JP2012115312A - Walking support device, and walking support program - Google Patents

Abstract

The present invention provides a walking support device with excellent wearability while reducing a sense of discomfort given to a wearer.
A wearable robot 1 controls movement by detecting a wearer's movement without using a myoelectric sensor in order to improve wearability. When the movement of the wearer is detected and operated in this way, the first-order lag control is performed, which causes a sense of incongruity to the wearer. By supplementing the control, the user feels uncomfortable. As a specific look-ahead scene, when the walking reference plane moves, such as an escalator or a moving walk, the wearer estimates whether or not to continue walking on the moving walking plane, The control is switched to control when walking is continued and control when walking is not continued.
[Selection] Figure 2

Description

  The present invention relates to a walking support device and a walking support program, for example, to assisting a wearer's walking motion.

In recent years, wearable robots that assist the wearer's movement have attracted attention.
The wearable robot detects a body movement with a sensor or the like and assists the wearer's body movement. For example, the wearable robot can assist lifting of heavy objects and walking movement.
Most of the wearable robots that have been announced so far have been devised, such as not toppling, easy to wear, and not to be injured by equipment runaway.

Under such circumstances, how to walk without causing the wearer to feel uncomfortable, such as “a wearable movement assist device, a control method of the wearable movement assist device and a control program” in Patent Document 1, There is also a technology that was proposed from this perspective.
This technique uses a myoelectric sensor to read muscle movement from myoelectric and use it for motion control.
However, this technique has a problem that the electromyographic sensor has to be affixed to various parts of the wearer's body, resulting in poor wearability.

Moreover, regarding the communication technology used in the embodiment, there is “Lighting fixture having communication function” in Patent Document 2.
In this technique, a signal is transmitted to an illuminating body through a power line, and the signal is transmitted from the illuminating body by radio or light modulation.

JP 2005-95561 A JP 2009-141766 A

  An object of the present invention is to provide a walking support device and a walking support program that are excellent in wearability while reducing the uncomfortable feeling given to the wearer during walking support of the wearer.

In the first aspect of the present invention, the walking support means that supports the walking by controlling the movement of the foot of the walking support target person, the forward direction of the walking support target person that exists in front of the walking support target person The walking support surface detecting means for detecting the walking surface that moves in a straight line, the estimating means for estimating whether or not the walking support target person walks on the moving walking surface, and the estimation means, wherein the walking support target person Walking support control means for continuing walking support by the walking support means when it is estimated to walk, and for stopping walking support by the walking support means when it is estimated that the walking support target does not walk And a walking support device characterized by comprising:
According to a second aspect of the present invention, there is provided position detection means for detecting whether the walking support target person is located on the left or right side with respect to the moving walking surface, and the estimation means includes the detected position. It is estimated whether the said walking assistance subject walks based on this, The walk assistance apparatus of Claim 1 characterized by the above-mentioned is provided.
In invention of Claim 3, it comprises the area | region acquisition means which acquires the present area where the said walking assistance target person exists, The said estimation means is the side where the said walking assistance target person walks based on the acquired area, The walking support device according to claim 2, wherein a side that does not walk is determined.
The invention according to claim 4 comprises: a movement schedule acquisition unit that acquires a movement schedule of the walking support target person; and a delay acquisition unit that acquires a current delay with respect to the acquired movement schedule, and the estimation unit When the acquired delay is a predetermined amount or more, the walking support target person walks, and when the acquired delay is less than the predetermined amount, it is estimated that the walking support target person does not walk. A walking support device according to claim 1 is provided.
According to a fifth aspect of the present invention, there is provided acceleration acquisition means for acquiring acceleration of the foot part of the walking support target person, and the estimation means is used when the walking support target person walks on a walking surface to which the walking support target is fixed. Whether or not the walking target person walks on the walking surface by acquiring and comparing the acceleration of the foot and the acceleration of the foot when riding on the moving walking surface with the acceleration acquisition means The walking support device according to claim 1 is provided.
In the invention according to claim 6, the walking support function that supports the walking by controlling the movement of the foot of the walking support target person, and the forward direction of the walking support target person that exists in front of the walking support target person The walking support surface detection function for detecting a walking surface that moves in a straight line, the estimation function for estimating whether or not the walking support target person walks on the moving walking surface, and the estimation function, A walking support control function that continues walking support by the walking support function when it is estimated to walk and stops walking support by the walking support function when it is estimated that the walking support target does not walk. And a walking support program that realizes the above with a computer.

