Mobile assistance device and mobile assistance system

Abstract

The present application relates to a mobile assistance device and a mobile assistance system. The mobile assistance device is to be provided in a mobile assistance apparatus and configured to execute a mobile assistance operation for assisting a movement of a user, the mobile assistance device including a mode switching control unit configured to switch a power mode between a normal mode in which the mobile assistance operation is executable and a power saving mode in which power consumption is less than that in the normal mode, based on a magnitude of a surrounding risk for the movement of the user. A condition for setting the power mode to the power saving mode includes a condition that the surrounding risk satisfies a predetermined low risk condition.

Description

Technical Field

[0001] This invention relates to mobility assistive devices and systems for assisting users' mobility (e.g., walking for visually impaired individuals). In particular, this invention relates to power-saving measures for mobility assistive devices. Background Technology

[0002] As a mobile assistive device for assisting pedestrians (such as visually impaired people) in walking (assisting user movement), a mobile assistive device disclosed in Japanese Unexamined Patent Application Publication No. 2021-174467 (JP2021-174467A) is known. JP 2021-174467A discloses that information about the movement of nearby moving objects (vehicles, etc.) is received, and based on the received information, the mobile assistive device notifies the user (visually impaired person) who is acting without using vision. Specifically, the notification function for avoiding collisions with moving objects is as follows: Communicating with moving objects present around the mobile assistive device (white cane) held by the user to obtain the current position, direction of movement, and speed of the moving objects. Predicting the future trajectory of the moving objects and the future trajectory of the user. When the probability of a collision between the moving object and the user is equal to or higher than a predetermined value, notifying the user of the possibility of a collision with the moving object through voice or sound from the mobile assistive device or vibration of the mobile assistive device. Summary of the Invention

[0003] However, mobility assistance devices consume power uniformly to identify the surrounding environment, regardless of the magnitude of the surrounding risks to the user's movement (e.g., the approach of a vehicle). Therefore, power consumption is high, and the time elapsed before the battery's remaining power reserve is depleted is relatively short. When the battery's remaining power reserve is depleted, the mobility assistance device cannot perform the aforementioned operations (such as mobility assistance operations for notifying users to avoid collisions with moving objects).

[0004] By increasing the size of the battery to be installed, continuous operation for extended periods can be achieved. However, this increases the battery's size and weight, leading to a lack of practicality. Power saving and a smaller battery size can be achieved by having the user turn the mobile assistive device on and off as needed. However, the power-on / off operation is cumbersome, and the function fails when power-on is ignored. Therefore, the function cannot reliably operate at the appropriate times.

[0005] This invention provides mobile assistive devices and mobile assistive systems that enhance power saving and practicality.

[0006] The mobility assistance device according to a first aspect of the invention is a mobility assistance device to be disposed in a mobility assistance apparatus and configured to perform mobility assistance operations for assisting a user's mobility. The mobility assistance device includes a mode switching control unit configured to switch a power mode between a normal mode in which mobility assistance operations can be performed and a power-saving mode in which power consumption is lower than that in the normal mode, based on the magnitude of the surrounding risk for the user's mobility. The conditions for setting the power mode to the power-saving mode include a condition that the surrounding risk meets a predetermined low-risk condition.

[0007] The phrase “electricity consumption is less than the electricity consumption under normal conditions” can be a concept that includes cases where electricity consumption is zero.

[0008] When the surrounding risk to the user's movement is relatively high (the predetermined low-risk condition is not met), the mode switching control unit can set the power mode of the mobility assistance device to normal mode, thereby enabling mobility assistance operations to assist the user's movement. When the surrounding risk to the user's movement is relatively low and the predetermined low-risk condition is met, the power mode of the mobility assistance device can be set to power-saving mode, and the power consumption of the mobility assistance device can be zero, provided that predetermined conditions, including the condition that the surrounding risk meets the predetermined low-risk condition, are met (including the case where only the surrounding risk meets the predetermined low-risk condition). Alternatively, the power consumption of the mobility assistance device can be reduced. Therefore, the power mode can be set to normal mode as needed to enable mobility assistance operations, and when mobility assistance operations are not needed, the power mode can be set to power-saving mode to reduce the power consumption of the mobility assistance device. As a result, the function of the mobility assistance device (the function of performing mobility assistance operations at appropriate times) can continue to operate for a long period of time without the need for a large battery, thereby enhancing the power-saving practicality of the mobility assistance device.

[0009] The mobility assistance device according to a first aspect of the invention may further include a risk index acquisition unit configured to acquire a risk index related to the magnitude of the surrounding risk to the user's movement. When the risk index acquired by the risk index acquisition unit is equal to or less than a predetermined threshold, the surrounding risk may meet a predetermined low-risk condition.

[0010] When the risk index exceeds a predetermined threshold, it can be assumed that the surrounding risk for the user's movement is relatively high. Under this condition, the mode switching control unit can set the power mode of the mobility assistance device to normal mode, thereby enabling mobility assistance operations to assist the user's movement. When the risk index is equal to or less than the predetermined threshold, it can be assumed that the surrounding risk for the user's movement is relatively low. Under predetermined conditions, including the risk index being equal to or less than the predetermined threshold, the power mode of the mobility assistance device can be set to power-saving mode, and the power consumption of the mobility assistance device can be zero. Alternatively, the power consumption of the mobility assistance device can be reduced. Similarly, in this case, the power mode can be set to normal mode as needed to enable mobility assistance operations, and when mobility assistance operations are not required, the power mode can be set to power-saving mode to reduce the power consumption of the mobility assistance device. By switching the power mode based on a comparison between the risk index and the predetermined threshold, the conditions for switching the power mode can be easily set.

[0011] In a mobility assistance device according to a first aspect of the invention, the surrounding risk may be related to the proximity of one or more vehicles to the user. A risk index acquisition unit may include: one or more resonant devices configured to resonate with sound emitted by the one or more vehicles approaching the user; one or more power generation devices configured to generate electricity with the resonance of the one or more resonant devices; and one or more detection devices configured to detect physical quantities related to the power generation of the one or more power generation devices. The surrounding risk may meet a predetermined low-risk condition when each of the physical quantities detected by the one or more detection devices is equal to or less than a predetermined threshold. Each of the physical quantities may correspond to a risk index.

[0012] By utilizing the resonance of a resonant device with the sound emitted by a vehicle (including the sound produced when the vehicle is moving), the user can identify that a vehicle is approaching and that the surrounding risks to the user's movement are increasing. In other words, the resonant device can resonate with the sound emitted by a vehicle approaching the user, and the power generation device can generate electricity using vibration (resonance). When the detection device detects a physical quantity (current value, voltage value, etc.) related to power generation and the detected physical quantity is greater than a predetermined threshold, the mode switching control unit can set the power mode of the mobility assistance device to normal mode under the condition that the detected physical quantity is greater than the predetermined threshold, thereby enabling mobility assistance operations to assist the user's movement. That is, mobility assistance operations can be performed in conjunction with the approach of the vehicle to the user. When the physical quantity is equal to or less than the predetermined threshold (including the case where the physical quantity is zero), under predetermined conditions (including the condition that the physical quantity is equal to or less than the predetermined threshold), the power mode of the mobility assistance device can be set to power-saving mode, and the power consumption of the mobility assistance device can be zero. Alternatively, the power consumption of the mobility assistance device can be reduced. Since the surrounding risks to the user's movement can be identified by using the sound emitted by the vehicle, the surrounding risks can be identified without using electricity, which also helps to save power for the mobility assistance device.

[0013] In the mobility assistance device according to a first aspect of the invention, the sound emitted by the one or more vehicles may include at least one of an approach notification sound, an emergency vehicle siren sound, or a train running sound.

[0014] Each sound can be a sound within a predetermined frequency band. The resonance device can be configured to resonate with that sound (at least one of an approach notification sound, an emergency vehicle siren, and a train running). Therefore, resonance between the resonance device and sounds other than those emitted by the vehicle (ambient noise, etc.) can be suppressed, thereby accurately identifying surrounding risks (such as a vehicle approaching the user). As a result, the unnecessary termination of power-saving mode (even when the vehicle is not approaching the user, the power-saving mode terminates due to resonance with ambient noise, etc.) can be reduced.

[0015] In a mobility assistance device according to a first aspect of the invention, the resonant frequency of each of the one or more resonant devices may be set to a frequency higher than the frequency of a sound emitted by a corresponding vehicle of the one or more vehicles by an amount corresponding to a frequency shift caused by the Doppler effect when the corresponding vehicle of the one or more vehicles approaches the user.

[0016] According to this configuration, the resonant device can resonate with the sound from the vehicle (which is shifted to higher frequencies due to the Doppler effect) only when the vehicle is close to the user, and the power generation device can generate electricity. That is, when the vehicle is moving away from the user, the resonant device may not resonate with the sound from the vehicle, and the power generation device may not generate electricity. Therefore, when the vehicle is moving away from the user and the surrounding risks to the user's movement are low, the risk index can be equal to or less than a predetermined threshold, and the power mode can be set to power-saving mode. By setting the resonant frequency of the resonant device in consideration of the Doppler effect, the accuracy of identifying surrounding risks to the user's movement can be increased, and the occurrence of terminating the power-saving mode even when the vehicle is moving away from the user can be reduced, thereby further contributing to power saving of the mobility assistance device.

[0017] In a mobility assistance device according to a first aspect of the invention, the mobility assistance device may include a gripping portion to be grasped by a user. Multiple resonant devices may be arranged at multiple locations within the gripping portion, and the resonant frequencies of the resonant devices may be individually set based on the sound frequencies of vehicles emitting different frequencies of sound.

[0018] According to this configuration, the user can pre-know the location of the resonant device, the relationship between the sounds resonating with the resonant device (approach notification sounds, sirens, and driving sounds) and the types of vehicles emitting the sounds (pre-knowing the location of the resonant device resonating with the approach notification sound emitted by a vehicle (such as an electric vehicle), the location of the resonant device resonating with the sirens emitted by an emergency vehicle, and the location of the resonant device resonating with the sound of a train moving), thereby identifying the resonant device while gripping the gripping part of the mobility aid. Therefore, the user can know the type of vehicle approaching (the vehicle type associated with the resonant sound). That is, even if the user cannot see or hear the vehicle, they can still know the vehicle's proximity and type.

[0019] In a mobile assistive device according to a first aspect of the invention, the gripping portion of the mobile assistive device may include multiple contact areas contacted by the fingers of a user's hand. Resonance devices may be arranged at positions corresponding to different contact areas.

[0020] With this configuration, users can easily identify which resonant device is resonating by recognizing the vibration transmitted to their fingers through the vibration while gripping the gripping part of the mobility aid. Therefore, users can easily determine the type of vehicle approaching.

[0021] The mobility assistance device according to a first aspect of the invention may further include a plurality of switches arranged in association with the location of the resonant device and configured to be pressed by a user; and a notification device configured to receive a pressing signal from at least one switch pressed by the user, identify the one or more vehicles approaching the user based on the at least one switch that has issued the pressing signal, and perform a user presence notification operation on the one or more vehicles.

[0022] According to this configuration, when a user, who has identified a vehicle approaching them through the resonance of any of the resonance devices, becomes unable to recognize the vehicle for some reason, they can press any switch associated with the location of the resonating device. At this time, a press signal can be output from the switch, and the notification device can receive the press signal. In this situation, the switch that has already output a press signal can be identified, thus allowing the user to distinguish the vehicle they cannot recognize. The notification device can perform a user presence notification operation (a notification operation to inform the vehicle of the user's presence). Therefore, the driver of the approaching vehicle can become aware of the user's presence. Thus, it can be expected that the driver will consider the user's presence when performing driving operations. As a result, contact between the user and the vehicle can be avoided.

[0023] In a mobility assistance device according to a first aspect of the invention, the magnitude of the surrounding risks to a user's movement can be associated with a level of urgency based on the physical time elapsed before the user faces danger during their movement. For example, the danger faced by the user might be approaching a vehicle.

