Information processing apparatus, information processing method, and terminal apparatus

Abstract

The present invention relates to an information processing apparatus, an information processing method, and a terminal apparatus. The information processing apparatus includes a control unit that determines a travel path of a wheelchair. The control unit determines the travel path of the wheelchair based on information related to a step present on a road surface on which the wheelchair travels and information related to a wheel of the wheelchair.

Description

Technical Field

[0001] This disclosure relates to an information processing apparatus, an information processing method, and a terminal device. Background Technology

[0002] Traditionally, a configuration is known that notifies surrounding vehicles of the presence of a pedestrian crossing a desired location on a road when the pedestrian begins to cross that location (see, for example, Japanese Unexamined Patent Application Publication No. 2014-225151 (JP2014-225151 A)). Summary of the Invention

[0003] Depending on road conditions, wheelchairs may have difficulty moving around. Demands are being made to make wheelchairs easier to move.

[0004] The purpose of this disclosure is to improve the ease of wheelchair mobility in light of this situation.

[0005] An information processing apparatus according to one embodiment of the present disclosure includes a control unit that determines a travel path for a wheelchair. The control unit determines the travel path based on information relating to steps present on a surface on which the wheelchair travels and information relating to the wheels of the wheelchair.

[0006] An information processing method according to an embodiment of the present disclosure includes determining a travel path for a wheelchair. The information processing method includes determining the travel path based on information relating to steps present on a surface on which the wheelchair travels and information relating to the wheels of the wheelchair.

[0007] According to an embodiment of this disclosure, a terminal device is mounted on a wheelchair or carried by a wheelchair user. The terminal device obtains the wheelchair's travel path from an information processing device, which is determined by the information processing device based on information relating to steps present on the surface on which the wheelchair travels and the shape of the wheelchair's wheels.

[0008] The ease of wheelchair mobility can be improved by using the information processing apparatus, information processing method, and terminal device according to embodiments of the present disclosure. Attached Figure Description

[0009] Features, advantages, and technical and industrial significance of exemplary embodiments of the invention will be described below with reference to the accompanying drawings, wherein similar symbols denote similar elements, and wherein:

[0010] Figure 1 This is a block diagram illustrating a configuration example of an information processing system according to one embodiment;

[0011] Figure 2 This is a diagram illustrating an example of the path taken by a wheelchair traversing steps on a road surface;

[0012] Figure 3 This is a diagram illustrating an example of a wheelchair's path while avoiding restricted areas;

[0013] Figure 4 This is a side view showing an example of a wheelchair;

[0014] Figure 5 This is a diagram illustrating an example of calculating the height at which a wheelchair's wheels enter a step;

[0015] Figure 6 This is a diagram illustrating an example configuration in which the wheels of a wheelchair straddle the grooves;

[0016] Figure 7 It is a diagram showing the relationship between the radius of the wheelchair's wheels and the height of the step; and

[0017] Figure 8 This is a flowchart illustrating a process example of an information processing method according to this embodiment. Detailed Implementation

[0018] Configuration example of information processing system 1

[0019] As in Figure 1 As shown, an information processing system 1 according to one embodiment includes an information processing device 10 and a terminal device 20. For example, in Figure 2 and Figure 3 Schematic, the information processing device 10 determines the travel path 80 of a wheelchair 70 crossing the road 40. The information processing device 10 determines the travel path 80 of the wheelchair 70 based on information relating to steps present on the road surface of the road 40 and information relating to the wheels of the wheelchair 70. The information processing device 10 uses a terminal device 20 to notify the wheelchair 70 or its user 74 of the determined travel path 80. The terminal device 20 may be mounted on the wheelchair 70. The terminal device 20 may be carried by the user 74. The terminal device 20 obtains the travel path 80 of the wheelchair 70 from the information processing device 10, notifies the user 74 of the travel path 80, and controls the wheelchair 70 to travel along the travel path 80. The information processing system 1 further includes a display device 84, but this is not mandatory. The display device 84 may be configured to display the travel path 80 of the wheelchair 70 on the road 40. The display device 84 may be configured to display a pedestrian crossing 82 on the road 40 over which the vehicle 60 travels. The following section will describe a configuration example of information processing system 1.

[0020] Information processing device 10

[0021] The information processing device 10 includes a control unit 11 and a server interface 12. The server interface 12 is also referred to as I / F 12.