  ADVANTAGE OF THE INVENTION According to this invention, the walking assistance apparatus excellent in mounting | wearing property is provided, reducing the discomfort given to a wearer at the time of a wearer's walk assistance by prefetching a wearer's movement.

It is a figure for demonstrating the communication facility of the equipment side which manages an escalator. It is a figure for demonstrating the mounting state of a mounting | wearing type robot, and a mounting robot system. It is the figure which showed the irradiation state etc. of the light in the entrance of an escalator. It is a flowchart for demonstrating the procedure which estimates a wearer's intention. It is a flowchart for demonstrating boarding left-right position determination processing. It is a flowchart for demonstrating an image recognition process. It is a flowchart for demonstrating a scheduler determination process. It is a flowchart for demonstrating a raising foot acceleration judgment process.

(1) Outline of Embodiment The wearable robot 1 (FIG. 2A) detects the movement of the wearer and controls the operation without using a myoelectric sensor in order to improve the wearability.
When the movement of the wearer is detected and operated in this way, the first-order lag control is performed, which causes a sense of incongruity to the wearer. By supplementing the control, the user feels uncomfortable.

As a specific look-ahead scene, when the walking reference plane moves, such as an escalator or a moving walk, the wearer estimates whether or not to continue walking on the moving walking plane, The control is switched to control when walking is continued and control when walking is not continued.
The estimation method includes a boarding left / right position determination process, a scheduler determination process, a lifting foot acceleration determination process, and the like.

The boarding left / right position determination process uses, for example, a habit that one side of the escalator stands and the other side walks. Since which side stands or walks differs depending on the region, the wearable robot 1 uses the region where the wearer exists and the side on which the wearer exists on the escalator. It is.
The scheduler determination process is a method of using the navigation device 12 to determine whether or not the wearer is behind schedule, and when it is delayed, walk on an escalator, and if on schedule, estimate that the wearer will stand on an escalator.
In the swinging foot acceleration judgment process, the foot acceleration during walking in the normal state of the wearer is stored in an archive, and the foot acceleration when the wearer gets on the escalator is determined as the foot acceleration in the normal state. This is a method of estimation by comparison.

  In this way, the wearable robot 1 determines whether the wearer is willing to walk in public transportation, especially before and after boarding an escalator, using a non-contact sensor (ride left / right position determination process), navigation (scheduler determination process), and archive (swing acceleration acceleration determination). By using information such as processing) in an integrated manner, walking can be supported without using a contact-type myoelectric sensor, and deterioration of wearability can be suppressed.

(2) Details of Embodiment FIG. 1 is a diagram for explaining a communication facility on the facility side that operates an escalator.
The wearer wears the wearable robot 1 and gets on and off the escalator 300 to move.
A lighting 100 is installed at the entrance of the escalator 300, and illumination light is emitted to the entrance. On the illumination light of the illumination 100, tread information including the speed of the tread board of the escalator 300 and the feeding pitch of the tread board is superimposed by modulating the illumination light.
The wearable robot 1 detects the illumination light of the illumination 100 at a position 200 in the illumination area, and receives tread information included therein.

When the wearable robot 1 receives the tread information, the wearable robot 1 projects and captures an image by irradiating a predetermined shape pattern of light onto the walking surface diagonally downward in the forward direction. Judge whether it is located on the side.
The wearable robot 1 performs a boarding left / right position determination process on the side where the wearer is located, and estimates whether the wearer walks on the tread board or stands on the tread board.

  If the boarding left / right position determination process cannot be performed, the scheduler determination process is performed. If the scheduler determination process cannot be performed, the swing leg acceleration determination process is further performed, and the wearer walks on the escalator 300, or Estimate whether to stop.

  Then, when it is estimated that the wearer walks the escalator 300, the wearable robot 1 starts the walking motion of walking on the tread before the wearer's motion when the escalator 300 is boarded. When it is estimated that the vehicle stands at 300, when the escalator 300 is boarded, the operation of standing on the tread is started ahead of the wearer's operation.