[0024] According to this configuration, when the urgency level is low and the surrounding risk meets the low-risk condition, the power mode of the mobility assistance device can be set to power-saving mode. When the urgency level increases and the surrounding risk does not meet the low-risk condition, the power mode of the mobility assistance device can be set to normal mode, and mobility assistance operations can be performed. Similarly, in this case, the power mode can be set to normal mode as needed to perform mobility assistance operations, and when mobility assistance operations are not needed, the power mode can be set to power-saving mode to reduce the power consumption of the mobility assistance device.

[0025] In a mobile assistance device according to a first aspect of the invention, the urgency level can be the degree to which a baseline urgency level, associated with the physical time elapsed before the user faces danger during the user's movement, is corrected based on at least one of the urgency level correction parameters among the urgency level correction parameters during the user's movement.

[0026] Based on this configuration, the level of urgency can be appropriately determined according to various circumstances during the user's movement (such as the user's status and surrounding environment). Therefore, the mobility assistance provided to the user can be optimized.

[0027] In a mobility assistance device according to a first aspect of the invention, the urgency correction parameter may include at least one of the following: the agility of the user's avoidance action in response to an event in which the user faces danger during user movement; the ease of the user's avoidance action in response to an event in which the user faces danger during user movement, depending on the surrounding environment; or the type of danger during user movement.

[0028] Even if the physical time elapsed before a user faces a risk of movement (the physical time elapsed to determine the baseline urgency level) is the same, a user who is less agile in avoiding the event is more likely to face risk than a user who is more agile in avoiding it. Therefore, in the case of a user who is less agile in avoiding it, the urgency level can be considered high even if the physical time elapsed is the same. In an environment where it is difficult to take avoidance action against an event that poses a risk to the user, the user is more likely to face risk than in an environment where it is easy to take avoidance action. Therefore, similarly, in an environment where it is difficult to take avoidance action, the urgency level can be considered high. Depending on the type of risk the user faces, the area that is not allowed to approach varies. For example, if the user is approaching a person, it is assumed that the area that is not allowed to approach is wider than if the user is approaching an object. That is, if the risk the user faces is an object, only the physical time elapsed before the user faces the risk needs to be considered. If the risk the user faces is a person, in addition to the physical time elapsed before the user faces the risk, the time margin for ensuring psychological personal space (psychological time margin) also needs to be considered. Therefore, in this case, the urgency level can also be considered high.

[0029] In view of the above, in the mobility assistance device according to the first aspect of the invention, the urgency level can be determined based on at least one of the following: the agility of the user's avoidance action in response to an event in which the user faces a risk while moving; the ease with which the user's avoidance action in response to an event in which the user faces a risk while moving, depending on the surrounding environment; and the urgency level of the risk type during movement (the urgency level associated with the physical time elapsed before the user faces the risk). Therefore, the timing of switching the power mode of the mobility assistance device between a normal mode and a power-saving mode can be further optimized.

[0030] In a mobile assistive device according to a first aspect of the invention, the magnitude of the surrounding risks during user movement can be associated with a degree of importance, which is the extent to which the user faces dangerous events during their movement.

[0031] According to this configuration, when the importance level is low and the surrounding risk meets the predetermined low-risk condition, the power mode of the mobility assistance device can be set to power-saving mode. When the importance level is high and the surrounding risk does not meet the predetermined low-risk condition, the power mode of the mobility assistance device can be set to normal mode, and mobility assistance operations can be performed. In this case, the power mode can also be set to normal mode as needed to perform mobility assistance operations, and when mobility assistance operations are not required, the power mode can be set to power-saving mode to reduce the power consumption of the mobility assistance device.

[0032] In a mobile assistive device according to a first aspect of the present invention, it can be determined whether the surrounding risk meets a predetermined low-risk condition based on at least one of user surrounding information acquired by an information acquisition device provided in the mobile assistive device, information received by the mobile assistive device from an external device, or location information of the mobile assistive device.

[0033] Based on this configuration, the magnitude of the surrounding risks to the user's movement can be appropriately determined. Therefore, the timing for switching the power mode of the mobility aid between normal mode and power-saving mode can be optimized.

[0034] In a mobile assistance device according to a first aspect of the invention, a mode switching control unit may be configured to switch the power mode from a power-saving mode to a normal mode when the surrounding risk changes from a state where the surrounding risk meets a predetermined low-risk condition to a state where the surrounding risk meets a predetermined high-risk condition.

[0035] In a mobile assistance device according to a first aspect of the invention, a mode switching control unit may be configured to switch the power mode from a power-saving mode to a normal mode when the state changes from a state where the risk index obtained by the risk index acquisition unit is equal to or less than a predetermined threshold to a state where the risk index is greater than the predetermined threshold.

[0036] By optimizing the timing of switching the power mode from power-saving mode to normal mode, the startup time of mobile assistance operations can be optimized, and the usability of mobile assistance devices, including mobile assistance equipment, can be enhanced.

[0037] In a mobile assistive device according to a first aspect of the invention, the mobile assistive device can be in a sleep state in a power-saving mode, in which power is stopped from being supplied to the devices built into the mobile assistive device.

[0038] According to this configuration, when the mobile assistive device is in power-saving mode (sleep mode), the device's power consumption can be reduced to zero. Therefore, significant power savings can be achieved.

[0039] The mobility assistance device according to a first aspect of the invention may further include a storage unit configured to store information about situations requiring mobility assistance operations. A mode switching control unit may be configured to switch the power mode to a normal mode when a mobile user is in a situation requiring mobility assistance operations stored in the storage unit.

[0040] In this configuration, the magnitude of the surrounding risk in relation to the user's current movement state can be determined based on information stored in the storage unit. This allows for the determination of the magnitude of the surrounding risk regarding the user's movement without requiring information from devices used to acquire information about the user's surroundings (such as cameras).

[0041] In a mobility assistance device according to a first aspect of the invention, a mode switching control unit may be configured to switch power modes by examining information related to the current area around the user based on a training model generated according to information stored in a storage unit regarding situations requiring mobility assistance operations.

[0042] Therefore, the power mode switched by the mode switching control unit can be optimized.

[0043] In a mobile assistive device according to a first aspect of the invention, the mobile assistive device can be grasped or carried by a user.

[0044] Examples of objects grasped or carried by a user may include a white cane grasped by a visually impaired person, and the gripping portion of a personal mobility device used by the elderly or other similar individuals. By applying the present invention to these mobility assistance devices, a state can be maintained for extended periods in which appropriate mobility assistance operations (mobility assistance operations at appropriate times) can be performed using these devices.

[0045] A mobility assistance system according to a second aspect of the present invention includes: a mobility assistance device disposed in a mobility assistance apparatus and configured to perform mobility assistance operations for assisting a user's mobility and to switch a power mode between a normal mode in which the mobility assistance operations can be performed and a power-saving mode in which power consumption is less than that in the normal mode; a communication unit disposed in a system management server, the system management server being configured to send information to and receive information from the mobility assistance device, the communication unit being configured to send a switching command message for the power-saving mode to the mobility assistance device upon satisfying predetermined conditions, the predetermined conditions including a condition that the surrounding risk meets a predetermined low-risk condition; and a mode switching control unit disposed in the mobility assistance device and configured to switch the power mode to the power-saving mode upon receiving the switching command message from the communication unit.

[0046] When the surrounding risks to a user's movement are relatively high, the mode switching control unit of the mobility assistance device can set the power mode to normal mode under this condition, thereby enabling mobility assistance operation to assist the user's movement. When the surrounding risks to a user's movement are relatively low and a predetermined low-risk condition is met, a switching command message for a power-saving mode can be sent from the communication unit of the system management server to the mobility assistance device, provided that the predetermined conditions are met (including the condition that the surrounding risks meet the predetermined low-risk condition). In the mobility assistance device that has received the switching command message, the mode switching control unit can set the power mode to a power-saving mode, and the power consumed by the mobility assistance device can be reduced to zero. Alternatively, the power consumption of the mobility assistance device can be reduced. Therefore, in the mobility assistance system according to the second aspect of the invention, the power mode can be set to normal mode as needed to enable mobility assistance operation, and when mobility assistance operation is not required, the power mode can be set to power-saving mode to reduce the power consumption of the mobility assistance device.

[0047] In this invention, the power mode is switched based on the magnitude of the surrounding risk associated with the user's movement. The condition for setting the power mode to a power-saving mode may include the condition that the surrounding risk meets a predetermined low-risk condition. Therefore, the power mode can be set to a normal mode as needed, allowing for mobility assistance operations, and can be set to a power-saving mode when mobility assistance operations are not required, thereby reducing the power consumption of the mobility assistance device. As a result, the functionality of the mobility assistance device (the function of performing mobility assistance operations at appropriate times) can continue for extended periods without requiring a large battery, thus enhancing the power-saving practicality of the mobility assistance device. Attached Figure Description

[0048] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same symbols denote the same elements.

[0049] Figure 1 This is a diagram showing a white cane including a mobility aid device according to the first embodiment;

[0050] Figure 2 This is a schematic diagram showing the interior of the gripping portion of the white cane in the first embodiment;

[0051] Figure 3 This is a block diagram illustrating a schematic configuration of the control system of the mobile assistance device according to the first embodiment;

[0052] Figure 4 This is a schematic diagram showing a schematic configuration of the activation unit disposed in the mobile assistance device according to the first embodiment;

[0053] Figure 5 This is a diagram illustrating the operation of the mobile assistive device during user movement in the first embodiment;

[0054] Figure 6 This is a schematic diagram showing a schematic configuration of the activation unit disposed in the mobile assistance device according to the second embodiment;

[0055] Figure 7 This is a diagram showing the state in which a user grips a white cane according to a third embodiment;

[0056] Figure 8 This is a cross-sectional view showing a portion of the periphery of the gripping part of the white cane according to the fourth embodiment;

[0057] Figure 9 This is a block diagram illustrating a schematic configuration of the control system of the mobile assistance device according to the fourth embodiment;

[0058] Figure 10 This is a flowchart illustrating the procedure for mobile assistance operation in the fourth embodiment;

[0059] Figure 11 This is a diagram illustrating the communication status between the white cane and the vehicle according to the fifth embodiment;

[0060] Figure 12 This is a block diagram illustrating a schematic configuration of the control system of the mobility assistance device and the control system of the vehicle according to the fifth embodiment;

[0061] Figure 13 This is a block diagram illustrating a schematic configuration of the control system of the mobile assistance device according to the sixth embodiment;

[0062] Figure 14 This is a diagram showing the information attribute table;

[0063] Figure 15 It is a diagram showing the relationship between urgency and importance, sense of urgency and importance, and information attribute areas;

[0064] Figure 16 It is a diagram showing the mapping for determining vibration characteristics;

[0065] Figure 17A This is a waveform diagram illustrating an example of the vibration pattern assigned to an information attribute;

[0066] Figure 17B This is a waveform diagram illustrating an example of the vibration pattern assigned to an information attribute;

[0067] Figure 18 This is a block diagram illustrating a schematic configuration of the control system of the mobility assistance system according to the seventh embodiment; and

[0068] Figure 19 This is a diagram showing the state of a user gripping the gripping portion of a personal mobile device according to the eighth embodiment. Detailed Implementation

[0069] In the following description, embodiments of the invention will be illustrated with reference to the accompanying drawings.

[0070] First Embodiment

[0071] First, a first embodiment will be described. In this embodiment, the mobile assistive device according to the present invention will be described as being built into a white cane (mobility assistive device) used by a visually impaired person. Hereinafter, a visually impaired person may be simply referred to as a "user". The user in this invention is not limited to visually impaired persons.

[0072] Indicative configuration of the white cane

[0073] Figure 1 This is a schematic diagram of a white cane 1 including a mobility aid 10 according to this embodiment. Figure 1 As shown, the white cane 1 includes a shaft portion 2, a grip portion (the part to be gripped) 3, and an end portion (base) 4.