[0022] The control unit 11 controls each component of the information processing device 10. The control unit 11 may be configured to include one or more processors. According to this embodiment, a "processor" is a general-purpose processor, a dedicated processor for a specific process, etc. However, the processor is not limited to these. The control unit 11 may be configured to include one or more dedicated circuits. Dedicated circuits may include, for example, field-programmable gate arrays (FPGAs) or application-specific integrated circuits (ASICs). The control unit 11 may be configured to include dedicated circuits in place of a processor, or may be configured to include dedicated circuits together with a processor.

[0023] The information processing device 10 may further include a storage unit. The storage unit may be, for example, a semiconductor memory, a magnetic memory, or an optical memory. However, the storage unit is not limited to these types of memory. The storage unit may function as, for example, a primary storage device, an auxiliary storage device, or a cache memory. The storage unit may include an electromagnetic storage medium such as a magnetic disk. The storage unit stores any information used for the operation of the information processing device 10. The storage unit may store, for example, system programs, application programs, etc. The storage unit may be included in the control unit 11.

[0024] I / F 12 outputs information and data to control unit 11, and inputs information and data to control unit 11. I / F 12 is also simply referred to as an interface or I / F.

[0025] I / F 12 may include a communication module configured to communicate with a display device 84, etc., via network 30. The communication module may include a communication module corresponding to a mobile communication standard such as fourth-generation (4G) or fifth-generation (5G). However, the communication module is not limited to this. I / F 12 may be configured to connect to a communication module.

[0026] The information processing device 10 may include a server device or multiple server devices that can communicate with each other.

[0027] The information processing device 10 further includes a detection unit 14, but this is not mandatory. The detection unit 14 detects information related to steps present on the surface of the road 40 that will be traversed by the wheelchair 70. Steps present on the surface can be a portion of the surface height that varies per unit length by a predetermined value or greater. The predetermined value can be appropriately determined. The predetermined value can be set, for example, to a value that makes the surface gradient 45 degrees or greater, but the predetermined value is not limited to this and can be set to various values. Information related to steps present on the surface of the road 40 is also referred to as step information. Step information may include, for example, information specifying the location or extent of steps on the surface of the road 40. Step information may include, for example, information specifying the length or width of grooves, the diameter of holes, etc., provided on the surface of the road 40. Step information may include information specifying the depth of grooves or holes. Step information may include, for example, information specifying the length or width of linear protrusions, the diameter of island protrusions, etc., provided on the surface of the road 40. Step information may include information specifying the height of protrusions.

[0028] The detection unit 14 can be configured to include, for example, a camera that captures images of the road surface of road 40. The detection unit 14 can also be configured to include a distance sensor that detects the distance to each point on the road surface of road 40. The detection unit 14 can calculate the coordinates or height of each point on the road surface of road 40 as step information based on the detected information about the road surface. The detection unit 14 can detect steps existing on the road surface of road 40 based on the detected information about the road surface and generate information as step information.

[0029] The detection unit 14 can output step information to the control unit 11. The detection unit 14 can also output detected road surface information to the control unit 11. The control unit 11 can detect steps existing on the road surface of the road 40 based on the road surface information detected by the detection unit 14 and calculate the information as step information.

[0030] Terminal device 20

[0031] As in Figure 1 As shown, the terminal device 20 includes a terminal control unit 21 and a terminal interface 22. The terminal interface 22 is also referred to as a terminal I / F 22.

[0032] The terminal control unit 21 controls each component of the terminal device 20. The terminal control unit 21 may be configured to be the same as or similar to the control unit 11 of the information processing device 10. The terminal control unit 21 may be configured to include one or more processors. The terminal control unit 21 may be configured to include one or more dedicated circuits. The dedicated circuits may include, for example, an FPGA or an ASIC. The terminal control unit 21 may be configured to include dedicated circuits in place of a processor, or may be configured to include dedicated circuits together with a processor.

[0033] Terminal device 20 may further include a storage unit. The storage unit of terminal device 20 may be configured to be the same as or similar to the storage unit of information processing device 10. The storage unit may be, for example, a semiconductor memory, a magnetic memory, or an optical memory. However, the storage unit is not limited to these types of memory. The storage unit may function as, for example, a primary storage device, an auxiliary storage device, or a cache memory. The storage unit may include an electromagnetic storage medium such as a magnetic disk. The storage unit stores any information used for the operation of terminal device 20. The storage unit may store, for example, system programs, application programs, etc. The storage unit may be included in terminal control unit 21.