Moreover, the tread information is also included in the light emitted by the illumination 101 before exiting the escalator 300, and the wearable robot 1 receives the tread information at a position 201 in the illumination area of the illumination 101.
When receiving the tread board information, the wearable robot 1 projects an image obliquely forward and downward at the position 202, detects a step between the comb board and the tread board from the distortion, and calculates the distance to the comb board.
Next, the wearable robot 1 drives the wearer's foot to appropriately land on the comb plate (com plate) using the distance to the comb plate and the tread board information.

The light emitted from the illumination 102 at the exit exit includes peripheral map information, and the wearable robot 1 receives the peripheral map information at the position 203 of the illumination area of the illumination 102.
Thereafter, the wearable robot 1 supports walking of the wearer using the surrounding map information.
The escalator 300 in FIG. 1 is down as an example, but the up escalator is the same. Further, since the structure of the entrance and exit is the same, the escalator 300 may be a moving sidewalk.

FIG. 2A is a diagram showing a wearing state of the wearing robot 1.
The wearable robot 1 is worn on the waist and lower limbs of the wearer to assist (assist) the wearer's walking. In addition, for example, it may be attached to the upper body and the lower body to assist the movement of the whole body.

The wearable robot 1 includes a waist attachment unit 7, a walking assist unit 2, a connection unit 8, a 3-axis sensor 3, a 3-axis actuator 6, an imaging camera 5, a light source device 4, an imaging unit that holds the imaging camera 5 and the light source device 4. 9, a wireless communication device 10, a navigation device 12, and the like.
The waist mounting portion 7 is a fixing device that fixes the wearable robot 1 to the waist of the wearer. The waist mounting portion 7 moves integrally with the wearer's waist.
The waist mounting portion 7 includes a walking actuator 17 (FIG. 2B), and drives the connecting portion 8 in the front-rear direction according to the walking motion of the wearer.

The connecting part 8 connects the waist mounting part 7 and the walking assist part 2.
The walking assist unit 2 is mounted on the lower limb of the wearer and is driven in the front-rear direction by the walking actuator 17 to assist the wearer's walking motion.
The walking support by the waist mounting portion 7, the connecting portion 8, and the walking assist unit 2 is an example, and various forms such as walking support by a multi-joint drive mechanism are possible.

The triaxial sensor 3 is installed in the waist mounting portion 7 and detects the posture of the waist mounting portion 7 and the like. The triaxial sensor 3 includes, for example, a triaxial angular velocity detection function and a triaxial angular acceleration detection function using a three-dimensional gyro, and the rotation angle, angular velocity, and angular acceleration around the forward, vertical, and body-side axes. Can be detected.
The angle around the forward axis is the roll angle, the angle around the vertical axis is the yaw angle, and the angle around the body-side axis is the pitch angle.

The triaxial actuator 6 is configured by, for example, a spherical motor, and changes the roll angle, yaw angle, and pitch angle of the imaging unit 9 in which the imaging camera 5 and the light source device 4 are installed.
The light source device 4 and the imaging camera 5 are fixed to the imaging unit 9, and when the triaxial actuator 6 is driven, the irradiation direction of the light source device 4 (the direction of the optical axis of the light source device 4) and the imaging direction of the imaging camera 5. (The direction of the optical axis of the imaging camera 5) changes the roll angle, yaw angle, and pitch angle with respect to the waist mounting portion 7 while maintaining the relative angle.

  In order to capture an appropriate image with the imaging unit 9, the imaging unit 9 needs to be directed to a walking reference plane (a walking surface on which the wearer walks, such as the ground or a floor) at a predetermined angle. When the wearable robot 1 is worn, the imaging unit 9 tilts depending on the wearing state, and this is corrected by the triaxial actuator 6.

  The light source device 4 irradiates light such as laser, infrared light, and visible light in a predetermined shape pattern, for example. In the present embodiment, the light source device 4 emits light in a shape pattern that is circular with respect to a plane perpendicular to the irradiation direction, but various shapes such as a rectangular shape, a cross, and a dot are possible.