[0074] The shaft portion 2 has a hollow rod shape with a substantially circular cross-section and is made of aluminum alloy, glass fiber reinforced resin, carbon fiber reinforced resin, etc.

[0075] The grip portion 3 is located at the proximal end (upper end) of the shaft portion 2 and is formed by attaching a cap 31 made of an elastomer (such as rubber). Considering the ease of gripping and anti-slip properties when the user grips this grip portion 3, the grip portion 3 of the white cane 1 in this embodiment is located on the end side (…). Figure 1 The upper side of the gripping part 3 is slightly curved. The configuration of the gripping part 3 is not limited to this configuration.

[0076] The end portion 4 is a generally bottomed tubular member made of rigid synthetic resin or similar material, and is externally fitted to the end of the shaft portion 2 and secured by adhesive or threaded connection. The end portion 4 has a hemispherical end face on the end side.

[0077] According to this embodiment, the white cane 1 is a straight cane that cannot be folded. However, the white cane 1 may be foldable or extendable and retractable at one or more points in the middle of the shaft portion 2.

[0078] Configuration of mobile assistive devices

[0079] The following describes the mobile assistive device 10 according to the present invention.

[0080] Figure 2 This is a schematic diagram showing the interior of the gripping part 3 of the white cane 1. (See diagram below.) Figure 2 As shown, the mobile assistive device 10 according to this embodiment is built into the white cane 1. Figure 3 This is a block diagram illustrating a schematic configuration of the control system of the mobility assistance device 10.

[0081] like Figure 2 and Figure 3 As shown, the mobile auxiliary device 10 includes a camera 20, a short-range wireless communication device 30, a main battery 40, a charging socket 50, a start-up unit 60, a control device 70, etc.

[0082] The camera 20 is embedded in the front surface (the surface oriented in the user's walking direction) of the gripping portion 3 at its base, and captures images of the area in front of the user's walking direction (the area in front of the user's walking direction) with a wide angle. For example, the camera 20 includes a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS). The configuration and arrangement of the camera 20 are not limited to those described above, and for example, the camera 20 may be embedded in the front surface (the surface oriented in the user's walking direction) of the shaft portion 2.

[0083] The short-range wireless communication device 30 is a wireless communication device for performing short-range wireless communication between the camera 20 and the control device 70. For example, short-range wireless communication is performed between the camera 20 and the control device 70 by a known communication means such as Bluetooth (registered trademark), and information about the images captured by the camera 20 is wirelessly transmitted to the control device 70.

[0084] The main battery 40 is a secondary battery that stores power for the camera 20, the short-range wireless communication device 30, and the control device 70.

[0085] The charging socket 50 is the part that connects the charging cable when storing power in the main battery 40. For example, the charging cable is connected when a user charges the main battery 40 from a household power source.

[0086] The activation unit 60 functions as a switch for activating the mobile assistive device 10 and is positioned above the camera 20 at the base of the grip portion 3.

[0087] Figure 4 This is a schematic diagram showing the exemplary configuration of the startup unit 60. (As shown) Figure 4 As shown, the starting unit 60 generates electricity through electromagnetic induction and includes a secondary battery 62, a power generation unit 63, and a current sensor 64 within the housing 61. The power generation unit 63 includes a magnet 63a, a coil spring 63b, and an electromagnetic coil 63c.

[0088] Specifically, the auxiliary battery 62 is a secondary battery that stores the electricity generated by the power generation unit 63. The auxiliary battery 62 is supported on the housing 61 by connecting shafts 62a and 62a.

[0089] As one configuration of the power generation unit 63, a magnet 63a is attached to the lower end of a coil spring 63b, which is attached to the lower surface of the sub-battery 62. An electromagnetic coil 63c is arranged on the outer periphery of the magnet 63a. The electromagnetic coil 63c is connected to the positive and negative terminals (not shown) of the sub-battery 62. Therefore, when the magnet 63a reciprocates in the vertical direction (the extension direction of the gripping portion 3) as the coil spring 63b extends and retracts, an induced current is generated through electromagnetic induction as the magnetic field in the electromagnetic coil 63c changes, and the sub-battery 62 is charged by this induced current. In this embodiment, the sub-battery 62 is charged with electricity generated by electromagnetic induction, but if the sub-battery 62 is not provided, the electromagnetic coil 63c can be connected to the positive and negative terminals of the main battery 40, and the main battery 40 can be charged with electricity generated by electromagnetic induction.

[0090] In this embodiment, the resonant frequency (natural frequency) of the spring-mass system, consisting of magnet 63a and coil spring 63b, is substantially equal to the frequency of the vehicle's approach warning sound. The approach warning sound is emitted from a speaker mounted on the vehicle towards the area in front of the vehicle (e.g., an electric vehicle or a fuel cell electric vehicle) to notify pedestrians or others of the vehicle's approach. The approach warning sound is a sound within a predetermined frequency band. Therefore, when the vehicle emitting the approach warning sound is near a user holding the white cane 1 (e.g., the vehicle emitting the approach warning sound is approaching the user holding the white cane 1), the spring-mass system resonates with the approach warning sound, and magnet 63a reciprocates vertically as coil spring 63b extends and contracts to generate electricity through electromagnetic induction.

[0091] More specifically, when a vehicle emitting a proximity notification sound approaches a user holding the white cane 1, due to the Doppler effect, the proximity notification sound reaches the white cane 1 at a frequency slightly higher than the actual proximity notification sound. Therefore, taking into account the Doppler effect, the resonant frequency of the spring-mass system, consisting of magnet 63a and coil spring 63b, is set to a frequency slightly higher than the actual proximity notification sound (the sound emitted from the speaker) (a frequency higher than the frequency offset corresponding to the Doppler effect). Thus, when the vehicle emitting the proximity notification sound is approaching the user holding the white cane 1, the spring-mass system resonates with the proximity notification sound to generate electricity through electromagnetic induction. When the vehicle emitting the proximity notification sound is near the user but moving away from the user, the spring-mass system does not resonate with the proximity notification sound and does not generate electricity through electromagnetic induction. The resonant frequency value of the spring-mass system is appropriately set through experiments or simulations (taking into account the average vehicle speed and the frequency offset due to the Doppler effect associated with the average vehicle speed), and this resonant frequency value is set to be slightly higher than the actual proximity notification sound frequency.

[0092] When the spring-mass system resonates with the proximity warning sound, vibration is generated as the magnet 63a reciprocates vertically. This vibration is transmitted to the gripping portion 3 via the housing 61. Therefore, the vibration is transmitted to the hand of the user gripping the gripping portion 3 of the white cane 1. This can notify the user of the approach of a vehicle (the vehicle emitting the proximity warning sound). In other words, a warning can be given to the user.

[0093] With this configuration, the resonance device according to the invention (a resonance device configured to resonate with the sound emitted by a vehicle near the user) is composed of a magnet 63a and a coil spring 63b, and the power generation device according to the invention (a power generation device configured to generate electricity with the resonance of the resonance device) is composed of a magnet 63a and an electromagnetic coil 63c (the magnet 63a is a component of the resonance device and also a component of the power generation device).

[0094] A current sensor (detection device according to the invention) 64 is arranged on a wire connected to an electromagnetic coil 63c. When electricity is generated by electromagnetic induction, the current sensor 64 detects the current value of the electricity (a physical quantity related to power generation). Information about the detected current value is transmitted from the current sensor 64 to a control device 70. The current sensor 64 can be any of known resistance sensors and magnetic field sensors. Information about the current value can be transmitted from the current sensor 64 to the control device 70 via wired or wireless means (e.g., using a short-range wireless communication device 30). When transmitting the current value information wirelessly, for example, electricity generated by electromagnetic induction or electricity stored in a secondary battery 62 can be used.

[0095] For example, the control device 70 includes a processor (such as a central processing unit (CPU)), a read-only memory (ROM) for storing control programs, a random access memory (RAM) for temporarily storing data, and input / output ports.

[0096] The control device 70 includes an information receiving unit 71, a mode switching control unit 72, and an information sending unit 73, which are functional units implemented by the control program. The functional overview of these units will be described below.

[0097] In the normal power mode, the information receiving unit 71 receives information about the images captured by the camera 20 from the camera 20 via the short-range wireless communication device 30 at predetermined time intervals. When power is generated by electromagnetic induction, the information receiving unit 71 receives information about the current value (information about the current value detected by the current sensor 64) from the current sensor 64.

[0098] The mode switching control unit 72 generates switching command information for switching the power mode of the mobility assistance device 10 based on the current value information received by the information receiving unit 71. Specifically, the power switch PS is located between the main battery 40 and the circuit EC for performing mobility assistance operations through the mobility assistance device 10, and the mode switching control unit 72 generates switching command information for turning the power switch PS on and off.

[0099] Specifically, when the current value included in the information from the current sensor 64 is greater than a predetermined threshold (this situation can be considered an example of a state where the surrounding risk according to the invention meets a predetermined high-risk condition), the mode switching control unit 72 generates a switching command message (on command message) for turning on the power switch PS. When the current value included in the information from the current sensor 64 is equal to or less than the predetermined threshold (this situation can be considered an example of a state where the surrounding risk according to the invention meets a predetermined low-risk condition), the mode switching control unit 72 generates a switching command message (off command message) for turning off the power switch PS. The switching command message generated by the mode switching control unit 72 is sent from the information sending unit 73 to the power switch PS. That is, in this disclosure, for example, the mode switching control unit determines whether the surrounding risk meets the predetermined low-risk condition. The components used to determine whether the surrounding risk meets the predetermined low-risk condition are not limited to the mode switching control unit. The predetermined threshold is determined in advance through experimentation or simulation.

[0100] When the power-on command is sent to the power switch PS, the power switch PS is turned on and the power mode of the mobile assistance device 10 is set to normal mode, where power is supplied from the main battery 40 to the circuit EC. In normal mode, the camera 20 is activated (the start of image capture) and the short-range wireless communication device 30 is activated (the transmission of information about the image captured by the camera 20 to the control device 70 is performed), and mobile assistance operations can be performed through the operation of the mobile assistance device 10.

[0101] When a disconnect command is sent to power switch PS while it is on, power switch PS disconnects and the power mode of mobile auxiliary device 10 is set to power saving mode, in which power is not supplied from main battery 40 to circuit EC (power saving mode, where power consumption is less than in normal mode), thereby stopping the operation of mobile auxiliary device 10. That is, mobile assistance operations cannot be performed by operating mobile auxiliary device 10.

[0102] Because of this power mode switching operation, the current value detected by the current sensor 64 corresponds to an example of the risk index according to the invention (a risk index related to the surrounding risks associated with the user's movement; a physical quantity detected by the detection device), and the activation unit 60 corresponds to an example of the risk index acquisition unit according to the invention (a risk index acquisition unit configured to acquire a risk index related to the surrounding risks associated with the user's movement). According to the invention, the state including a current value equal to or less than a predetermined threshold in the information from the current sensor 64 corresponds to an example of the state where "the surrounding risks meet a predetermined low-risk condition" and the state where "the risk index acquired by the risk index acquisition unit is equal to or less than a predetermined threshold".

[0103] Operation of mobile assistive devices

[0104] Next, the operation of the mobile assistance device 10 configured as described above will be described. Figure 5 This is a diagram illustrating the operation of the mobile assistance device 10 during user U's movement. Figure 5 This illustrates a scenario where a vehicle V traveling on the road approaches a user U (a visually impaired person holding a white cane 1) while the user U is moving across the road on a sidewalk, simultaneously issuing an approach warning sound. The user U approaches the road in the sequence of positions I, II, and III while moving.

[0105] When user U is moving at position I, the approach notification sound of vehicle V does not reach cane 1. Therefore, the spring-mass system (consisting of magnet 63a and coil spring 63b) does not resonate with the approach notification sound, and the power generation unit 63 does not generate electricity.