[0034] Terminal I / F 22 transmits information, data, etc., output from terminal control unit 21 to information processing device 10. Terminal I / F 22 may include a communication module configured to communicate with other devices, such as information processing device 10, via network 30. The communication module may include a communication module conforming to mobile communication standards such as 4G or 5G. However, the communication module is not limited to this.

[0035] The terminal I / F 22 can be configured to include an input device for receiving information, data, etc., from a user. The input device can be configured to include, for example, a touch panel or touch sensor, or a pointing device such as a mouse. The input device can be configured to include physical buttons. The input device can be configured to include a voice input device such as a microphone.

[0036] Terminal I / F 22 may include, for example, a display device that outputs visual information such as images, characters, or graphics to a user. The display device may be configured to include, for example, a liquid crystal display (LCD), an organic electroluminescent (EL) display, an inorganic EL display, a plasma display panel (PDP), etc. The display device is not limited to the above displays and may be configured to include various other types of displays. The display device may be configured to include light-emitting elements such as light-emitting diodes (LEDs) or laser diodes (LDs). The display device may be configured to include various other devices.

[0037] The terminal device 20 further includes a detection unit 24 for detecting step information of the road surface 40, but this is not mandatory. The detection unit 24 can be configured to be the same as or similar to the detection unit 14 of the information processing device 10. The terminal device 20 can output step information to the information processing device 10. The detection unit 24 can detect information such as an image of the road surface or the distance to each point on the road surface as information for generating step information, and output this information to the information processing device 10.

[0038] Terminal device 20 may further include a location information acquisition unit that acquires its own location information. The location information acquisition unit may be configured to include a receiver for a satellite positioning system. A receiver compatible with a satellite positioning system may include, for example, a Global Positioning System (GPS) receiver.

[0039] The terminal device 20 can be mounted on the wheelchair 70 or carried by the user 74 of the wheelchair 70. When the terminal device 20 is mounted on the wheelchair 70, it can notify the user 74 of the wheelchair 70's travel path 80 or control the movement of the wheelchair 70. When the terminal device 20 is carried by the user 74, it can notify the user 74 of the wheelchair 70's travel path 80.

[0040] The number of terminal devices 20 included in information processing system 1 is not limited to one, and may be two or more. Terminal devices 20 may be configured to include mobile terminals such as smartphones or tablets, or personal computers (PCs) such as laptop PCs or tablet PCs. Terminal devices 20 are not limited to the above examples, and may be configured to include various devices.

[0041] Display device 84

[0042] The display device 84 may be configured to include one or more processors. The display device 84 may be configured to include one or more dedicated circuits. The display device 84 may be configured to include a storage unit. The storage unit of the display device 84 may be configured to be the same as or similar to the storage unit of the information processing device 10. The storage unit stores any information used for the operation of the display device 84. The storage unit may store, for example, system programs, application programs, etc.

[0043] The display device 84 can be configured to include an interface for obtaining information, data, etc., from the information processing device 10. The interface can be configured to be the same as or similar to the I / F 12 of the information processing device 10.

[0044] The display device 84 is configured to include a display for displaying a pedestrian crossing 82 on the surface of road 40. The display device may be configured to include, for example, a light source embedded in the surface of road 40. The light source may be configured to include, for example, light-emitting elements such as LEDs or LDs. The light source may be configured to include, for example, light bulbs or fluorescent lamps. The display device may be configured to, for example, project an image of the pedestrian crossing 82 onto the surface of road 40.

[0045] The number of display devices 84 included in the information processing system 1 is not limited to one, but may be two or more.

[0046] When the information processing system 1 detects a wheelchair 70 crossing the road 40, the display device 84 can display a pedestrian crossing 82 on the road 40. When the information processing device 10 detects a wheelchair 70 located within a predetermined distance from the road 40, or a wheelchair 70 remaining within a predetermined distance from the road 40 for a predetermined time or longer, the information processing device 10 can cause the display device 84 to display the pedestrian crossing 82, allowing the wheelchair 70 to cross the road 40.

[0047] As a configuration for detecting a wheelchair 70 located within a predetermined distance from the road 40, the information processing system 1 may include sensors such as cameras or motion sensors capable of detecting the presence of the wheelchair 70. The display device 84 may be configured to detect the presence of the wheelchair 70 by being installed near the road 40. The information processing device 10 or the display device 84 may detect the wheelchair 70 located within a predetermined distance from the road 40 by acquiring the location information of the terminal device 20 installed on the wheelchair 70 or carried by the user 74 of the wheelchair 70 from the terminal device 20.