The imaging camera 5 is configured by an infrared light camera, a visible light camera, or the like that includes an optical system for forming an image of a subject and a CCD (Charge-Coupled Device) that converts the imaged subject to an electrical signal. The light source device 4 captures (shoots) a projection image irradiated on the walking reference plane.
The projection image by the light irradiated by the light source device 4 with a predetermined shape pattern is deformed from a circle due to an angle formed by the irradiation direction and the walking reference plane, and obstacles (such as side walls and steps of the escalator 300) present on the walking reference plane. Although it becomes a (distorted) shape, by analyzing this shape, it is possible to detect which side of the escalator 300 the wearer is on or the step existing in the front.

The wireless communication device 10 detects various types of information such as tread information included in the light emitted from the lighting 100.
Thereby, the wearable robot 1 recognizes that the entrance of the escalator 300 exists in front, or that the exit of the escalator 300 exists based on the tread information from the lighting 101.
Here, the illumination light is used for wireless communication because the location where information is received can be limited to the illumination area, and the illumination is usually installed at the location where the escalator is installed. This is because new equipment investment for communication can be reduced.
Note that wireless communication using normal radio waves may be used without using illumination light.

The navigation device 12 receives a GPS signal from a GPS (Global Positioning Systems) satellite, communicates with a predetermined server, specifies the current position of the wearer, and searches for a route from the current position to the destination. It has a navigation function.
The wearable robot 1 can determine whether or not the wearer is walking according to the schedule by the navigation device 12.

FIG. 2B is a diagram for explaining the mounting robot system 15 installed in the mounting robot 1.
The wearing robot system 15 is an electronic control system that controls the wearing robot 1 so as to exhibit a walking support function.

  The ECU (Electronic Control Unit) 16 is an electronic control unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a storage device, various interfaces, and the like (not shown). Each part of 1 is electronically controlled.

The CPU executes various computer programs stored in the storage medium to estimate whether or not the wearer continues walking on the escalator 300, or drives the walking actuator 17 using the estimation result to provide walking support. To go.
The CPU is connected to the light source device 4, the imaging camera 5, the three-axis actuator 6, the three-axis sensor 3, the wireless communication device 10, and the navigation device 12 through an interface, and turns on / off irradiation from the light source device 4. , Acquiring imaging data from the imaging camera 5, driving the triaxial actuator 6, obtaining detection values from the triaxial sensor 3, obtaining tread information from the wireless communication device 10, and wearing from the navigation device 12 Get the current location.

The ROM is a read-only memory and stores basic programs and parameters used by the CPU.
The RAM is a readable / writable memory, and provides a working memory when the CPU performs arithmetic processing and the like. In the present embodiment, a working memory for storing received tread information and calculating a distance to a step is provided.

  The storage device includes a large-capacity storage medium configured by, for example, a hard disk or an EEPROM (Electrically Erasable Programmable ROM), and analyzes the projection image of the light source device 4 to recognize steps such as stairs and escalators. And various programs such as a program for performing walking support, parameters such as the height of the imaging camera 5 used for image recognition for level difference recognition, and the like are stored.

The walking actuator 17 drives the walking assist unit 2 based on a command from the ECU 16.
When the wearable robot 1 is a multi-joint having a hip joint, a knee joint, an ankle joint, or the like, a walking actuator 17 is provided in each joint, and the ECU 16 controls these individually so that the wearable robot 1 The walking support operation is performed as one.

FIG. 3A is a diagram showing a light irradiation state at the entrance of the escalator 300.
The entrance of the escalator 300 includes a comb plate 40 and a step board (step) 50 disposed in front of the comb plate 40 and at a position lower than the comb plate 40, and is not shown in the direction of both sides of the wearer. The side wall of the escalator 300 exists.
The tip portion of the comb plate 40 has a flat portion 41 and an inclined portion 42 formed over the tread plate 50, and a step due to the inclined portion 42 is formed. And the tread board 50 is drawn out from the front-end | tip of the inclination part 42 at predetermined speed.

FIG. 3B is an example of an image of the projection image 26 of the light source device 4 captured by the imaging camera 5 at the entrance.
The wearable robot 1 irradiates light of a predetermined shape pattern with the light source device 4 and captures an image projected by the imaging camera 5.
In the present embodiment, since the light source device 4 irradiates light with a circular cross section onto a walking reference plane that exists obliquely downward in the forward direction, when the walking reference plane is a plane, the projected image 26 is forwarded in the screen frame 31. An ellipse with the major axis as.