[0106] When user U arrives at position II, the approach notification sound of vehicle V reaches the white cane 1. The spring-mass system resonates with the approach notification sound, and the power generation unit 63 begins to generate electricity. When the current value detected by current sensor 64 exceeds a predetermined threshold due to power generation, the mode switching control unit 72 generates an activation command message based on information about the current value received from current sensor 64. The activation command message is sent from information transmission unit 73 to power switch PS, power switch PS is activated, and the power mode of mobility assistance device 10 is set to the normal mode of supplying power from main battery 40 to circuit EC. That is, camera 20 and short-range wireless communication device 30 are activated by the power supply from main battery 40. Therefore, it can be determined whether mobility assistance operation is needed based on information about the surrounding image captured by camera 20, and mobility assistance operation can be performed as needed. That is, the system enters a standby state before performing mobility assistance operation. As described above, the vibration generated by the resonance of the spring-mass system with the approach notification sound is transmitted to the gripping part 3, and also to the hand of user U gripping the gripping part 3 of white cane 1. Therefore, user U is notified of the approach of vehicle V (the vehicle that issued the approach notification sound), thus giving user U a warning. At location II, vehicle V is not present in the image captured by camera 20. It is determined that no mobility assistance operation is required, and no mobility assistance operation (e.g., issuing an alert to user U via voice or sound) has been initiated.

[0107] When user U arrives at location III, vehicle V is present in the image captured by camera 20. It is determined that user U's mobility assistance operation is necessary, and user U is notified of a warning (an alert for vehicle approach). For example, a voice or sound notification (e.g., notification of vehicle approach or the direction in which the vehicle is approaching) is given from a speaker (not shown) mounted on the white cane 1. The white cane 1 may include a separate vibration generator (a vibration generator configured to vibrate in a different manner than the vibration generated by the resonance of the spring-mass system), and the user U can be notified of the warning by the vibration of the vibration generator. Upon recognizing the warning given by the mobility assistance operation, user U stops moving (walking) and waits for vehicle V to pass.

[0108] When vehicle V has passed in front of user U, the approach warning sound to the white cane 1 becomes a sound that does not resonate with the spring-mass system (a sound with a frequency that is reduced by an amount corresponding to the frequency shift caused by the Doppler effect), or the approach warning sound of vehicle V no longer reaches the white cane 1. Therefore, the spring-mass system does not resonate, and the power generation unit 63 stops generating electricity. Consequently, the current value detected by current sensor 64 is equal to or less than a predetermined threshold, and the mode switching control unit 72 generates a disconnect command message based on information about the current value received from current sensor 64. The disconnect command message is sent from information sending unit 73 to power switch PS, power switch PS is disconnected, and the power mode of mobility aid 10 switches from normal mode to power saving mode to stop supplying power from main battery 40 to circuit EC.

[0109] Figure 5 Position IV in the diagram represents the position where user U has crossed the pedestrian crossing after vehicle V has passed, and the power-saving mode is maintained unless vehicle V, which emits an approach warning sound, approaches user U.

[0110] This operation is repeated whenever a vehicle V, which emits an approach notification sound, approaches user U while user U is moving.

[0111] Effects of the Implementation Examples

[0112] In this embodiment described above, when vehicle V approaches user U (where the surrounding risk is relatively high), the mode switching control unit 72 sets the power mode of the mobility assistance device 10 to the normal mode under this condition, thereby enabling mobility assistance operations to assist user U in movement (walking). When vehicle V does not approach user U (where the surrounding risk is relatively low), the mode switching control unit 72 sets the power mode of the mobility assistance device 10 to the power saving mode under this condition. Therefore, the power consumption of the mobility assistance device 10 is zero. Alternatively, the power consumption of the mobility assistance device 10 is reduced. That is, the mode switching control unit switches the power mode between the normal mode, in which mobility assistance operations can be performed, and the power saving mode, in which power consumption is less than that of the normal mode, based on the magnitude of the surrounding risk for the user's movement. Therefore, the power mode is set to the normal mode as needed to enable mobility assistance operations, and the power mode is set to the power saving mode when mobility assistance operations are not needed, thereby reducing the power consumption of the mobility assistance device 10. As a result, the functions of the mobile assistance device 10 (the function of performing mobile assistance operations at appropriate times) can continue to function for a long period of time without the need to install a large main battery, thereby improving the power-saving practicality of the mobile assistance device 10.

[0113] In this embodiment, the surrounding risks to user U's movement can be identified using an approach notification sound emitted by vehicle V. Therefore, surrounding risks can be identified without using electricity, thus contributing to power saving for the mobility assistance device 10.

[0114] The proximity notification sound is a sound within a predetermined frequency band, and the spring-mass system (resonance device) resonates with this proximity notification sound. Therefore, the resonance of the spring-mass system with sounds other than those emitted by vehicle V (such as ambient noise) can be suppressed, and ambient risks (such as vehicle V approaching user U) can be accurately identified. As a result, the unnecessary termination of power-saving mode (because even if vehicle V is not approaching user U, the spring-mass system resonates with ambient noise, etc., thus terminating power-saving mode) can be reduced.

[0115] Specifically, in this embodiment, the resonant frequency of the spring-mass system is set to be higher than the frequency of the proximity notification sound emitted by the vehicle V by an amount corresponding to the frequency shift caused by the Doppler effect when the vehicle V approaches the user U. Therefore, the spring-mass system resonates with the proximity notification sound only when the vehicle V approaches the user U, and the power generation unit 63 generates electricity. That is, when the vehicle V is moving away from the user U, the spring-mass system does not resonate with the proximity notification sound emitted by the vehicle V, and the power generation unit 63 does not generate electricity. Therefore, the accuracy of identifying surrounding risks of the user U's movement can be improved, and the occurrence of power-saving mode termination even when the vehicle V is moving away from the user U can be reduced, thereby further contributing to power saving of the mobility assistance device 10.

[0116] In this embodiment, the spring-mass system resonates with the proximity warning sound emitted by the vehicle V, and the vibration is transmitted to the user U's hand, thereby giving the user U a warning. Even if the user (visually impaired person) U cannot hear the proximity warning sound emitted by the vehicle V (the proximity warning sound disappears into the surrounding noise), the user U can still recognize the approach of the vehicle V.

[0117] Second Embodiment

[0118] Next, a second embodiment will be described. This embodiment differs from the previous embodiment in the configuration of the startup unit 60. Other configurations and operations are the same as in the previous embodiments; therefore, only the configuration of the startup unit 60 will be described.

[0119] Figure 6 This is a schematic diagram showing the exemplary configuration of the activation unit 60 disposed in the mobile assistance device 10 according to this embodiment. Figure 6As shown, the starting unit 60 according to this embodiment includes support plates 61a and 61b, which are positioned within the housing 61 at a predetermined distance from each other. The support plates 61a and 61b are fixed to the inner wall of the housing 61.

[0120] A secondary battery 62 is disposed between support plates 61a and 61b, and piezoelectric elements 65a and 65b are disposed between the upper surface of the secondary battery 62 and the upper support plate 61a, and between the lower surface of the secondary battery 62 and the lower support plate 61b, respectively. Specifically, the upper surface of the upper piezoelectric element 65a is connected to the upper support plate 61a, and the lower surface of the upper piezoelectric element 65a is connected to the upper surface of the secondary battery 62. Similarly, the upper surface of the lower piezoelectric element 65b is connected to the lower surface of the secondary battery 62, and the lower surface of the lower piezoelectric element 65b is connected to the lower support plate 61b. Electric field lines (not shown) of piezoelectric elements 65a and 65b are connected to the positive and negative terminals (not shown) of the secondary battery 62. A current sensor (not shown) is disposed on the electric field lines, and information regarding the detected current value is transmitted from the current sensor to the control device 70 (see [link to control device]). Figure 3 ).

[0121] In this embodiment, the resonant frequency (natural frequency) of the spring-mass system consisting of the secondary battery 62 and piezoelectric elements 65a and 65b is substantially equal to the frequency of the vehicle's approach warning sound. More specifically, taking into account the Doppler effect, the resonant frequency is set to be slightly higher than the frequency of the actual approach warning sound (the sound emitted from the speaker) (a frequency higher than the amount corresponding to the frequency shift caused by the Doppler effect).

[0122] Therefore, when the vehicle emitting the proximity warning sound is near the user holding the white cane 1 (e.g., the vehicle emitting the proximity warning sound is approaching the user holding the white cane 1), the spring-mass system resonates with the proximity warning sound, and pressure is periodically applied from the secondary battery 62 to the piezoelectric elements 65a and 65b to generate electricity through the piezoelectric effect. The secondary battery 62 is charged with the generated electricity.

[0123] With this configuration, the resonant device according to the invention consists of a secondary battery 62 and piezoelectric elements 65a and 65b, and the power generation device according to the invention consists of piezoelectric elements 65a and 65b.

[0124] Similar to the embodiments described above, when electricity is generated by the resonance of the spring-mass system with the vehicle's approach warning sound, current flows through the power lines of piezoelectric elements 65a and 65b connected to the positive and negative terminals (not shown) of the auxiliary battery 62. A current sensor mounted on the power lines detects the current value, and information about the detected current value is sent from the current sensor to the control device 70 (see [link to previous embodiment]). Figure 3When the current value exceeds a predetermined threshold, the mode switching control unit 72 generates an activation command based on information about the current value received from the current sensor. The activation command is sent from the information sending unit 73 to the power switch PS, which is then activated, and the power mode of the mobility assistance device 10 is set to normal mode. When the spring-mass system does not resonate with the vehicle's approach warning sound and does not generate power, the power switch PS is deactivated, and the power mode of the mobility assistance device 10 is set to power-saving mode.

[0125] Similarly, in this embodiment, the same effect as in the above embodiments can be achieved. That is, the power mode is set to normal mode as needed to enable mobility assistance operations, and when mobility assistance operations are not needed, the power mode is set to power-saving mode, thereby reducing the power consumption of the mobility assistance device 10. As a result, the function of the mobility assistance device 10 (the function of performing mobility assistance operations at appropriate times) can continue to operate for a long period of time without the need for a large main battery, thereby improving the power-saving practicality of the mobility assistance device 10.

[0126] In this embodiment, the spring-mass system is configured using a secondary battery 62. Therefore, the number of components in the starting unit 60 can be reduced.

[0127] Third Embodiment

[0128] Next, a third embodiment will be described. In this embodiment, a plurality of activation units 60 are arranged within the grip portion 3 of the white cane 1. In this embodiment, the activation unit 60 described in the first embodiment (see [link to first embodiment]) will be described. Figure 4 This applies to each of the multiple startup units 60.

[0129] Figure 7 This is a diagram illustrating the state in which a user grips the white cane 1 according to this embodiment. Figure 7 In the diagram, the white cane 1 is represented by a dashed line, and the user's hand H (the hand gripping the gripping part 3) is represented by a long dash followed by two short dashes.

[0130] The activation units 60A, 60B, and 60C are: a first activation unit 60A located at a position corresponding to the index finger F1 of the user's hand H that grips the gripping part 3 (corresponding to the contact area where the index finger F1 contacts the surface of the gripping part 3); a second activation unit 60B located at a position corresponding to the middle finger F2 of the user's hand (corresponding to the contact area where the middle finger F2 contacts the surface of the gripping part 3); and a third activation unit 60C located at a position corresponding to the ring finger F3 of the user's hand (corresponding to the contact area where the ring finger F3 contacts the surface of the gripping part 3). The activation units 60A, 60B, and 60C include a current sensor 64 (see...). Figure 4 Furthermore, multiple pieces of information regarding the current value are transmitted from the current sensors 64 of the starting units 60A, 60B, and 60C, which have already generated electricity with resonance, to the control device 70. According to the invention, when multiple current sensors 64 are provided, the state in which the current value is equal to or less than a predetermined threshold, included in the information from each current sensor 64, corresponds to an example of a state where "the surrounding risk meets a predetermined low-risk condition" and an example of a state where "the risk index obtained by the risk index acquisition unit is equal to or less than a predetermined threshold."

