating a route from the position information of the first passage unit to the destination information. The control apparatus is configured to execute processings of: generating a guidance based on the route and the preset position information of the first passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool; and outputting the generated guidance from the output part of the movement support tool through the transmission part of the first passage unit and the reception part of the movement support tool. The control apparatus is configured to execute processing of controlling each of the electromagnet parts of the plurality of passage units so as to attract (pull) the magnetically attractive part in a traveling direction of the route based on the route and the preset position information of the first passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool.
A movement support method for a physically disabled person according to a third aspect is a movement support method for a physically disabled person, of supporting a movement of the physically disabled person, using a movement support system for the physically disabled person, such that the movement support system comprises: a movement support tool configured to support movement of a user in a passage; a plurality of passage units configured to be arranged side by side in the passage and operate to act on the movement support tool; and a control apparatus configured to be able to communicate with the movement support tool and control operations of the plurality of passage units, wherein the method comprises: inputting destination information into the movement support tool; notifying the destination information and a user ID from the movement support tool to the control apparatus; reading the user ID of the movement support tool by a first passage unit closest to the movement support tool among the plurality of passage units; notifying the user ID and preset position information of the first passage unit from the first passage unit to the control apparatus; calculating a route from the position information of the first passage unit to the destination information; generating a guidance based on the route and the preset position information of the first passage unit that read the user ID of the movement support tool; outputting the generated guidance from the movement support tool through the first passage unit; and controlling each of electromagnet parts of the plurality of passage units so as to attract (pull) the magnetically attractive part in a traveling direction of the route based on the route and the preset position information of the first passage unit that read the user ID of the movement support tool.
According to the first to third aspects, it is possible to contribute to navigating a physically disabled person to a destination safely, quickly, and without stalling.
In the present disclosure described below, a movement support system for a physically disabled person according to Mode 1 and its modified mode(s) can be appropriately selected and combined.
As the movement support system for the physically disabled person according to Mode 1, it is possible to configure a movement support system for a physically disabled person, the movement support system comprising: a movement support tool configured to support movement of a user in a passage; a plurality of passage units configured to be arranged side by side in the passage and operate to act on the movement support tool: and a control apparatus configured to be able to communicate with the movement support tool and control operations of the plurality of passage units, wherein the movement support tool comprises: a magnetically attractive part configured to be attracted to a magnet; a non-contact tag part configured so that a user ID is embedded; a reception part configured to receive a wireless signal; an input part configured to be able to input destination information; an output part configured to be able to output a guidance; and a control part configured to control the reception part, the input part, and the output part, wherein the passage units comprise: an electromagnet part configured to be able to attract the magnetically attractive part; a non-contact reading part configured to be able to read the user ID from the non-contact tag part; a transmission part configured to be able to transmit the wireless signal to the reception part; and a control part configured to control the electromagnet part, the non-contact reading part and the transmission part, wherein the control apparatus is configured to execute processings of: acquiring the destination information and the user ID from the movement support tool; acquiring the user ID of the non-contact tag part read by the non-contact reading part of a first passage unit closest to the movement support tool among the plurality of passage units, and preset position information of the first passage unit, from the first passage unit; calculating a route from the position information of the first passage unit to the destination information; generating a guidance based on the route and the preset position information of the first passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool; outputting the generated guidance from the output part of the movement support tool through the transmission part of the first passage unit and the reception part of the movement support tool; and controlling each of the electromagnet parts of the plurality of passage units so as to attract (pull) the magnetically attractive part in a traveling direction of the route based on the route and the preset position information of the first passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool.
As a modified mode of the movement support system for the physically disabled person according to Mode 1, it is possible to configure the movement support system for the physically disabled person, such that the output part comprises an audio output part; and the guidance comprises voice information.
As a modification mode of the movement support system for the physically disabled person according to Mode 1, it is possible to configure the movement support system for the physically disabled person, such that the output part comprises a vibration output part; and the guidance comprises vibration pattern information.