In this case, when the wearer is positioned on the left side of the escalator 300, the left side of the projection image 26 has a lazy shape (that is, the elliptical shape that should originally be projected is distorted on the standing position side). The type robot 1 can determine that the wearer is standing on the left side of the escalator 300 (the standing position is on the left side). Judgment that the left side of the projection image 26 is crooked is performed by detecting that the distance a from the center of the projection image 26 to the left end is smaller than the distance b to the right end.
Similarly, when the right side of the projection image 26 is lazy, it is determined that the wearer is located on the right side of the escalator 300.

Note that when the wearer detects that the wearer has reached the comb plate 40 based on the tread board information from the lighting 100, the wearable robot 1 spreads the light of the light source device 4 in the body side direction of the wearer, and on the side wall of the escalator 300. It can also be configured to make it easier for light to strike.
Further, by recognizing the step between the comb plate 40 and the tread plate 50 from the projection image 26, the step due to the inclined portion 42 can be detected.
The wearable robot 1 thus measures the distance to the step by image recognition, acquires the speed of the tread and the feeding pitch from the tread information, and can appropriately ride on the tread 50 using these information. To control the stride and walking pitch.

FIG. 4 is a flowchart for explaining a procedure in which the wearable robot 1 estimates the wearer's intention in the escalator 300.
With this estimation, it is possible to pre-read the wearer's intention and to support the wearer's movement in advance.
The following processing is performed by the CPU of the ECU 16 according to a predetermined program.

First, the CPU performs a boarding left / right position determination process (step 5).
When the boarding left / right position determination means can estimate the presence / absence of the wearer's walking (step 10; Y), the CPU controls the walking actuator 17 based on the estimation (step 30).
On the other hand, when the boarding left / right position determining means cannot estimate the presence or absence of the wearer's walk (step 10; N), the CPU performs a scheduler determination process (step 15).

When the scheduler determination means can estimate the presence / absence of the wearer's walking (step 20; Y), the CPU controls the walking actuator 17 based on the estimation (step 30).
On the other hand, if the scheduler determination means cannot estimate the presence / absence of the wearer's walking (step 20; N), the CPU performs a swing-up foot acceleration determination process (step 25), and the estimation result by the process is displayed. Based on this, the walking actuator 17 is controlled (step 30).

FIG. 5 is a flowchart for explaining the boarding left / right position determination processing in step 5.
First, the CPU determines whether or not it is in the communication range on the equipment side (step 50). If it is not in the communication range on the equipment side (step 50; N), monitoring is continued in step 50.

When in the communication range on the equipment side (step 50; Y), the CPU acquires the area of the current position and stores it in the RAM (step 55).
Here, there are an area that stops on the left side of the escalator 300 and walks on the right side (right walking area) and an area that walks on the left side and stops on the right side (left walking area). In general, the Kanto region corresponds to the right walking region, and the Kansai region corresponds to the left walking region.
In the storage device of the ECU 16, for example, a walking area map such as the right walking area is stored for XX prefecture, and the CPU refers to the current position detected by the navigation device 12 in the walking area map, and the area of the current position. To which region is.

Next, the CPU performs image recognition processing to determine which side of the escalator 300 the wearer gets on, and stores the determination result (right side ride, left side ride) in the RAM (step 60).
Next, the CPU reads out the area of the current position stored in step 55 from the RAM. When the read area is the right walking area (step 65; Y), the CPU reads the determination result stored in step 60 from the RAM, and determines whether the determination result is right boarding (step 70).
When it is a right boarding (step 70; Y), CPU estimates that it is a walk and memorize | stores an estimation result in RAM (step 75).

On the other hand, when it is not the right boarding in Step 70 (Step 70; N), the CPU judges whether or not the judgment result stored in the RAM is the left boarding (Step 80).
If the determination result is a left-hand ride (step 80; Y), the CPU estimates that the vehicle is stopped and stores the estimation result in the RAM (step 85).
Further, if the determination result is not the left-side boarding (step 80; N), it is estimated that the wearer is about to get near the center. In this case, the CPU cannot estimate the boarding left-right position determination process. The process proceeds to scheduler determination processing (step 90).