[0131] The spring-mass system consists of magnet 63a and coil spring 63b of starting units 60A, 60B and 60C (see...) Figure 4 The resonant frequencies (natural frequencies) of the spring-mass systems of the first starting unit 60A and 60C are different from each other. For example, the resonant frequency of the spring-mass system of the first starting unit 60A is essentially equal to the frequency of the vehicle's approach warning sound (more specifically, considering the Doppler effect, this frequency is slightly higher than the actual approach warning sound frequency). The resonant frequency of the spring-mass system of the second starting unit 60B is essentially equal to the frequency of the siren sound of an emergency vehicle (e.g., an ambulance) (e.g., 960Hz or 770Hz; more specifically, considering the Doppler effect, this frequency is slightly higher than the actual siren sound frequency). The resonant frequency of the spring-mass system of the third starting unit 60C is essentially equal to the frequency of the sound of a train traveling. That is, the resonant frequencies of the spring-mass systems of starting units 60A, 60B, and 60C are set individually based on the sound frequencies of vehicles emitting different frequencies.

[0132] Therefore, when a vehicle emitting an approach warning sound is near the user holding the white cane 1 (e.g., a vehicle emitting an approach warning sound is approaching the user holding the white cane 1), only the spring-mass system of the first activating unit 60A resonates with the approach warning sound, and the magnet 63a of the first activating unit 60A reciprocates vertically as the coil spring 63b extends and contracts to generate electricity through electromagnetic induction. Furthermore, the vibration generated by the reciprocating movement is transmitted to the gripping portion 3 via the housing 61. Since the first activating unit 60A is positioned corresponding to the index finger F1 of the user's hand H gripping the white cane 1, the vibration is primarily transmitted to the index finger F1. When an emergency vehicle emitting a siren is near the user holding the white cane 1 (e.g., an emergency vehicle emitting a siren is approaching the user holding the white cane 1), only the spring-mass system of the second activating unit 60B resonates with the siren sound, and the second activating unit 60B generates electricity. Furthermore, the vibration generated by the resonance is transmitted to the gripping portion 3 via the housing 61. Since the second actuation unit 60B is positioned corresponding to the middle finger F2 of the user's hand H holding the gripping part 3 of the white cane 1, the vibration is primarily transmitted to the middle finger F2. When the train approaches the user holding the white cane 1, only the spring-mass system of the third actuation unit 60C resonates with the train's running sound, and the third actuation unit 60C generates electricity. Furthermore, the vibration accompanying the resonance is transmitted to the gripping part 3 via the housing 61. Since the third actuation unit 60C is positioned corresponding to the ring finger F3 of the user's hand H holding the gripping part 3 of the white cane 1, the vibration is primarily transmitted to the ring finger F3.

[0133] The operation of activating the mobile assistance device 10 by means of resonant power generation, and the mobile assistance operation performed by activation, are the same as those in the above embodiments. Therefore, a description thereof will be omitted.

[0134] In this embodiment, the user pre-identifies the arrangement positions of the starting units 60A, 60B, and 60C, the resonant sounds (approach notification sound, siren sound, and driving sound) associated with the starting units 60A, 60B, and 60C, and the relationship between these sounds and the types of vehicles emitting the sounds (pre-identifying the arrangement positions of the first starting unit 60A resonating with the approach notification sound emitted by a vehicle (such as an electric vehicle), the second starting unit 60B resonating with the siren sound emitted by an emergency vehicle, and the third starting unit 60C resonating with the driving sound of a train). This allows the user to grasp the resonant spring-mass system of any one of the starting units 60A, 60B, and 60C while gripping the gripping portion 3 of the white cane 1. Therefore, the user can know the type of vehicle approaching (the vehicle type associated with the resonant sound). In other words, even if the user cannot see or hear the vehicle, they can still know the approach of the vehicle and its type.

[0135] Fourth embodiment

[0136] Next, the fourth embodiment will be described. In this embodiment, similar to the third embodiment described above, activation units 60A, 60B, and 60C are arranged inside the gripping portion 3 of the white cane 1. Furthermore, a user-operated switch and a function to notify the vehicle of the user's presence are provided.

[0137] Figure 8 This is a cross-sectional view showing a portion of the periphery of the gripping portion 3 of the white cane 1 according to this embodiment. Figure 9 This is a block diagram illustrating a schematic configuration of the control system of the mobile assistance device 10 according to this embodiment.

[0138] like Figure 8 and Figure 9 As shown, in this embodiment, switches S1, S2, and S3 are located at three positions on the grip portion 3 of the white cane 1. Switches S1, S2, and S3 are push-button switches. Specifically, the grip portion 3 includes: a first switch S1, which is arranged at a position corresponding to the arrangement position of the first activation unit 60A and is arranged to be pressed (pushed) by the user with the index finger; a second switch S2, which is arranged at a position corresponding to the arrangement position of the second activation unit 60B and is arranged to be pressed by the user with the middle finger; and a third switch S3, which is arranged at a position corresponding to the arrangement position of the third activation unit 60C and is arranged to be pressed by the user with the ring finger.

[0139] When a user who identifies the vehicle's presence via vibration becomes unable to recognize the vehicle, switches S1, S2, and S3 are pressed. For example, when the user presses the index finger F1 (see [link to activation unit]) from the first activation unit 60A. Figure 7When a user identifies an approaching vehicle by transmitting vibrations to their middle finger F2 and then becomes unable to identify whether the vehicle is still approaching, the user presses the first switch S1 to provide information to the control device 70 indicating that the user can no longer identify whether the vehicle is approaching. Similarly, when a user identifies an approaching emergency vehicle by transmitting vibrations from the second activation unit 60B to their middle finger F2 and then becomes unable to identify whether the emergency vehicle is still approaching, the user presses the second switch S2. When a user identifies an approaching train by transmitting vibrations from the third activation unit 60C to their ring finger F3 and then becomes unable to identify whether the train is still approaching, the user presses the third switch S3.

[0140] like Figure 9 As shown, switches S1, S2, and S3 are connected to control device 70. A pressing signal is transmitted from the pressed switches S1, S2, and S3 to control device 70. The pressing signal can be transmitted to control device 70 via wired or wireless means (e.g., using short-range wireless communication device 30). When transmitting the pressing signal wirelessly, for example, electricity generated by electromagnetic induction or electricity stored in secondary battery 62 is preferably used.

[0141] like Figure 8 As shown, in this embodiment, a speaker 2a and a light-emitting diode (LED) lamp 2b are disposed on the shaft portion 2 of the white cane 1. The speaker 2a emits an alarm sound outwards. The speaker 2a emits an alarm sound towards a vehicle approaching the user as needed. For example, the speaker 2a is a directional speaker with directionality in the direction of the alarm sound emission, and emits the alarm sound in a specific direction (towards the vehicle approaching the user). That is, the position of the vehicle is identified based on the image from the camera 20, and the alarm sound is emitted towards the vehicle. A configuration can be adopted in which a rotation mechanism capable of changing the direction of the speaker 2a is provided, and the direction of the speaker 2a is changed towards the vehicle (the vehicle approaching the user) by the operation of the rotation mechanism. The LED lamp 2b emits light outwards. The LED lamp 2b emits light towards the vehicle approaching the user by illumination (or flashing) as needed. For example, the LED lamp 2b includes a drive unit for changing the light emission direction, and emits light in a specific direction (towards the vehicle approaching the user). The operation of emitting an alarm sound or light is referred to below as a "user presence notification operation".

[0142] like Figure 9As shown, in addition to the aforementioned functional units, the control device 70 also includes a notification control unit 74, which is a functional unit implemented by a control program. When a pressing signal is sent from any of the first to third switches S1, S2, and S3, the notification control unit 74 generates an alarm sound emission command message to be sent to the speaker 2a and an LED light emission command message to be sent to the LED light 2b. These command messages are sent from the information transmission unit 73 toward the speaker 2a and the LED light 2b. Therefore, the speaker 2a emits an alarm sound in the direction of the vehicle approaching the user. The LED light 2b emits light in the direction of the vehicle approaching the user.

[0143] Therefore, even if the user becomes unable to recognize the presence of the vehicle, pressing any one of switches S1, S2, and S3 will emit an alarm sound or light toward the vehicle, thereby notifying the vehicle user (visually impaired person) of their presence. Thus, the vehicle driver can notice the user's presence. With this configuration, the notify device according to the invention (configured to identify an approaching vehicle based on a pressed switch signal and to perform a user presence notification operation) consists of a notification control unit 74, a speaker 2a, and an LED light 2b.

[0144] Figure 10 This is a flowchart illustrating the mobility assistance operation procedure in this embodiment. During the user's movement while gripping the white cane 1, the operations in the flowchart are repeated at predetermined time intervals. In this flowchart, the vehicle emitting an approach warning sound is referred to as "Vehicle A," the emergency vehicle emitting a siren is referred to as "Vehicle B," and the train is referred to as "Vehicle C."

[0145] In step ST1, it is first determined whether the first starting unit 60A resonates (the spring-mass system of the first starting unit 60A resonates with the approach notification sound from the vehicle).

[0146] When the condition is determined to be "yes" in step ST1 due to the resonance of the first activation unit 60A, the process proceeds to step ST2. As the mobile assistance device 10 is activated with the resonance, the camera 20 is activated, and the position of vehicle A (the vehicle that issued the approach notification sound) is determined based on the captured image obtained by the camera 20.

[0147] Then, mobility assistance operations are performed based on the proximity risk of vehicle A. For example, as described above, a warning is given to user U by providing a voice or sound notification from a speaker mounted on the white cane 1 or by generating vibration using a separate vibration generator. For example, when the distance between the position of vehicle A and the position of user U, determined based on the captured image acquired by camera 20, is equal to or less than a predetermined distance and the proximity risk is relatively high, user U is warned by providing a voice or sound notification. When the distance between the position of vehicle A and the position of user U is greater than the predetermined distance and the proximity risk is relatively low, user U is warned by generating vibration using a vibration generator. The performance of mobility assistance operations based on proximity risk is not limited to the examples described above.

[0148] Then, the process proceeds to step ST4. It is determined whether the first switch S1 is activated (pressed). That is, it is determined whether the first switch S1 is activated because the user cannot recognize the presence of vehicle A. This determination is based on whether a pressing signal is sent from the first switch S1.

[0149] When the result is determined to be "No" in step ST4 because the first switch S1 is not turned on, the process returns and the auxiliary operation continues.

[0150] When the condition is determined to be "yes" in step ST4 due to the first switch S1 being turned on, the process proceeds to step ST5. A user presence notification operation is performed on vehicle A. In this case, the position of vehicle A (the vehicle emitting the proximity notification sound) is determined based on the captured image acquired by camera 20 (step ST2), and the orientation of vehicle A relative to the white cane 1 is also determined. Therefore, an alarm sound is emitted from speaker 2a toward vehicle A, and light is emitted from LED light 2b toward the vehicle.

[0151] If a user notification operation is in progress, step ST6 determines whether the operation of turning on the first switch S1 has terminated. That is, it determines whether the operation of turning on the first switch S1 terminates because the user becomes able to recognize the vehicle's presence again.

[0152] If the condition is determined to be "No" in step ST6 because the operation of turning on the first switch S1 has not been terminated, the user presence notification operation continues. If the condition is determined to be "Yes" in step ST6 because the operation of turning on the first switch S1 has been terminated, the process proceeds to step ST7. The user presence notification operation for vehicle A is terminated, and the process returns.

[0153] When the first starting unit 60A is determined to be "No" in step ST1 because it does not resonate, the process proceeds to step ST8. It then determines whether the second starting unit 60B resonates (the spring-mass system of the second starting unit 60B resonates with the siren sound from the emergency vehicle).