[0048] wheelchair 70

[0049] Wheelchair 70 may or may not be included in information processing system 1. For example, in... Figure 4 As shown, the wheelchair 70 includes drive wheels 76 and casters 78. The diameter of the drive wheels 76 is also referred to as the first diameter and is denoted by D1. The diameter of the casters 78 is also referred to as the second diameter and is denoted by D2.

[0050] As in Figure 1As shown, wheelchair 70 further includes a movement control unit 72, but this is not mandatory. Wheelchair 70 may further include a drive unit such as a motor. The movement control unit 72 controls the speed of wheelchair 70, etc., by controlling the drive unit. When wheelchair 70 is equipped with terminal device 20, or when the user 74 of wheelchair 70 carries terminal device 20, movement control unit 72 can obtain information from terminal device 20 for controlling the movement of wheelchair 70 to control the drive unit. Movement control unit 72 can obtain information from information processing device 10 for controlling the movement of wheelchair 70 to control the drive unit.

[0051] The wheelchair 70 may further include sensors that detect step information on the road surface 40. The sensors of the wheelchair 70 may output the detected step information to the information processing device 10. The sensors of the wheelchair 70 may detect information such as an image of the road surface or the distance to each point on the road surface as information for generating step information, and output this information to the information processing device 10.

[0052] The wheelchair 70 may further include a location information acquisition unit for acquiring its own location information. The location information acquisition unit may be configured to be the same as or similar to the location information acquisition unit of the terminal device 20.

[0053] The wheelchair 70 may be equipped with an information processing device 10. In this case, the information processing device 10 can control the movement of the wheelchair 70.

[0054] Operation example of information processing system 1

[0055] In the information processing system 1, for example, the information processing device 10 determines the travel path 80 of the wheelchair 70 by operating as described below.

[0056] wheel information acquisition

[0057] The control unit 11 acquires information related to the wheels of the wheelchair 70. This information is also referred to as wheel information. Wheel information may include the diameter and width of the drive wheels 76. Wheel information may include the diameter and width of the casters 78. Wheel information may include the distance between the right drive wheel 76 and the left drive wheel 76. Wheel information may include the distance between the right caster 78 and the left caster 78. Wheel information may include the distance between the drive wheels 76 and the casters 78. Wheel information may include the angle of the drive wheels 76 relative to the road surface. Wheel information may include the range of motion of the casters 78.

[0058] Acquisition of step information

[0059] The control unit 11 acquires step information of the road surface surrounding the wheelchair 70. The control unit 11 can acquire step information of the road surface within the range that the wheelchair 70 may traverse when crossing the road 40. The control unit 11 can acquire step information from the detection unit 14. The control unit 11 can acquire step information from the terminal device 20 or the wheelchair 70.

[0060] The control unit 11 can acquire the shape of the road surface as step information. The control unit 11 can determine whether a step exists on the road surface based on the shape. A step includes a groove or hole lower than the road surface. A step includes a linear or island-shaped protrusion that rises relative to the road surface. For example, in... Figure 2 In this system, a grid 42, including grooves (openings), exists on the surface of the road 40. The control unit 11 can acquire information such as the length or width of the openings of the grid 42 and the area where the grid 42 is located as step information. Figure 2 In the diagram, the groove (opening) of the grid 42 extends along the direction that crosses the path 40 (vertical direction on the paper). The direction that crosses the path 40 corresponds to a direction orthogonal to the extension direction of the path 40 (horizontal direction on the paper). It can be described that the groove (opening) of the grid 42 has a longitudinal direction along the direction that crosses the path 40 and a transverse direction along the extension direction of the path 40.

[0061] Determining the travel path 80

[0062] The control unit 11 determines the travel path 80 of the wheelchair 70 based on the wheel information of the wheelchair 70 and the step information of the road surface. For example, in Figure 2 As shown, for example, the control unit 11 can determine a path intersecting the lateral direction of a groove (opening) of a grid 42 present on the road surface of road 40 as a travel path 80. The control unit 11 can determine a path extending along the transverse direction of road 40 in areas where grid 42 is absent and a path extending in a direction inclined relative to the transverse direction of road 40 in areas where grid 42 is present as travel path 80. Furthermore, as in... Figure 3 As shown, the control unit 11 can set a restricted area 86 on the road surface 40 based on the wheel information of the wheelchair 70 and the step information of the road surface, and can determine the travel path 80 of the wheelchair 70 to avoid the restricted area 86. Examples of the conditions for determining the travel path 80 or for setting the restricted area 86 will be described below.