On the other hand, when it is determined in step 65 that it is not the right walking area (step 65; N), the CPU reads out the determination result stored in step 60 from the RAM and determines whether the determination result is a left-side boarding (step 95). ).
When it is a left boarding (step 95; Y), CPU estimates that it is a walk and memorize | stores an estimation result in RAM (step 100).

On the other hand, when it is not left boarding at Step 95 (Step 95; N), the CPU judges whether or not the judgment result stored in the RAM is right boarding (Step 105). This is because the wearer may move to the right side after trying to get on the left side.
If the determination result is a right-hand ride (step 105; Y), the CPU estimates that the vehicle is stopped and stores the estimation result in the RAM (step 110).
If the determination result is not right-side boarding (step 105; N), the CPU proceeds to scheduler determination processing (step 115).

FIG. 6 is a flowchart for explaining the image recognition processing in step 60.
First, the CPU irradiates light downward in the forward direction with the light source device 4 (step 150).
Next, the CPU images the projection image 26 projected by the light with the imaging camera 5, and stores the image data in the RAM (step 155).

  Next, the CPU acquires the distance a from the center of the projection image 26 to the left end and the distance b from the right end using the image data stored in the RAM, and determines any of the projection images 26 from the magnitude relationship between a and b. Image recognition processing is performed to determine whether the side is lazy, and the recognition result is stored in the RAM (step 160).

Next, the CPU reads the image recognition result stored in step 160 from the RAM, and determines whether or not the left side of the projection image 26 is lazy based on the result (step 165).
When the left side is lazy (step 165; Y), the CPU determines that the wearer is located on the left side and gets on the left (step 170).

  On the other hand, when it is not determined that the left side of the projection image 26 is distorted based on the result (step 165; N), the CPU reads the image recognition result stored in step 160 from the RAM, and the right side of the projection image 26 is determined based on the result. It is determined whether or not it is lazy (step 175).

When the right side is lazy (step 175; Y), the CPU determines that the wearer is located on the right side and gets on the right (step 180).
On the other hand, when it is not determined that the right side of the projection image 26 is sluggish based on the result (step 175; N), the CPU determines that the wearer is located in the center (step 185).

FIG. 7 is a flowchart for explaining the scheduler determination processing in step 15.
First, the CPU determines whether or not the communication range is on the facility side (step 200). If it is not within the communication range on the equipment side (step 200; N), monitoring is continued in step 200.

When in the communication range on the equipment side (step 200; Y), the CPU acquires the current position, estimated arrival time, and estimated arrival time from the navigation device 12 and stores them in the RAM (step 205).
Next, the CPU determines whether or not the wearer is behind the schedule time (step 210).

  This determination is made, for example, when the estimated arrival time is later than the estimated arrival time by a predetermined time or later, or by comparing the current position with the position where the wearer should be on the schedule, Can be determined to be delayed if it is behind a predetermined distance from the position on the schedule.

If it is determined that it is delayed (step 210; Y), the CPU estimates walking and stores the estimation result in the RAM (step 215).
On the other hand, when determining that it is not delayed (step 210; N), the CPU proceeds to the swing-up foot acceleration determination process (step 220).

FIG. 8 is a flowchart for explaining the swing-up foot acceleration determination process in step 25.
The CPU acquires the swing acceleration a1 of each of the left and right feet by an acceleration sensor installed on the foot and stores it in the RAM (step 250).
Next, the CPU determines whether or not the communication range is on the equipment side (step 255). When it is not within the communication range on the equipment side (step 255; N), the process returns to step 250 to continue measurement and storage of the swing acceleration a1.

When in the communication range on the equipment side (step 255; Y), the CPU determines whether one foot has landed on the tread board 50 (step 260).
This determination is made by, for example, recognizing from the walking distance that the first step has passed the step between the comb board 40 and the tread board 50 recognized by the imaging unit 9, or the navigation device 12 is used for the wearer. This can be done by specifying the position, or by recognizing that the height of the place where the foot has landed has decreased by the height of the step between the comb plate 40 and the tread plate 50. Other methods may also be used.