[0154] When the condition is determined to be "yes" in step ST8 due to the resonance of the second activation unit 60B, the process proceeds to step ST9. The processing operations in steps ST9 to ST14 described below correspond to the processing operations in steps ST2 to ST7 described above. That is, in step ST9, camera 20 is activated, and the position of vehicle B (the emergency vehicle emitting a siren) is determined based on the captured image. In step ST10, a mobility assistance operation is performed based on the approach risk of vehicle B.

[0155] In step ST11, it is determined whether the second switch S2 is turned on. That is, it is determined whether the second switch S2 is turned on because the user cannot recognize the presence of vehicle B. When the second switch S2 is turned on, the process proceeds to step ST12. A user presence notification operation is performed on vehicle B. In this case, the position of vehicle B (the emergency vehicle emitting a siren) is determined based on the captured image obtained by camera 20 (step ST9), and the orientation of vehicle B relative to the white cane 1 is also determined. Therefore, an alarm sound is emitted from speaker 2a toward vehicle B, and light is emitted from LED light 2b toward vehicle B.

[0156] In step ST13, it is determined whether the operation of turning on the second switch S2 has been terminated. When the operation of turning on the second switch S2 is terminated, in step ST14, a notification operation for the user of vehicle B is terminated, and the process returns.

[0157] When the result is determined to be "No" in step ST8 because the second starting unit 60B does not resonate, the process proceeds to step ST15. It is then determined whether the third starting unit 60C resonates (the spring-mass system of the third starting unit 60C resonates with the sound of the train's movement).

[0158] When the condition is determined to be "yes" in step ST15 due to resonance of the third activation unit 60C, the process proceeds to step ST16. The processing operations in steps ST16 to ST21 described below also correspond to the processing operations in steps ST2 to ST7 described above. That is, in step ST16, camera 20 is activated, and the position of vehicle C (train) is determined based on the captured image. In step ST17, a movement assistance operation is performed based on the proximity risk of vehicle C.

[0159] In step ST18, it is determined whether the third switch S3 is turned on. That is, it is determined whether the third switch S3 is turned on because the user cannot recognize the presence of vehicle C. When the third switch S3 is turned on, the process proceeds to step ST19. A user presence notification operation is performed on vehicle C. In this case, the position of vehicle C (train) is determined based on the captured image obtained by camera 20 (step ST16), and the orientation of vehicle C relative to white cane 1 is also determined. Therefore, an alarm sound is emitted from speaker 2a toward vehicle C, and light is emitted from LED light 2b toward vehicle C.

[0160] In step ST20, it is determined whether the operation of turning on the third switch S3 has been terminated. When the operation of turning on the third switch S3 has been terminated, the user presence notification operation for vehicle C is terminated in step ST21, and the process returns.

[0161] When the result is determined to be "No" in step ST15 because the third activation unit 60C does not resonate, activation units 60A, 60B, and 60C either do not resonate or resonate and terminate. Therefore, the process proceeds to step ST22. The mobility assistance operation terminates when any of the above-mentioned mobility assistance operations have been performed. The user presence notification operation is terminated when any of the above-mentioned user presence notification operations have been performed, and the process returns.

[0162] The above operation is repeated during the movement of the user who is holding the white cane 1.

[0163] In this embodiment, when a user who has been aware of the approaching vehicle through the resonance of any one of the activation units 60A, 60B, and 60C becomes unable to control the vehicle for some reason, the user identifies the uncontrollable vehicle by pressing any one of the switches S1, S2, and S3, which are arranged in association with the position of the resonance activation units 60A, 60B, or 60C, and performs a user presence notification operation (a notification operation to inform the vehicle of the user's presence). Therefore, the driver of the approaching vehicle becomes aware of the user's presence. Thus, it is expected that the driver will consider the user's presence when performing driving operations. As a result, contact between the user and the vehicle can be avoided.

[0164] In this embodiment, a functional unit is provided for guiding the speaker 2a and LED light 2b toward the vehicle. Alternatively, a voice or sound command can be given to the user from the speaker 2a or a separate speaker to change the direction toward the vehicle, and the white cane 1 (speaker 2a and LED light 2b) can be pointed toward the vehicle when the user changes direction in response to the voice or sound command.

[0165] Fifth embodiment

[0166] Next, the fifth embodiment will be described. In the fourth embodiment described above, an alarm sound is emitted from speaker 2a and light is emitted from LED light 2b toward the approaching vehicle as a user presence notification operation. Instead of the above, in this embodiment, the driver of the vehicle is aware of the user's presence by using an information providing device in the vehicle (e.g., a navigation system) via communication between the mobility assistance device 10 and the vehicle V. The differences from the fourth embodiment described above will be mainly described.

[0167] Figure 11 This is a diagram illustrating the communication status between the white cane 1 and the vehicle V according to this embodiment. Figure 12 This is a block diagram illustrating a schematic configuration of the control system of the mobility assistance device 10 and the control system of the vehicle V according to this embodiment.

[0168] like Figure 11 As shown, the shaft portion 2 of the white cane 1 in this embodiment includes a communication unit 75, which is capable of communicating with a data communication module (DCM) 81. The data communication module (DCM) 81 is used as a wireless communication device installed on the vehicle V.

[0169] DCM 81 is capable of bidirectional communication with navigation system 82 installed on vehicle V via the vehicle network.

[0170] When switching from the first to the third switches S1, S2 and S3 (see...) Figure 11 When any of the switches sends a press signal, the notification control unit 74, located in the control device 70 in this embodiment, identifies the vehicle that emits a sound that resonates with the sound emitted by the activation units 60A, 60B, or 60C (activation units that resonate with the sound emitted by the vehicle) located at the position corresponding to the switch (e.g., determining the vehicle's identification (ID) information), and generates a user presence notification message to be sent toward the vehicle via the communication unit 75. The user presence notification message is sent from the notification control unit 74 to the DCM 81 of the vehicle V via the communication unit 75. Two-way communication is performed between the communication unit 75 and the DCM 81 through a predetermined network including the Internet or a mobile phone network with a large number of base stations to send and receive the vehicle V's ID information (individual information) and the user presence notification message.

[0171] Similarly, in this embodiment, when a user who is controlling the vehicle's approach via the resonance of any one of the activation units 60A, 60B, and 60C becomes unable to control the vehicle for some reason, the user presses any one of the switches S1, S2, and S3, which are arranged in association with the placement of the resonance activation units 60A, 60B, or 60C. In this embodiment, when a pressing signal is sent from any one of the first to third switches S1, S2, and S3, a user presence notification is generated and sent to the DCM 81 of the vehicle V via the communication unit 75. The information received by the DCM 81 is sent to the navigation system 82, and a voice or sound indicating the presence of a pedestrian (user) in front of the vehicle is emitted from the speaker of the navigation system 82 toward the driver. When the user's location information is included as part of the user presence notification, the user's location can be displayed on the display screen of the navigation system 82 (on a map within the display screen).

[0172] Therefore, even if the user becomes unable to recognize the vehicle's presence, a user presence notification message is sent to the vehicle, and the vehicle is notified of the user's presence by using the navigation system 82. Thus, the vehicle driver can notice the user's presence. With this configuration, the notification device according to the invention (configured to identify an approaching vehicle based on a switch that has been pressed and to perform a user presence notification operation on the vehicle) consists of a notification control unit 74 and a communication unit 75.

[0173] Sixth Embodiment

[0174] Next, a sixth embodiment will be described. In each of the above embodiments, the magnitude of the surrounding risk for the user's movement is determined based on whether the activation unit 60 resonates (determining that the surrounding risk is low in the non-resonant state and high in the resonant state). Instead of the above, in this embodiment, the magnitude of the surrounding risk is determined based on information about the image from the camera 20 (user surrounding information acquired by the information acquirer according to the invention). That is, in the power-saving mode of this embodiment, only the camera 20, the communication system for sending and receiving information about the image from the camera 20, and the processing system for processing the information are powered and operated, while other devices are not powered (power-saving mode, according to the invention, power consumption in power-saving mode is less than power consumption in normal mode). In normal mode, power is supplied to all devices.

[0175] In each of the above embodiments, the vibration generated by the resonance of the activation unit 60 is transmitted to the grip portion 3 of the white cane 1. Therefore, the vibration is transmitted to the user's hand to give the user a warning. Instead of the above, in this embodiment, a dedicated vibration generator is built into the grip portion 3 of the white cane 1. Therefore, the activation unit 60 can be arranged in a location other than the grip portion 3. In this embodiment, the vibration pattern of the vibration generator can be changed according to the surrounding risk (the urgency and importance of the surrounding risk as indicators, described later). A detailed description will be given below.

[0176] Figure 13 This is a block diagram illustrating a schematic configuration of the control system of the mobile assistance device 10 according to this embodiment. Figure 13 As shown, a vibration generator 83 is connected to a control device 70. The vibration generator 83 is built into the grip portion 3 of the white cane 1. The vibration generator 83 vibrates in response to the operation of a built-in motor. By transmitting vibration to the grip portion 3, various notifications can be given to the user gripping the grip portion 3. As in the third embodiment described above, the vibration generator 83 can be arranged at multiple locations within the grip portion 3. Specific examples of notifying the user through vibration of the vibration generator 83 will be described later.

[0177] The white cane 1 in this embodiment includes a G-sensor 84 for determining the user's movement speed and acceleration, and a Global Positioning System (GPS) module 85 for determining the user's location information. The control device 70 includes a notification determination unit 76, an attribute setting unit 77, and an information notification condition determination unit 78.

[0178] The notification determination unit 76 receives multiple pieces of information received by the information receiving unit 71 (information about the image captured by the camera 20, information about the acceleration from the G sensor 84, and the user's location information from the GPS module 85), and determines based on these pieces of information whether there is any information about movement to be reported to the user.

[0179] Examples of movement-related information to be reported to users include information indicating that the user is approaching a crosswalk, information indicating that the traffic light has changed from red to green, information indicating that the user has already crossed the crosswalk, information indicating that an obstacle that may impede movement is relatively approaching the user, information indicating that an emergency stop is required (information provided when a vehicle is approaching the user), and information indicating that the user may veer right or left off the crosswalk while crossing. The movement-related information to be reported to users is not limited to these examples.

[0180] Based on information from images captured by camera 20, the presence of a pedestrian crossing, completion of crossing the crossing, and the likelihood of deviation to the right or left while crossing the crossing are identified. This identification can be performed by referencing user location information from GPS module 85 and pre-stored map information. The relative proximity of traffic lights and potentially obstructing obstacles is also identified based on information from images captured by camera 20. When the obstacle is a stationary object (not moving), its relative proximity can be identified by referencing user location information from GPS module 85 and pre-stored map information.

[0181] When the notification determination unit 76 determines that there is information about movement that needs to be reported to the user, the notification determination unit 76 outputs the information to the attribute setting unit 77.

[0182] When the notification determination unit 76 receives information indicating the existence of movement-related information to be reported to the user, the attribute setting unit 77 determines the attributes of the movement-related information to be reported. The attributes are determined based on the urgency and importance of the surrounding risks during the user's movement. The urgency is based on the amount of physical time elapsed before the mobile user faces the surrounding risks (danger). The phrase "facing surrounding risks" here refers to situations where the mobile user comes into contact with obstacles (e.g., the mobile user comes into contact with a vehicle) or where the user's movement is dangerous (e.g., the user moves into the road to cross a pedestrian crossing when the traffic light is red). In other words, the urgency increases as the amount of physical time elapsed before the mobile user faces the surrounding risks decreases. In other words, the urgency can be determined as the reciprocal of the time margin available for the user to avoid the surrounding risks. In the following text, situations where the user comes into contact with obstacles (vehicles, etc.) will primarily be described as examples of situations where the user faces surrounding risks. For example, when the mobile user is relatively close to an obstacle, the urgency increases as the distance to the obstacle (the time elapsed before contact with the obstacle) decreases. To determine the level of urgency, the physical time elapsed before facing the surrounding risk is calculated based on the distance to the risk and the user's movement speed. The distance to the surrounding risk is calculated based on information from images captured by camera 20. The user's movement speed is calculated based on information from G sensor 84. In this embodiment, when the level of urgency reaches a predetermined level, the power mode of the mobility assistance device 10 switches from power-saving mode to normal mode. That is, the magnitude of the surrounding risk is related to the level of urgency.