As a modification mode of the movement support system for the physically disabled person according to Mode 1, it is possible to configure the movement support system for the physically disabled person, such that the magnetically attractive part is a permanent magnet; and in controlling each of the electromagnet parts of the plurality of passage units, the control part controls the electromagnet part of one passage unit next to the passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool, to be turned on so that the facing surfaces of the electromagnet part and the permanent magnet have different polarities; and controls the electromagnet parts of the other passage units to be turned off.
As a modification mode of the movement support system for the physically disabled person according to Mode 1, it is possible to configure the movement support system for the physically disabled person, such that the magnetically attractive part is a ferromagnetic body; and in controlling each of the electromagnet parts of the plurality of passage units, the control part controls the electromagnet part of one passage unit next to the passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool, to be turned on; and controls the electromagnet parts of the other passage units to be turned off.
As a modification mode of the movement support system for the physically disabled person according to Mode 1, it is possible to configure the movement support system for the physically disabled person, such that the magnetically attractive part is a permanent magnet; and in controlling each of the electromagnet parts of the plurality of passage units, the control part controls the electromagnet part of the passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool, to be turned on so that the facing surfaces of the electromagnet part and the permanent magnet have the same polarity; controls the electromagnet part of one passage unit next to the passage unit to be turned on; and controls the electromagnet parts of the other passage units to be turned off.
As a modification mode of the movement support system for the physically disabled person according to Mode 1, it is possible to configure the movement support system for the physically disabled person, such that the movement support tool is a rod-shaped object; and the magnetically attractive part and the non-contact tag part are attached to a portion, close to the passage unit, in a main body of the movement support tool when the user holds the movement support tool.
As a modification mode of the movement support system for the physically disabled person according to Mode 1, it is possible to configure the movement support system for the physically disabled person, such that the movement support tool comprises a mobile robot part configured to be able to move on the passage units under control of the control part of the movement support tool.
In the present disclosure, as a movement support tool for a physically disabled person according to Mode 2, it is possible to configure a movement support tool in a movement support system for a physically disabled person, the movement support system comprising: the movement support tool configured to support movement of a user in a passage; a plurality of passage units configured to be arranged side by side in the passage and operate to act on the movement support tool; and a control apparatus configured to be able to communicate with the movement support tool and control operations of the plurality of passage units, wherein the movement support tool comprises: a magnetically attractive part configured to be attracted to a magnet; a non-contact tag part configured so that a user ID is embedded; a reception part configured to receive a wireless signal; an input part configured to be able to input destination information; an output part configured to be able to output a guidance; and a control part configured to control the reception part, the input part, and the output part, wherein the magnetically attractive part is attracted to an electromagnet part of the passage unit, wherein the user ID of the non-contact tag part is read by a non-contact reading part of the passage unit, wherein the reception part receives the wireless signal transmitted from a transmission part of the passage unit, and wherein the control apparatus is configured to execute processings of: acquiring the destination information and the user ID from the movement support tool; acquiring the user ID of the non-contact tag part read by the non-contact reading part of a first passage unit closest to the movement support tool among the plurality of passage units, and preset position information of the first passage unit, from the first passage unit; calculating a route from the position information of the first passage unit to the destination information; generating a guidance based on the route and the preset position information of the first passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool; outputting the generated guidance from the output part of the movement support tool through the transmission part of the first passage unit and the reception part of the movement support tool; and controlling each of the electromagnet parts of the plurality of passage units so as to attract (pull) the magnetically attractive part in a traveling direction of the route based on the route and the preset position information of the first passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool.