[0063] Calculation of the height the wheel enters the step

[0064] The control unit 11 can calculate the following height based on step information and wheel information: the height at which the wheels of the wheelchair 70 enter the step when the wheelchair 70 is moving. The control unit 11 can calculate the height at which the wheels of the wheelchair 70 enter the step as step information based on the shape or position of the step existing on the road surface. The shape of the step can be specified as a stepped shape or a recessed shape. The shape of the step can be specified as the height of the step, or the depth or width of the recess. Furthermore, the control unit 11 can calculate the height at which the wheels of the wheelchair 70 enter the step as wheel information based on the diameter or width of the wheels.

[0065] For example, as in Figure 5 and Figure 6 The diagram illustrates an example of calculating the height of the wheelchair 70's wheels entering the step when the wheelchair 70's casters 78 are located on a recessed step. The casters 78 can be replaced by drive wheels 76 or other wheels.

[0066] exist Figure 5 In this context, assume the step on the road surface is a groove below the first surface 40a on which the wheelchair 70 travels. The length of the groove along the direction of travel of the caster 78 is represented by L. The depth of the groove is represented by H. The groove extends in the depth direction or forward direction of the paper. A portion of the caster 78 above the groove enters the groove. The height of this portion of the caster 78 entering the groove is represented by H2. The center of the caster 78 is represented by A. The point where the caster 78 contacts the end of the opening of the groove is represented by B. The foot of the perpendicular line obtained by extending downward from the center (A) of the caster 78 to the plane obtained by extending from the assumed first surface 40a to the opening of the groove is represented by C. Here, triangle ABC is a right triangle. The length of side AB is represented by D2 / 2. The length of side BC is represented by L / 2. The length of side AC is represented by the square root of the value obtained by subtracting the square of the length of side BC from the square of the length of side AB. That is, the length of side AC is calculated as the square root of (D2 / 2)^2 – (L / 2)^2. Therefore, H2 is represented by the following equation (1).

[0067] H2=D2 / 2–{(D2 / 2)^2–(L / 2)^2}^(1 / 2) (1)

[0068] The control unit 11 can calculate H2 as the height at which the wheels of the wheelchair 70 enter the step based on equation (1).

[0069] exist Figure 6In this context, it is assumed that the step on the road surface is a groove lower than the first surface 40a on which the wheelchair 70 travels. The length of the groove in the direction orthogonal to the direction of travel of the caster 78 is represented by W. The depth of the groove is represented by H. The width of the caster 78 is represented by W2. Here, it is assumed that W2 is longer than W. In this case, the caster 78 does not enter the groove. Therefore, the control unit 11 calculates the height at which the wheels of the wheelchair 70 enter the step as zero.

[0070] exist Figure 7 In this context, it is assumed that the step on the road surface is a step with a surface lower than the first surface 40a on which the wheelchair 70 travels. The height of the step is represented by H. The caster 78 contacts the road surface on the lower side of the step. In this case, the control unit 11 calculates the height of the wheelchair 70's wheels entering the step as H.

[0071] Determination based on the height of the wheel entering the step

[0072] The control unit 11 can determine the travel path 80 of the wheelchair 70 based on a value calculated as the height at which the wheels of the wheelchair 70 enter the step. For example, when the height at which the wheels of the wheelchair 70 enter the step is less than a first threshold, the control unit 11 can determine a travel path 80 that includes a path through the step. That is, the control unit 11 can determine that the travel path 80 of the wheelchair 70 results in the height at which the wheels of the wheelchair 70 enter the step being less than the first threshold.

[0073] The first threshold can be set, for example, to the height that the wheelchair 70 can cross over a step. Specifically, when the user 74 moves the wheelchair 70, the amount of force that the user 74 can apply to the wheelchair 70 is limited. Even when the wheelchair 70 is moving using a drive unit, the amount of force that can be output by a motor or the like is limited. Therefore, the height that the wheelchair 70 can cross over a step is determined based on the upper limit of the force applied to the wheelchair 70. Based on the above, the first threshold can be set based on the upper limit of the force that the user 74 can apply to the wheelchair 70 or the upper limit of the force that a drive unit such as a motor can output. Based on the above, when the height of the wheelchair 70's wheels entering the step is less than the first threshold, the force required to move the wheelchair 70 can be reduced. As a result, situations where the wheelchair 70 becomes immobile or difficult to move can be avoided. That is, the ease of movement of the wheelchair 70 is improved.