[0183] The importance level is the degree of impact of an event posing a risk (danger) to the mobile user's surroundings. That is, the importance increases as the size of the object posing the risk to the mobile user increases, as the surface of the object becomes harder, and as the speed of approach relative to the object increases. For example, the importance level is higher when the mobile user approaches a vehicle (or when a vehicle approaches the user) than when the user is relatively close to a person. In this embodiment, when the importance level reaches a predetermined level, the power mode of the mobility assistance device 10 switches from a power-saving mode to a normal mode. In other words, the magnitude of the surrounding risk is related to the importance level.

[0184] Figure 14 This is a schematic diagram showing the information attribute table. The information attribute table is pre-stored in the ROM of the control device 70. For example... Figure 14 As shown, in this embodiment, the information attributes (INFO.1 to INFO.N) are set based on the urgency and importance of the surrounding risks to the user's movement. The urgency level is divided into three types: "low," "medium," and "high." The importance level is divided into two types: "medium" and "high." Multiple (e.g., six) information attributes (INFO.1 to INFO.N) are assigned based on the urgency and importance.

[0185] When a mobile user is relatively close to a vehicle, wall, etc., the urgency level increases as the time elapsed before the collision decreases. That is, as the time elapsed before the collision decreases, the urgency level changes over time in the order of "low," "medium," and "high." For example, when the time elapsed before the collision is 10 to 6 seconds, the urgency level is "low"; when the time elapsed before the collision is 6 to 3 seconds, the urgency level is "medium"; and when the time elapsed before the collision is less than 3 seconds, the urgency level is "high." These values ​​are not limited to those described above and can be arbitrarily set.

[0186] Even with the same time elapsed before a collision, the level of urgency varies depending on the user's characteristics. For example, for a user with high agility (corresponding to the urgency correction parameter according to the invention) who avoids contact with an obstacle when the possibility of contact is detected, the urgency is low. For a user with low agility to avoid contact with an obstacle (e.g., an elderly person), the urgency is high. For example, when a user has high avoidance agility, the urgency changes over time in the order of "low," "medium," and "high" as the time elapsed before a collision decreases (e.g., as mentioned above, when the time elapsed before a collision is 10 seconds to 6 seconds, the urgency is "low"; when the time elapsed before a collision is 6 seconds to 3 seconds, the urgency is "medium"; and when the time elapsed before a collision is less than 3 seconds, the urgency is "high"). When a user has low avoidance agility, even under the same conditions, the urgency changes over time in the order of "medium" and "high" as the time elapsed before a collision decreases (there is no state with a "low" urgency). As an example of this situation, the urgency level is "medium" when the time elapsed before the collision is 10 to 5 seconds, and "high" when the time elapsed before the collision is less than 5 seconds. These values ​​are not limited to those described above and can be set arbitrarily. Even when the urgency level changes in the order of "low," "medium," and "high" for users with low evasive maneuverability, the timing of setting the urgency level to "low," switching the urgency level from "low" to "medium," and switching the urgency level from "medium" to "high" are earlier than those for users with high evasive maneuverability. For example, the urgency level is "low" when the time elapsed before the collision is 15 to 10 seconds, "medium" when the time elapsed before the collision is 10 to 5 seconds, and "high" when the time elapsed before the collision is less than 5 seconds. These values ​​are not limited to those described above and can be set arbitrarily. In this embodiment, for example, when the urgency level reaches "medium" or "high," the power mode of the mobility assistance device 10 switches from power-saving mode to normal mode. The urgency level correction parameter may depend on the ease of the user's avoidance action in the surrounding environment of the dangerous situation the user faces during the user's movement (the size of the surrounding space for avoiding contact with the obstacle, which is determined based on the image captured by camera 20; as the surrounding space widens, the urgency level changes to the lower side by determining that the avoidance action is easier), or the type of danger during the user's movement (the type of obstacle determined based on the image captured by camera 20; as the obstacle is smaller, the urgency level changes to the lower side by determining that the avoidance action is easier).

[0187] Importance is also an indicator of the degree of impact on movement when the user makes contact. For example, when the user is relatively close to an obstacle (such as a vehicle or wall), the importance is high because the impact on movement when the user makes contact is relatively high. When the user is relatively close to another person, the importance is medium because the impact on movement when the user makes contact is relatively low (lower than when the user makes contact with a vehicle or wall). Obstacles are identified using known image matching, deep learning, etc. In this embodiment, for example, when the importance reaches "high," the power mode of the mobility assistance device 10 switches from power-saving mode to normal mode.

[0188] The aforementioned levels of urgency and importance are preset (preset) by the designer of the mobility assistance device 10 or the person setting each type of information before the use of the white cane 1. That is, the preset information in the mobility assistance device 10 includes the relationship between the level of urgency and the physical time elapsed before the user faces surrounding risks, the relationship between the level of urgency and the user's agility in avoiding surrounding risks when using the white cane 1, and the relationship between the level of importance and surrounding risks during movement.

[0189] Figure 15 This diagram illustrates the relationship between the aforementioned levels of urgency and importance, feelings of urgency and importance, and information attribute areas. Feelings of urgency represent a person's psychological sensation associated with the level of urgency (corresponding to the magnitude of the perceived danger of contact with obstacles, etc.). Feelings of importance represent a person's psychological sensation associated with the level of importance (corresponding to the magnitude of the fear felt if the person were to come into contact with an obstacle, etc.). From... Figure 15 It is evident that the sense of urgency increases with increasing urgency level, and the sense of importance increases with increasing importance level. In this embodiment, the areas (information attribute areas) used to assign information attributes (INFO.1 to INFO.N) include consultation areas defined in areas with relatively low sense of urgency and importance, alarm areas defined in areas with relatively high sense of urgency and importance, and warning areas defined in other areas (areas with moderate sense of urgency and importance). Information attributes (INFO.1 to INFO.N) are assigned to the corresponding areas. For example, in Figure 15 In the process, the information attribute INFO.1 (low urgency and medium importance) is assigned to the consultation zone, the information attribute INFO.4 (medium urgency and high importance) is assigned to the warning zone, and the information attribute INFO.N (high urgency and high importance) is assigned to the alarm zone.

[0190] In the above description, the level of urgency varies depending on the user's characteristics, but it can be determined simply based on the physical time elapsed before the user faces the risk, rather than taking the user's characteristics into account.

[0191] The information notification condition determination unit 78 determines the notification conditions for the movement information to be reported to the user based on the attributes (information attributes) of the movement information to be reported, as determined by the attribute setting unit 77. Specifically, it determines the vibration physical characteristics (vibration mode) of the vibration generator 83 based on the information attributes.

[0192] Figure 16 This is a vibration characteristic determination map used to determine the vibration physical characteristics of the vibration generator 83. The vibration characteristic determination map is pre-stored in the ROM of the control device 70.

[0193] Specifically, for the vibration of vibration generator 83, there are repeated vibration on-time and vibration off-time periods. For each of the information attributes (INFO.1 to INFO.N), a vibration characteristic determination map is used to determine the sum of a vibration on-time period and a vibration off-time period, as well as the ratio of a vibration on-time period to the sum of a vibration on-time period and a vibration off-time period, as the vibration physical characteristic of vibration generator 83. In the following description, the sum of a vibration on-time period and a vibration off-time period is referred to as the "interval period" of vibration, and the ratio of a vibration on-time period to the sum of a vibration on-time period and a vibration off-time period is referred to as the "duty cycle" of vibration.

[0194] As described above, in the case of information attribute INFO.1 (information attribute INFO.1 has low urgency and medium importance and is assigned to the consultation area), the mobile assistance device 10 remains in power-saving mode, and therefore the vibration generator 83 does not vibrate. In the case of information attribute INFO.4 (information attribute INFO.4 has medium urgency and high importance and is assigned to the warning area), the vibration of the vibration generator 83 is set to have a medium intermittent period and a high duty cycle. Figure 17A This is a waveform diagram showing the vibration pattern of the vibration generator 83 under this condition. In the case of information attribute INFO.N (information attribute INFO.N has high urgency and high importance and is assigned to the attention zone), the vibration of the vibration generator 83 is set to have short intermittent periods and a high duty cycle. Figure 17B This is a waveform diagram showing the vibration pattern of the vibration generator 83 under these conditions. Although the vibration patterns of the two information attributes INFO.4 and INFO.N have been described, the interval period and duty cycle are also set for each of the other information attributes.

[0195] As a trend for the interval and duty cycle set in association with each information attribute, the interval is set to decrease as urgency increases, and the duty cycle is set to increase as importance increases. In cases of high urgency, the interval is shortened to increase the number of repetitions of the vibration on and off periods per unit time (see [link to relevant documentation]). Figure 17B Therefore, users can more easily identify high urgency levels through notifications. In cases of high importance, the vibration on-time is set much longer than the vibration off-time (see...). Figure 17A Therefore, users can more easily and intuitively identify the significant impact (significant damage) of contact with obstacles through notifications.

[0196] As described above, the power mode of the mobile assistance device 10 is switched based on information acquired by the camera 20, etc., and when it is determined that there is mobile information to be reported to the user in the normal mode, the attributes (information attributes) of the mobile information to be reported are determined, and the notification conditions (vibration mode of the vibration generator 83) for the mobile information to be reported to the user are determined based on the attributes. Therefore, the information provided to the user can be optimized.

[0197] As described above, in this embodiment, when both the urgency and importance levels are low and the surrounding risks meet the low-risk condition, the power mode of the mobility assistance device 10 is a power-saving mode. When the urgency or importance level increases and the surrounding risks no longer meet the low-risk condition, the power mode of the mobility assistance device 10 is set to a normal mode, and mobility assistance operations can be performed. Similarly, in this embodiment, the power mode is set to a normal mode as needed to enable mobility assistance operations, and when mobility assistance operations are not required, the power mode is set to a power-saving mode to reduce the power consumption of the mobility assistance device 10.

[0198] The urgency level is determined by adjusting a baseline urgency level based on a correction parameter applied during the user's movement and relating it to the physical time elapsed before the user faces danger during movement. Therefore, the urgency level can be appropriately determined based on various circumstances during the user's movement, such as the user's state and surrounding environment. This allows for optimization of the mobility assistance provided to the user.

[0199] In this embodiment, when it is determined, based on information obtained through the camera 20, G sensor 84, GPS module 85, etc., that there is information about movement to be reported to the user, the attributes of the information about movement to be reported are determined based on the urgency and importance, and the notification conditions for the information about movement to be reported to the user (vibration pattern of the vibration generator 83 of the white cane 1) are determined based on these attributes. Therefore, the information provided to the user can be optimized.

[0200] In this embodiment, the vibration mode of the vibration generator 83 can be set according to the type of vehicle approaching the user and the direction of approach of the vehicle (the vibration generator 83 can vibrate in different vibration modes according to the type of vehicle and the direction of approach of the vehicle).

[0201] In this embodiment, multiple vibration generators 83 may be arranged within the grip portion 3. In this case, as in the third embodiment described above, it is preferable that the vibration generators 83 are arranged in association with the position of different fingers of the user, the type of vehicle is determined based on images captured by the camera 20, and one vibration generator 83 associated with the vehicle is vibrated. Similarly, in this case, as described above, the user can also know the type of the approaching vehicle by simultaneously gripping the grip portion 3 of the white cane 1 and knowing which vibration generator 83 is vibrating.

[0202] Seventh Embodiment

[0203] Next, a seventh embodiment will be described. This embodiment provides a mobile assistance system including a mobile assistance device 10 and a system management server. In response to a command signal from the system management server (information received from an external device according to the present invention), the power mode of the mobile assistance device 10 switches between a normal mode and a power-saving mode.