In the present disclosure, as a movement support method for a physically disabled person according to Mode 3, it is possible to configure a movement support method for a physically disabled person, of supporting a movement of the physically disabled person, using a movement support system for the physically disabled person, the movement support system comprising: a movement support tool configured to support movement of a user in a passage; a plurality of passage units configured to be arranged side by side in the passage and operate to act on the movement support tool; and a control apparatus configured to be able to communicate with the movement support tool and control operations of the plurality of passage units, wherein the method comprises: inputting destination information into the movement support tool; notifying the destination information and a user ID from the movement support tool to the control apparatus; reading the user ID of the movement support tool by a first passage unit closest to the movement support tool among the plurality of passage units; notifying the user ID and preset position information of the first passage unit from the first passage unit to the control apparatus; calculating a route from the position information of the first passage unit to the destination information; generating a guidance based on the route and the preset position information of the first passage unit that read the user ID of the movement support tool; outputting the generated guidance from the movement support tool through the first passage unit; and controlling each of electromagnet parts of the plurality of passage units so as to attract (pull) the magnetically attractive part in a traveling direction of the route based on the route and the preset position information of the first passage unit that read the user ID of the movement support tool.
Hereinafter, exemplary embodiments will be described with reference to drawings. When drawing-reference signs are attached in the present application, they are solely for the purpose of assisting understanding, and are not intended to be limited to the illustrated modes. Also, the following exemplary embodiments are merely examples, and do not limit the present invention. Further, connecting lines between blocks such as drawings referred to in the following description includes both bidirectional and unidirectional. A one-way arrow schematically shows a flow of a main signal (data), and does not exclude bidirectional. Furthermore, in circuit diagrams, block diagrams, internal configuration diagrams, connection diagrams, etc. shown in the disclosure of the present application, although explicit disclosure is omitted, an input port and an output port exist at the input end and the output end of each connection line, respectively. The same applies to the input/output interface. A program is executed via a computer apparatus, which comprises, for example, a processor, a storage device, an input device, a communication interface, and a display device as required, and the computer apparatus is configured to be able to communicate with inside device(s) or external apparatus(es) (including computer(s)) via a communication interface regardless of whether it is wired or wireless.
A movement support system for a physically disabled person according to a first exemplary embodiment will be described with reference to drawings.
The movement support system 1 for the physically disabled person is a system that supports a movement of the physically disabled person (user 63) in a passage 60 (see
The movement support tool 10 is a tool that supports the movement of the physically disabled person (here, a visually impaired person) as a user 63 (see
The magnet part 11 is a part made of a permanent magnet (see
The non-contact tag part 12 is a part made of a tag capable of reading embedded information by non-contact short-distance wireless communication (see
The short-distance reception part 13 is a function part that receives a short-distance wireless signal transmitted from the short-distance transmission part 23 of the passage unit 20 (see
The control part 14 is a function part that controls the short-distance reception part 13, the input part 15, the output part 16, and the communication part 17 (see
The input part 15 is a function part that inputs information (see
The output part 16 is a function part that outputs information (see
The communication part 17 is a function part that communicates predetermined information, data, or signals relative to the control apparatus 30 (see
The passage unit 20 (20-1 to 20-N) is a unit (hardware) that is arranged side by side (or buried, laid, or placed) in the passage 60 (for example, (walking path, stairs, slope, etc.)) (
The electromagnet part 21 is a function part that temporarily generates a magnetic force when energized (see
The non-contact reading part (i.e., non-contact reader) 22 is a function part capable of reading information embedded in the non-contact tag part 12 of the movement support tool 10 by non-contact short-distance wireless communication (see
The short-distance transmission part 23 is a function part that transmits a short-distance wireless signal (see
The control part 24 is a function part that controls the electromagnet part 21, the non-contact reading part 22, the short-distance transmission part 23, and the communication part 25 (see
The communication part 25 is a function part that communicates predetermined information, data, or signals relative to the control apparatus 30 (see
The control apparatus 30 is an apparatus that controls the passage units 20 (20-1 to 20-N) (see
The storage part 31 is a function part that stores information such as data, a database, and a program (see
The control part 32 is a function part that controls the storage part 31 and the communication part 33 (see
The communication part 33 is a function part that communicates predetermined information, data, or signals relative to the movement support tool 10 and the passage units 20 (20-1 to 20-N) (see
The program can be recorded on a computer-readable storage medium. The storage medium may be a non-transient such as a semiconductor memory, a hard disk, a magnetic recording medium, or an optical recording medium. Also, in the present disclosure, it is also possible to implement it as a computer program product. The program is input to a computer apparatus from an input device or from outside via a communication interface; is stored in a storage device; causes a processor to drive according to predetermined steps or processings; can cause to display processing results thereof, including an intermediate state via a display device step by step as necessary; or can cause to communicate with outside via a communication interface. The computer apparatus for that purpose typically comprises: for example, a processor; a storage device; an input device; a communication interface; and, if necessary, a display device, that can be connected to each other via a bus.