When the CPU determines that one of the feet has not landed on the tread 50 (step 260; N), the CPU continuously monitors whether or not it has landed in step 260 and determines that one of the feet has landed on the tread 50. In the case (step 260; Y), the lifting acceleration a2 of the attracting foot is acquired and stored in the RAM (step 265).
Next, the CPU reads the acceleration acceleration a1 stored in step 250 and the acceleration acceleration a2 stored in step 265 from the RAM, and determines the magnitude relationship between them (step 270).

When a1 is larger than a2 (step 270; Y), the CPU estimates that the wearer stops at the escalator 300, and stores the estimation result in the RAM (step 275).
On the other hand, if a2 is greater than or equal to a1 (step 270; N), the CPU estimates that the wearer walks on the escalator 300, and stores the estimation result in the RAM (step 280).

  In the above embodiment, the case where the wearer gets on the escalator 300 has been described. However, the present invention can be applied to the case where the wearer gets on a moving sidewalk.

According to the embodiment described above, the following effects can be obtained.
(1) It is not necessary to use a myoelectric sensor or the like for the wearable robot 1, and the wearability of the wearable robot 1 can be improved.
(2) The wearable robot 1 performs control in advance by estimating the intention of the wearer to walk or stop in the escalator 300, and thereby can relieve the uncomfortable feeling caused by the first-order delay control.
(3) The wearable robot 1 can perform highly accurate estimation by stepwise applying the three methods of the wearer's position with respect to the escalator 300, the schedule, and the acceleration of the lifting foot.
(4) Utilizing that the lighting fixture is used in a fixed place unless there is a special circumstance, the wearable robot 1 receives the tread information from the lighting equipment installed at the entrance of the escalator 300. Obtainable. Moreover, since the facility side can transmit tread information using the existing equipment, capital investment can be reduced.

Furthermore, according to the embodiment described above, the following configuration can be provided.
Since the wearable robot 1 supports the walking of the wearer by driving the walking assist unit 2 and the connecting unit 8, the walking support that supports walking by controlling the movement of the foot of the walking support target person (wearer). Means.
The wearable robot 1 detects the presence of the escalator 300 in the forward direction based on information from the illumination 100, and the tread board 50 functions as a moving walking surface. There is provided a moving walking surface detection means for detecting a walking surface that exists and moves in the forward direction of the walking support target person.
In addition, the wearable robot 1 estimates whether or not the wearer walks the escalator 300 through the boarding left / right position determination process, the scheduler determination process, and the lifting foot acceleration determination process, so that the walking support target moves An estimation means for estimating whether or not to walk on the walking surface is provided.
When the wearable robot 1 estimates that the wearer walks the escalator 300, the wearable robot 1 supports walking on the escalator 300. If the wearable robot 1 estimates that the wearer does not walk, the wearable robot 1 stops walking support and the wearer moves the tread 50 If it is estimated that the walking support target person walks with the estimating means in order to support a posture standing on the top, the walking support by the walking support means is continued and the walking support target person does not walk. When estimated, the walking support control means for stopping the walking support by the walking support means is provided.
Therefore, the wearable robot 1 functions as a walking support device including the above means.

  Further, in the boarding left / right position determination process, the wearable robot 1 detects the wearer's standing position from the projection image 26 with the comb plate 40 at the entrance of the escalator 300 and estimates the intention of walking. Position detecting means for detecting whether the support target person is located on the left or right side with respect to the moving walking surface, and the estimation means walks the walking support target person based on the detected position. It is estimated whether or not.

  Also, the wearable robot 1 recognizes whether or not the wearer is in the right walking area, and based on this, determines the side to walk and the side to not walk, so that the current area where the walking support target person exists is acquired. And an estimation unit that determines whether the walking support target person walks or does not walk based on the acquired area.

In addition, the wearable robot 1 acquires the movement schedule of the wearer in the scheduler determination process, and evaluates the delay from the schedule using the navigation device 12, so that the movement schedule of the walking support target person is acquired. An acquisition means and a delay acquisition means for acquiring a current delay with respect to the acquired movement schedule are provided.
Since the wearable robot 1 estimates that the wearer walks when the delay from the schedule is equal to or greater than a predetermined amount, the estimation unit is configured to support the walking support when the acquired delay is equal to or greater than the predetermined amount. When the person walks and the acquired delay is less than a predetermined amount, it is estimated that the walking support target person does not walk.