[0074] When the steps are as follows Figure 5When the wheelchair 70 enters the groove as illustrated in the diagram, the control unit 11 can determine the travel path 80 of the wheelchair 70, such that the wheels of the wheelchair 70 pass through the groove in a direction intersecting the extending direction of the groove, or in a direction orthogonal to the extending direction of the groove. Compared to when the wheels of the wheelchair 70 enter the groove along the extending direction of the groove, when the wheels of the wheelchair 70 enter the groove in a direction intersecting the extending direction of the groove, the height at which the wheels of the wheelchair 70 enter the step becomes smaller. Furthermore, as the direction in which the wheels of the wheelchair 70 enter the groove becomes closer to the direction orthogonal to the extending direction of the groove, the height at which the wheels of the wheelchair 70 enter the step becomes smaller.

[0075] When the steps are as follows Figure 7 When encountering a step as illustrated in the diagram, the control unit 11 can determine whether the wheelchair 70 can traverse the step based on the diameter or radius of the wheelchair 70's wheels and the height of the step. Figure 7 In this diagram, the radius of the caster 78 is represented by R2. The height of the step is represented by H. The control unit 11 can determine, for example, that the wheelchair 70 can cross the step when the ratio of H to R2 is less than a predetermined ratio. This predetermined ratio can be set based on an upper limit of the magnitude of the force applied to move the wheelchair 70. This predetermined ratio can be set to various values, such as 1 / 2 or smaller.

[0076] The diameters of the drive wheels 76 and casters 78 of the wheelchair 70 are different. The control unit 11 can calculate each of the heights of the drive wheels 76 and casters 78 entering the step. The control unit 11 can determine the travel path 80 of the wheelchair 70 such that the height of the drive wheels 76 entering the step is less than a second threshold and the height of the casters 78 entering the step is less than a third threshold. When the diameter of the drive wheels 76 is greater than the diameter of the casters 78, the second threshold can be set to a value greater than the third threshold. By determining the travel path 80 based on the heights of the drive wheels 76 and casters 78 entering the step, the range of the determined travel path 80 can be expanded while avoiding situations where the wheelchair 70 becomes immobile or difficult to move. As a result, the ease of movement of the wheelchair 70 is improved.

[0077] Setting up No-Travel Zone 86

[0078] The control unit 11 can determine the area where the wheelchair 70 is difficult to navigate based on the wheel information of the wheelchair 70 and the step information of the road surface, and can set this area as a prohibited zone 86. The control unit 11 can also determine the area where the height of the wheelchair 70's wheels entering the step is equal to or greater than a fourth threshold as a range where the wheelchair 70 is difficult to navigate. The fourth threshold can be set to the same value as the first, second, or third threshold, or it can be set to a different value. The fourth threshold can be set to a value less than the first threshold, etc., to prevent the wheelchair 70 from becoming immobile or difficult to move. The control unit 11 can determine a travel path 80 to avoid the prohibited zone 86. After determining the travel path 80, the control unit 11 can set the area deviating from the travel path 80 as the prohibited zone 86.

[0079] Output of path 80

[0080] When the control unit 11 determines the travel path 80 of the wheelchair 70, the control unit 11 can output the determined travel path 80 from the I / F 12 to the terminal device 20 or the wheelchair 70. The terminal device 20 or the wheelchair 70 can notify the user 74 of the travel path 80. The user 74 can operate and move the wheelchair 70 based on the notified travel path 80. The wheelchair 70 can travel along the travel path 80 obtained from the information processing device 10 via the travel control unit 72.

[0081] The control unit 11 can display the determined travel path 80 on the road surface. The control unit 11 can also cause the display device 84 to display the determined travel path 80 on the road surface. The control unit 11 can display the determined travel path 80 on the road surface via projection from the wheelchair 70 or the terminal device 20.

[0082] The control unit 11 can enable the terminal device 20 to display the travel path 80 so that the user 74 can identify the travel path 80 of the wheelchair 70, or it can enable the display device 84 to display the travel path 80 on the road 40.