Operations of the movement support system for the physically disabled person according to the first exemplary embodiment will be described with reference to drawings.
First, the control part 14 of the movement support tool 10 receives input of destination information (for example, a toilet) from the input part 15 by an operation (for example, voice) of the user 63 (Step A1 in
Next, the control part 14 of the movement support tool 10 notifies the control apparatus 30 of the input destination information and a preset unique user ID related to the movement support tool 10 through the communication part 17 (Step A2 in
Next, the control part 24 of the passage unit 20 (passage unit #1 in
Next, the control part 24 of the passage unit #1 notifies the control apparatus 30 of the user ID read in step A3 and the preset position information related to the passage unit #1 through the communication part 25 (Step A4 in
Next, the control part 32 of the control apparatus 30 calculates a route (for example, the shortest route 61 as shown in
Next, based on the route calculated in step A5, the control part 32 of the control apparatus 30 performs an electromagnet turning on instruction to the passage unit #2 next to the passage unit #1 on the route to turn on the electromagnet (see
Next, the control part 24 of the passage unit #2 turns on the electromagnet part 21 so as to attract (pull) the magnet part 11 of the movement support tool 10 in response to the electromagnet turning on instruction from the control apparatus 30 (Step A7 in
Next, when the non-contact tag part 12 of the movement support tool 10 enters the readable area of the non-contact reading part 22 of the passage unit #2, the control part 24 of the passage unit #2 reads the user ID from the non-contact tag part 12 of the movement support tool 10 through the non-contact reading part 22 (step A8 in
Next, the control part 24 of the passage unit #2 notifies the control apparatus 30 of the user ID read in Step A8 and the preset position information related to the passage unit #2 through the communication part 25 (Step A9 of
Next, based on the route calculated in step A5, the control part 32 of the control apparatus 30 generates a guidance for advancing to a position next to the position related to the passage unit #2 on the route and performs a guidance outputting instruction to the passage unit #2 so as to cause the movement support tool 10 to output the generated guidance (Step A10 in
Here, the generated guidance may be a guidance for going straight if there is a straight passage, as to a position next to the position related to the passage unit #2 on the route; a guidance for turning to the right or left if there is a corner; or a guidance for notifying any of stairs, slopes, escalators, elevators, etc. if there is any of them. Also, the guidance can include distance information to the destination. Further, the guidance can be voice data or can be predetermined vibration pattern data.