  In addition, the wearable robot 1 obtains the wearer's raising foot acceleration in the raising foot acceleration determination process, and compares this with the raising foot acceleration during normal walking to estimate the presence or absence of the intention of walking. Acceleration acquisition means for acquiring acceleration of the foot part of the walking support target person, and the estimation means includes the acceleration and the movement of the foot part when the walking support target person walks on a fixed walking surface. It is estimated whether the said walking assistance target person walks on the said walking surface by acquiring and comparing the acceleration of the said foot | leg at the time of boarding the walking surface to be performed with the said acceleration acquisition means.

  In addition, the wearable robot 1 exists in the storage medium of the ECU 16 in a walking support function for supporting walking by controlling the movement of the foot of the walking support target person, and in front of the walking support target person. A moving walking surface detection function that detects a walking surface that moves in the forward direction of the subject, an estimation function that estimates whether or not the walking support target person walks on the moving walking surface, and the estimation function, When it is estimated that the walking support target person walks, the walking support by the walking support function is continued, and when it is estimated that the walking support target person does not walk, the walking support by the walking support function is stopped. A walking support program for realizing a walking support control function with a computer is stored.

DESCRIPTION OF SYMBOLS 1 Wearable robot 2 Walking assist part 3 3-axis sensor 4 Light source device 5 Imaging camera 6 3-axis actuator 7 Lumbar mounting part 8 Connection part 9 Imaging unit 10 Wireless communication apparatus 12 Navigation apparatus 15 Wearing robot system 16 ECU
17 Walking actuator 26 Projected image 31 Screen frame 40 Comb plate 41 Flat part 42 Inclined part 50 Step board 100-102 Illumination 200-203 Position 300 Escalator

Claims (6)

Walking support means for supporting walking by controlling the movement of the foot part of the walking support target;
A moving walking surface detection means for detecting a walking surface that exists in front of the walking support target and moves in the forward direction of the walking support target;
Estimating means for estimating whether or not the walking support target person walks on the moving walking surface;
When it is estimated by the estimation means that the walking support target person walks, the walking support by the walking support means is continued, and when it is estimated that the walking support target person does not walk, the walking support Walking support control means for stopping walking support by means;
A walking support device characterized by comprising: Comprising position detecting means for detecting whether the walking support target person is located on the left or right side with respect to the moving walking surface;
The walking support apparatus according to claim 1, wherein the estimation unit estimates whether or not the walking support target person walks based on the detected position. Comprising region acquisition means for acquiring a current region where the walking support target person exists,
The walking support device according to claim 2, wherein the estimation unit determines a side on which the walking support target person walks and a side on which the walking support target person does not walk based on the acquired area. A movement schedule acquisition means for acquiring a movement schedule of the walking support target person;
Delay acquisition means for acquiring a current delay with respect to the acquired movement schedule;
Comprising
The estimation means estimates that the walking support target person walks when the acquired delay is greater than or equal to a predetermined amount, and that the walking support target person does not walk when the acquired delay is less than the predetermined amount. The walking support device according to claim 1, wherein: Comprising acceleration acquisition means for acquiring acceleration of the foot part of the walking support target person,
The estimation means acquires the acceleration of the foot when the walking support target person walks on a fixed walking surface and the acceleration of the foot when getting on the moving walking surface by the acceleration acquisition means. The walking support device according to claim 1, wherein the walking support target person estimates whether or not the walking support target person walks on the walking surface. A walking support function that supports the walking by controlling the movement of the foot of the walking support target person,
A moving walking surface detection function for detecting a walking surface that exists in front of the walking support target and moves in the forward direction of the walking support target;
An estimation function for estimating whether or not the walking support target walks on the moving walking surface;
When it is estimated by the estimation function that the walking support target person walks, the walking support by the walking support function is continued, and when it is estimated that the walking support target person does not walk, the walking support Walking support control function to stop walking support by function,
A walking support program that uses a computer.

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