[0083] Example of information processing method process

[0084] Control unit 11 can perform the following functions: Figure 8 The flowchart shown in the diagram illustrates an information processing method. This information processing method can be implemented as an information processing program executed by the processor constituting the control unit 11. This information processing program can be stored in a non-transitory computer-readable medium.

[0085] Control unit 11 acquires information related to the wheels of wheelchair 70 (wheel information) (step S1). Control unit 11 acquires information related to steps existing on the road surface (step information) (step S2). Control unit 11 determines the travel path 80 of wheelchair 70 based on wheel information and step information (step S3). Control unit 11 outputs the determined travel path 80 (step S4). Specifically, control unit 11 can output the determined travel path 80 to terminal device 20 or wheelchair 70. Control unit 11 can cause display device 84 to display the determined travel path 80 on the road surface. Control unit 11 terminates after executing step S4. Figure 8 The flowchart.

[0086] Summarize

[0087] As described above, the information processing system 1 and information processing device 10 according to this embodiment can determine the travel path 80 of the wheelchair 70 based on information related to steps present on the road surface 40 and information related to the wheels of the wheelchair 70. In this way, the wheelchair 70 can move easily. As a result, the ease of movement of the wheelchair 70 is improved.

[0088] Other embodiments

[0089] Information processing system 1 is not limited to the mode described above, and can be implemented in various other modes. Other embodiments will be described below.

[0090] According to the travel path 80 of wheelchair 70

[0091] When operating wheelchair 70, the user 74 can alternately move the right drive wheel 76 and the left drive wheel 76 with one hand. In this case, the travel path 80 of wheelchair 70 becomes a finely curved route, a so-called zigzag route. Control unit 11 can determine the travel path 80 of wheelchair 70 based on the user 74's operation of wheelchair 70. For example, control unit 11 can determine the travel path 80 of wheelchair 70 so that the user 74 alternately moves the right drive wheel 76 and the left drive wheel 76 of wheelchair 70 to move it forward. Control unit 11 can determine the travel path 80 based on information related to steps on the road surface, considering whether to move the left drive wheel 76 or the right drive wheel 76. In this way, user 74 can easily operate wheelchair 70. As a result, the ease of movement of wheelchair 70 is improved.

[0092] Wheelchair 70 inspection

[0093] The control unit 11 of the information processing device 10 detects a wheelchair 70 crossing the road 40. The control unit 11 can detect a wheelchair 70 located within a predetermined distance of the road 40, or a wheelchair 70 that remains within a predetermined distance of the road 40 for a predetermined time or longer, as a wheelchair 70 crossing the road 40. The control unit 11 can detect a wheelchair 70 crossing the road 40 based on, for example, the location information of the wheelchair 70 itself, or the location information of a terminal device 20 installed on the wheelchair 70, or a terminal device 20 carried by the user 74 of the wheelchair 70. The control unit 11 can also detect a wheelchair 70 crossing the road 40 based on, for example, images obtained by capturing images of the road 40 and its surrounding environment. Finally, the control unit 11 can detect a wheelchair 70 crossing the road 40 based on, for example, the detection results of sensors used to detect the presence of a wheelchair 70 on and around the road 40.

[0094] Pedestrian crossing 82 display

[0095] The control unit 11 can cause the display device 84 to display a pedestrian crossing 82 on the road 40 that the wheelchair 70 will cross. That is, the control unit 11 can control the display device 84 to display the pedestrian crossing 82 on the road 40 over which the vehicle 60 travels. (As in...) Figure 3 As illustrated, the control unit 11 can cause the display device 84 to display a pedestrian crossing 82 on the road surface of the road 40, including the travel path 80 of the wheelchair 70. The control unit 11 can change the width of the pedestrian crossing 82 so that the wheelchair 70 traveling along the travel path 80 of the wheelchair 70 can travel within the pedestrian crossing 82.

[0096] The control unit 11 can cause the display device 84 to display the crosswalk 82 along the travel path 80 of the wheelchair 70. The control unit 11 can also cause the display device 84 to display a prohibited area 86 within the crosswalk 82. Furthermore, the control unit 11 can prevent the display device 84 from displaying the crosswalk 82 within the prohibited area 86. In this way, the wheelchair 70 can be prevented from entering the prohibited area 86, which is difficult for the wheelchair 70 to navigate. As a result, the ease of movement of the wheelchair 70 is improved. The control unit 11 can cause the display device 84 to display the crosswalk 82 along the travel path 80 of the wheelchair 70.