Next, the control part 24 of the passage unit #2 performs a guidance outputting instruction to the movement support tool 10 through the short-distance transmission part 23 in response to the guidance outputting instruction from the control apparatus 30 (Step A11 in
Next, the control part 14 of the movement support tool 10 receives the guidance outputting instruction from the passage unit #2 through the short-distance reception part 13 and outputs (outputs by voice or vibration) the guidance from the output part 16 in response to the guidance outputting instruction (Step A12 in
Next, the control part 32 of the control apparatus 30 performs an electromagnet switching instruction to the passage unit #2 and the passage unit #3 through the communication part 25, based on the route calculated in Step A5, so as to turn off the electromagnet of the passage unit #2 on the route and turn on an electromagnet of the passage unit next to the passage unit #2 on the route (see
Next, the control part 24 of the passage unit #2 turns off the electromagnet part 21 so as to release the attraction (pull) of the magnet part 11 of the movement support tool 10 in response to the electromagnet switching instruction from the control apparatus 30. Step A14 in
Next, the control part 24 of the passage unit #3 turns on the electromagnet part 21 so as to attract (pull) the magnet part 11 of the movement support tool 10 in response to the electromagnet switching instruction from the control apparatus 30 (Step A15 in
Next, when the non-contact tag part 12 of the movement support tool 10 enters a readable area of the non-contact reading part 22 of the passage unit #3, the control part 24 of the passage unit #3 reads the user ID from the non-contact tag part 12 of the movement support tool 10 through the non-contact reading part 22 (Step A16 in
Next, the control part 24 of the passage unit #3 notifies the control apparatus 30 of the user ID read in step A16 and the preset position information related to the passage unit #3 through the communication part 25 (FIG. FIG. Step 5 A17). As a result, the control apparatus 30 acquires the position information (corresponding to the current location information of the user 63 at this time point) and the user ID related to the passage unit #3.
Next, the control part 32 of the control apparatus 30 generates a guidance for advancing to a position next to the position related to the passage unit #3 on the route based on the route calculated in Step A5 and performs a guidance outputting instruction to the passage unit #3 so as to cause the movement support tool 10 to output the generated guidance (step A18 in
Next, the control part 24 of the passage unit #3 performs the guidance outputting instruction to the movement support tool 10 through the short-distance transmission part 23 in response to the guidance outputting instruction from the control apparatus 30 (Step A19 in
Next, the control part 14 of the movement support tool 10 receives the guidance outputting instruction from the passage unit #3 through the short-distance reception part 13 and outputs (outputs by voice or vibration) the guidance from the output part 16 in response to the guidance outputting instruction (Step A20 in
Next, based on the calculated route, the control part 32 of the control apparatus 30 performs an electromagnet switching instruction to the passage unit #3 and the passage unit #4 through the communication part 25 so as to turn off the electromagnet of the passage unit #3 and turn on an electromagnet of the passage unit #4 next to the passage unit #3 (see
Next, the control part 24 of the passage unit #3 turns off the electromagnet part 21 so as to release the attraction (pull) of the magnet part 11 of the movement support tool 10 in response to the electromagnet switching instruction from the control apparatus 30 (Step A22 in
Next, the control part 24 of the passage unit #4 turns on the electromagnet part 21 so as to attract(pull) the magnet part 11 of the movement support tool 10 in response to the electromagnet switching instruction from the control apparatus 30 (Step A23 in
According to the first exemplary embodiment, by guiding the user 63 as the physically disabled person using the output part 16 while controlling the ON/OFF of the electromagnet part 21 of each of the passage units 20 to attract (pull) the magnet part 11 of the movement support tool 10, it is possible to contribute to navigating a physically disabled person to a destination safely, quickly, and without stalling. Also, according to the first exemplary embodiment, since a guidance is generated in response to a route from a current location to a destination, it is possible to dynamically provide information to the user 63. Also, according to the first exemplary embodiment, even in a place to be visited for a first time, since the user 63 is attracted (pulled) by the magnetic force to a destination designated by the user 63, it is possible to obtain a reaching force to a destination similarly to a healthy person. Further, according to the first exemplary embodiment, by controlling so that only the electromagnet part 21 of the passage unit 20 immediately before a traveling direction of the user 63 is turned on, it is possible to suppress interference with others. Furthermore, according to the first exemplary embodiment, by determining the user 63 by the user ID, the person to be guided can be identified, and mistakes with others can be prevented.
A movement support system for a physically disabled person according to a second exemplary embodiment will be described with reference to a drawing.