[0097] While embodiments according to this disclosure have been described above with reference to the accompanying drawings and examples, it should be noted that those skilled in the art can make various modifications and alterations based on this disclosure. Therefore, it should be understood that such modifications and alterations are within the scope of this disclosure. For example, the functions included in each device, each step, etc., can be rearranged to be logically consistent, and multiple devices, steps, etc., can be combined into one or separated.

Claims

1. An information processing device, comprising a control unit, the control unit determining the travel path of a wheelchair, wherein, The information processing device is installed on the wheelchair, wherein the control unit determines the wheelchair's travel path based on information related to steps present on the road surface in which the wheelchair travels and information related to the wheels of the wheelchair, and the control unit causes the wheelchair to travel along the wheelchair's travel path; When the wheelchair crosses the road, the control unit causes the display device to display a pedestrian crossing on the road surface within the range including the wheelchair's travel path. The control unit is capable of changing the width of the pedestrian crossing so that the wheelchair traveling along the wheelchair's travel path can travel within the pedestrian crossing. The control unit is able to set a prohibited area for the wheelchair on the road surface based on the wheelchair's wheel information and the step information of the road surface, and can determine the wheelchair's travel path to avoid the prohibited area. The control unit causes the display device to display the area where the height of the wheelchair's wheels entering the step on the pedestrian crossing is equal to or greater than a fourth threshold as the prohibited area for the wheelchair.

2. The information processing apparatus according to claim 1, wherein, The control unit: Based on the shape or location of the step and the diameter or width of the wheelchair wheels, the height at which the wheelchair wheels enter the step when the wheelchair is moving is calculated. The travel path of the wheelchair is determined such that the height at which the wheels of the wheelchair enter the step is less than a first threshold.

3. The information processing apparatus according to claim 2, wherein, When the step is a groove, the control unit determines the travel path of the wheelchair so that the wheels of the wheelchair pass through the groove in a direction intersecting the extension direction of the groove.

4. The information processing apparatus according to claim 2 or 3, wherein: The wheelchair includes drive wheels and casters as wheels, the casters having a diameter smaller than that of the drive wheels; and The control unit determines the wheelchair's travel path such that the height at which the drive wheels enter the step is less than a second threshold and the height at which the casters enter the step is less than a third threshold, the third threshold being less than the second threshold.

5. The information processing apparatus according to any one of claims 1 to 3, wherein, The control unit causes the display device to show the wheelchair's travel path on the road surface.

6. The information processing apparatus according to claim 1, wherein, The control unit causes the display device to display the crosswalk along the wheelchair's path of travel.

7. The information processing apparatus according to any one of claims 1 to 3, wherein, The control unit determines the travel path of the wheelchair, causing the right and left wheels of the wheelchair to move forward alternately.

8. The information processing apparatus according to any one of claims 1 to 3, further comprising a detection unit that detects information relating to the step.

9. The information processing apparatus according to any one of claims 1 to 3, wherein, The control unit obtains information about the steps from the wheelchair.

10. An information processing method for determining the travel path of a wheelchair, comprising: The travel path of the wheelchair is determined based on information relating to steps on the road surface in which the wheelchair travels and information relating to the wheels of the wheelchair. To make the wheelchair move along the path the wheelchair travels; When the wheelchair crosses the road, the display device displays a crosswalk on the road surface within the range including the wheelchair's path of travel, wherein the width of the crosswalk can be changed so that the wheelchair traveling along the wheelchair's path of travel can move within the crosswalk. Based on the wheelchair's wheel information and the road surface step information, a no-entry zone for the wheelchair is set on the road surface, and the wheelchair's path is determined to avoid the no-entry zone. The display device displays the area where the wheelchair's wheels enter the step at a height equal to or greater than a fourth threshold as the no-entry zone for the wheelchair.

11. The information processing method according to claim 10, further comprising: Based on the height or width of the step and the width or diameter of the wheelchair wheels, the height at which the wheelchair wheels enter the step when the wheelchair is moving is calculated; and The travel path of the wheelchair is determined such that the height at which the wheels of the wheelchair enter the step is less than a first threshold.

12. The information processing method according to claim 10 or 11, further comprising: The display device displays the wheelchair's travel path on the road surface.

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