The second exemplary embodiment is a modification of the first exemplary embodiment, and let a form of the movement support tool 10 be a form of a robot such as a miniature car, a dog-shaped robot, and a humanoid robot capable of moving the movement support tool 10 on the passage unit 20 (20-1 to 20-N), a mobile robot part 18 is added as a configuration part for realizing the robot (see
According to the second exemplary embodiment, similarly to the first exemplary embodiment, it is possible to contribute to navigating a physically disabled person to a destination safely, quickly, and without stalling and by adding the mobile robot part 18 in the movement support tool 10, it is possible to realize a sense of security and walking speed in which a physically disabled person is attracted (pulled, towed) by a person or a guide dog.
A movement support system for a physically disabled person according to a third exemplary embodiment will be described with reference to a drawing.
The movement support system 1 for the physically disabled person is a system that supports a movement of the physically disabled person in a passage (see
The movement support tool 10 is a tool that is configured to support movement of a user in a passage. The movement support tool 10 comprises: a magnetically attractive part 19 configured to be attracted to a magnet; a non-contact tag part 12 configured so that a user ID is embedded; a reception part 13 configured to receive a wireless signal; an input part 15 configured to be able to input destination information; an output part 16 configured to be able to output a guidance; and a control part 14 configured to control the reception part 13, the input part 15, and the output part 16.
The passage units 20 are units (hardware) that are configured to be arranged side by side in the passage and operate to act on the movement support tool 10. The passage unit 20 (each) comprises: an electromagnet part 21 configured to be able to attract the magnetically attractive part 19; a non-contact reading part 22 configured to be able to read the user ID from the non-contact tag part 12; a transmission part 23 configured to be able to transmit the wireless signal to the reception part 13; and a control part 24 configured to control the electromagnet part 21, the non-contact reading part 22 and the transmission part 23.
The control apparatus 30 is an apparatus that is configured to be able to communicate with the movement support tool 10 and control operations of the plurality of passage units 20. The control apparatus 30 is configured to execute a processing of acquiring the destination information and the user ID from the movement support tool 10. The control apparatus 30 is configured to execute a processing of acquiring the user ID of the non-contact tag part 12 read by the non-contact reading part 22 of a first passage unit 20 closest to the movement support tool 10 among the plurality of passage units 20, and preset position information of the first passage unit 20, from the first passage unit 20. The control apparatus 30 is configured to execute a processing of calculating a route from the position information of the first passage unit 20 to the destination information. The control apparatus 30 is configured to execute processings of generating a guidance based on the route and the preset position information of the first passage unit 20 related to the non-contact reading part 22 that read the user ID of the non-contact tag part 12 of the movement support tool 10; and outputting the generated guidance from the output part 16 of the movement support tool 10 through the transmission part 23 of the first passage unit 20 and the reception part 13 of the movement support tool 10. The control apparatus 30 is configured to execute a processing of controlling each of the electromagnet parts 21 of the plurality of passage units 20 so as to attract (pull) the magnetically attractive part 19 of the movement support tool 10 in a traveling direction of the route based on the route and the preset position information of the first passage unit 20 related to the non-contact reading part 22 that read the user ID of the non-contact tag part 12 of the movement support tool 10.
According to the third exemplary embodiment, each of electromagnet parts 21 of the plurality of passage units 20 is controlled so as to attract (pull) the magnetically attractive part 19 of the movement support tool 10 in a traveling direction of the route, and the guidance is output from the output part 16 of the movement support tool 10, thereby, it is possible to contribute to navigating a physically disabled person to a destination safely, quickly, and without stalling.
The control apparatus according to the first to third exemplary embodiments can be configured by so-called hardware resources (information processing apparatus, computer), and one comprising a configuration exemplarily shown in
Note that the configuration shown in
As the storage part 102, for example, RAM (Random Access Storage part), ROM (Read Only Storage part), HDD (Hard Disk Drive), SSD (Solid State Drive), or the like can be used.
As the network interface 103, for example, a LAN (Local Area Network) card, a network adapter, a network interface card, or the like can be used.
Functions of the hardware resources 100 are realized by the above-mentioned processing module. For example, the processing module is realized by the processor 101 executing a program stored in the storage part 102. Also, the program can be updated by downloading the program via a network or using a storage medium in which the program is stored. Further, the processing module may be realized by a semiconductor chip. That is, functions performed by the processing module may be realized by executing software on some hardware.
Part or all of the above exemplary embodiments may be described as the following MODEs, but is not limited to the following.
[Mode 1]
A movement support system for a physically disabled person, comprising:
a movement support tool configured to support movement of a user in a passage;
a plurality of passage units configured to be arranged side by side in the passage and operate to act on the movement support tool: and a control apparatus configured to be able to communicate with the movement support tool and control operations of the plurality of passage units,
The movement support system for the physically disabled person according to any one of MODEs 1 to 3, wherein
the magnetically attractive part is a permanent magnet; and
in controlling each of the electromagnet parts of the plurality of passage units, the control part controls the electromagnet part of one passage unit next to the passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool, to be turned on so that the facing surfaces of the electromagnet part and the permanent magnet have different polarities; and controls the electromagnet parts of the other passage units to be turned off.
[Mode 5]
The movement support system for the physically disabled person according to any one of MODEs 1 to 3, wherein
the magnetically attractive part is a ferromagnetic body; and
in controlling each of the electromagnet parts of the plurality of passage units, the control part controls the electromagnet part of one passage unit next to the passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool, to be turned on; and controls the electromagnet parts of the other passage units to be turned off.
[Mode 6]
The movement support system for the physically disabled person according to any one of MODEs 1 to 3, wherein
the magnetically attractive part is a permanent magnet; and in controlling each of the electromagnet parts of the plurality of passage units, the control part controls the electromagnet part of the passage unit related to the non-contact reading part that read the user ID of the non-contact tag part of the movement support tool, to be turned on so that the facing surfaces of the electromagnet part and the permanent magnet have the same polarity; controls the electromagnet part of one passage unit next to the passage unit to be turned on; and controls the electromagnet parts of the other passage units to be turned off.
[Mode 7]
The movement support system for the physically disabled person according to any one of MODEs 1 to 6, wherein
the movement support tool is a rod-shaped object; and
the magnetically attractive part and the non-contact tag part are attached to a portion, close to the passage unit, in a main body of the movement support tool when the user holds the movement support tool.
[Mode 8]
The movement support system for the physically disabled person according to any one of MODEs 1 to 6, wherein the movement support tool comprises a mobile robot part configured to be able to move on the passage units under control of the control part of the movement support tool.
[Mode 9]
A movement support tool in a movement support system for a physically disabled person, the movement support system comprising:
the movement support tool configured to support movement of a user in a passage;
a plurality of passage units configured to be arranged side by side in the passage and operate to act on the movement support tool; and
a control apparatus configured to be able to communicate with the movement support tool and control operations of the plurality of passage units,
wherein the movement support tool comprises:
It should be noted that each disclosure of the above PTLs and NPLs shall be incorporated herein by citation. Within a framework of the entire disclosure of the present invention (including claims and drawings), it is possible to modify or adjust the exemplary embodiments or examples further based on the basic technical concept thereof. Also, within the framework of entire disclosure of the present invention, various combinations or selections (non-selection if necessary) of various disclosed elements (including each element of each claim, each element of each exemplary embodiment or example, each element of each drawing, etc.) is possible. That is, it goes without saying that the present invention includes various deformations and modifications that can be made by one skilled in the art in accordance with all disclosures including claims and drawings, and the technical concept. Further, as to the numerical values and numerical ranges described in the present application, it is considered that arbitrary intermediate values, lower numerical values, and small ranges are described even if not explicitly recited.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-081812 | Apr 2019 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/017351 | 4/22/2020 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2020/218349 | 10/29/2020 | WO | A |
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| 20070096908 | Chu | May 2007 | A1 |
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| 20220175610 A1 | Jun 2022 | US |