[0204] Figure 18 This is a block diagram illustrating a schematic configuration of the control system of the mobility assistance system according to this embodiment. (As shown...) Figure 18 As shown, the mobile assistive device 10 and the system management server 100 each include communication units 79 and 101 capable of sending and receiving information between them.

[0205] With the mobile assistive device 10 according to the sixth embodiment described above (see above) Figure 13 Similarly, the mobile assistance device 10 includes a vibration generator 83, a G sensor 84, and a GPS module 85. The communication unit 79 sends acceleration information from the G sensor 84 and user location information from the GPS module 85 to the system management server 100.

[0206] The system management server 100 includes a mode switching determination unit 102. The mode switching determination unit 102 determines whether to set the power mode of the mobile assistance device 10 to normal mode or power-saving mode based on multiple pieces of information (acceleration information and user location information) received from the mobile assistance device 10 by the communication unit 101. Specifically, the system management server 100 stores map information in a database (not shown) and presets areas requiring mobile assistance operation and areas not requiring mobile assistance operation in the map information. For example, areas around pedestrian crossings and areas around roads without pedestrian crossings are set as areas requiring mobile assistance operation, while other areas are set as areas not requiring mobile assistance operation. The conditions for setting these areas are not limited to the above conditions and can be set arbitrarily.

[0207] The mode switching determination unit 102 determines, based on multiple pieces of information received from the mobility assistance device 10, whether the area the user is currently moving in requires or does not require mobility assistance. When the area requires mobility assistance, the mode switching determination unit 102 sends a normal mode switching command from the communication unit 101 to the mobility assistance device 10. When the area the user is currently moving in does not require mobility assistance, the mode switching determination unit 102 sends a power-saving mode switching command from the communication unit 101 to the mobility assistance device 10.

[0208] Based on the command information received from the system management server 100, the mode switching control unit 72 of the mobile assistance device 10 generates switching command information for switching the power mode of the mobile assistance device 10. That is, when the system management server 100 receives the switching command information for normal mode, the mobile assistance device 10 enters normal mode by turning on the power switch PS. When the system management server 100 receives the switching command information for power saving mode, the mobile assistance device 10 enters power saving mode by turning off the power switch PS.

[0209] When the mobility assistance device 10 enters normal mode, it performs mobility assistance operations to cause the vibration generator 83 to vibrate based on the presence of vehicles in the surrounding images captured by the camera 20 (when the vehicles are close to the user).

[0210] In this embodiment, similar to the embodiments described above, the power mode is set to normal mode as needed to enable mobility assistance operations, and to power-saving mode when mobility assistance operations are not required, thereby reducing the power consumption of the mobility assistance device. As a result, the mobility assistance device can function continuously for extended periods without requiring a large battery, thus enhancing its power-saving practicality.

[0211] Eighth embodiment

[0212] Next, the eighth embodiment will be described. In each of the above embodiments, the case where the mobile assistance device according to the invention is built into a white cane 1 used by the user has been described. Instead of the above, in this embodiment, the mobile assistance device 10 is built into the gripping portion of a personal mobile device. A detailed description will be given below.

[0213] Figure 19 This is a diagram showing the state of a user gripping the gripping portion 5 of a personal mobile device according to this embodiment. Figure 19 In the diagram, the gripping portion 5 of the personal mobile device is represented by a dashed line, and the user's hand H (the hand gripping the gripping portion 5) is represented by a long dash followed by two short dashes.

[0214] In this embodiment, as in the third embodiment described above, the activation units 60A, 60B and 60C are arranged within the gripping portion 5.

[0215] The activation units 60A, 60B, and 60C are: a first activation unit 60A located at a position corresponding to the thumb and index finger F1 of the user's hand H that grips the gripping part 5 (corresponding to the contact area where the thumb and index finger F1 contacts the surface of the gripping part 5); a second activation unit 60B located at a position corresponding to the middle finger F2 of the user's hand H (corresponding to the contact area where the middle finger F2 contacts the surface of the gripping part 5); and a third activation unit 60C located at a position corresponding to the ring finger F3 of the user's hand (corresponding to the contact area where the ring finger F3 contacts the surface of the gripping part 5).

[0216] Similarly, in this embodiment, the spring-mass system of the starting units 60A, 60B, and 60C (see...) Figure 4 The resonant frequencies (natural frequencies) of the spring-mass systems of starting units 60A, 60B, and 60C are also different from each other. The resonant frequencies of the spring-mass systems of starting units 60A, 60B, and 60C are the same as those in the third embodiment described above, so their description will be omitted.

[0217] The other configurations and power mode switching operations of the mobile assistance device 10 are the same as those in the third embodiment described above.

[0218] Therefore, the same effect as in the third embodiment can be achieved in this embodiment as in the third embodiment. That is, the user riding the personal mobility device pre-identifies the relationship between the arrangement positions of the starting units 60A, 60B, and 60C, the sounds resonating with the starting units 60A, 60B, and 60C (approach notification sound, siren sound, and driving sound), and the type of vehicle emitting the sound. This allows the user to grasp the resonant spring mass system of any one of the starting units 60A, 60B, and 60C while gripping the gripping part 5. Therefore, the user can know the type of approaching vehicle (the type of vehicle associated with the resonant sound).

[0219] Other embodiments

[0220] It should be noted that the present invention is not limited to each of the above embodiments, and all modifications and applications, including those within the scope of the claims and those equivalent to the scope of the claims, are possible.

[0221] For example, in the first to fifth embodiments and the eighth embodiment, the spring-mass system of the actuation unit 60 (60A, 60B, 60C) resonates with the sound emitted by the vehicle. The invention is not limited to this configuration. A diaphragm can be provided to resonate with the sound emitted by the vehicle. In this case, the resonant frequency can be adjusted by appropriately setting the thickness, material, and size of the diaphragm. Therefore, the thickness, material, and size are set according to the sound to be resonated.

[0222] In the third, fourth, and fifth embodiments, the starting units 60A, 60B, and 60C have the same configuration (the same configuration with different resonant frequencies of the spring-mass system). The invention is not limited to this configuration. The starting units 60A, 60B, and 60C can have different configurations, or at least one starting unit can have a different configuration than the other starting units. For example, the first starting unit 60A has… Figure 4 The configuration shown indicates that the second startup unit 60B has Figure 6 The configuration shown is such that the third start-up unit 60C has a configuration using a vibrating diaphragm.

[0223] In each of the above embodiments, the power mode of the mobile assistance device 10 switches between a normal mode and a power-saving mode. The invention is not limited to this configuration. The power-saving mode may include a stop mode and a standby mode. In the stop mode, no device is supplied with power (sleep state according to the invention), and in the standby mode, only a portion of the devices (e.g., camera 20) are supplied with power. In this case, if the surrounding risks during user movement meet predetermined low-risk conditions, either the stop mode or the standby mode can be arbitrarily set to the power mode.

[0224] In the above embodiments, in normal mode, the mobility assistance device 10 is activated by the power stored in the main battery 40 to perform mobility assistance operations. The invention is not limited to this configuration. The mobility assistance device 10 can also be activated to perform mobility assistance operations using power generated by the resonance of the spring-mass system of the activation units 60 (60A, 60B, 60C). In this case, the main battery can be omitted.

[0225] In each of the above embodiments, the power mode of the mobility assistance device 10 is set to power-saving mode only when the surrounding risk meets a predetermined low-risk condition. The invention is not limited to this configuration. The power mode of the mobility assistance device 10 can be set to power-saving mode when the surrounding risk meets the predetermined low-risk condition and another condition (AND condition). For example, a power-saving mode switching permission switch can be provided on the white cane 1, and when the power-saving mode switching permission switch is turned on and the surrounding risk meets the predetermined low-risk condition, the power mode of the mobility assistance device 10 can be set to power-saving mode.

[0226] In this invention, by storing map information in the ROM (memory unit) of the control device 70 and pre-setting areas requiring and not requiring motion assistance in the map information, the power mode can be switched based on the location information of the white cane 1. For example, areas around pedestrian crossings and areas around roads without pedestrian crossings are set as areas requiring motion assistance, while other areas are set as areas not requiring motion assistance. When it is determined based on the location information of the white cane 1 that the user is moving in an area requiring motion assistance, the power mode switches from a power-saving mode to a normal mode. In this case, preferably, the power mode is switched by checking information about the current area around the user based on a training model generated from information stored in the ROM regarding situations requiring motion assistance.

[0227] This invention relates to power-saving mobile assistance devices capable of performing mobile assistance operations to assist users in their movement.

Claims

1. A mobility assistance device, to be disposed in a mobility assistance apparatus, and configured to perform mobility assistance operations for assisting a user's mobility, characterized in that it includes a mode switching control unit configured to switch a power mode between a normal mode capable of performing the mobility assistance operations and a power-saving mode with lower power consumption than the normal mode, based on the magnitude of the surrounding risks to the user's mobility, wherein... The conditions for setting the power mode to the power-saving mode include the condition that the surrounding risks meet a predetermined low-risk condition. The mobile assistive device further includes a risk index acquisition unit configured to acquire a risk index related to the magnitude of the surrounding risk for the user's movement, wherein the surrounding risk meets the predetermined low-risk condition when the risk index acquired by the risk index acquisition unit is equal to or less than a predetermined threshold. The surrounding risks relate to one or more vehicles approaching the user. The risk index acquisition unit includes: One or more resonant devices, the one or more resonant devices being configured to resonate with sound emitted by the one or more vehicles near the user; One or more power generation devices, the one or more power generation devices being configured to generate electricity in response to the resonance of the one or more resonant devices; and One or more detection devices, configured to detect physical quantities related to the power generation of the one or more power generation devices, and The surrounding risk satisfies the predetermined low-risk condition when each of the physical quantities detected by the one or more detection devices is equal to or less than a predetermined threshold.

2. The mobile auxiliary device according to claim 1, characterized in that, The sounds emitted by the one or more vehicles include at least one of the following: an approach notification sound, the siren of an emergency vehicle, or the sound of a train moving.

3. The mobile assistive device according to claim 1 or 2, characterized in that, The resonant frequency of each of the one or more resonant devices is set to be higher than the frequency of the sound emitted by the corresponding vehicle in the one or more vehicles by an amount corresponding to the frequency shift caused by the Doppler effect when the corresponding vehicle in the one or more vehicles approaches the user.

4. The mobile assistive device according to claim 1 or 2, characterized in that: The mobility aid includes a gripping portion to be grasped by the user; and Multiple resonant devices are arranged at multiple locations in the gripping portion, and the resonant frequency of each resonant device is individually set based on the sound frequencies of vehicles emitting different frequencies.

5. The mobile assistive device according to claim 4, characterized in that: The gripping portion of the mobile assistive device includes multiple contact areas that are touched by the user's fingers; and The resonant devices are arranged at positions corresponding to the contact areas that are different from each other.

6. The mobile assistive device according to claim 4, characterized in that... Also includes: Multiple switches are arranged in association with the location of the resonant device and configured to be pressed by the user; and A notification device configured to receive a press signal from at least one switch pressed by the user, identify one or more vehicles approaching the user based on the at least one switch that has issued the press signal, and perform a user presence notification operation on the one or more vehicles.

7. The mobile assistive device according to claim 1 or 2, characterized in that, Whether the surrounding risk meets the predetermined low-risk condition is determined based on at least one of the following: user surrounding information acquired by the information acquisition device installed in the mobile assistive device, information received by the mobile assistive device from an external device, or location information of the mobile assistive device.

8. The mobile assistive device according to claim 1 or 2, characterized in that, The mode switching control unit is configured to switch the power mode from the power saving mode to the normal mode when the surrounding risk changes from a state where the surrounding risk meets the predetermined low-risk condition to a state where the surrounding risk meets the predetermined high-risk condition.

9. The mobile assistive device according to claim 1 or 2, characterized in that, The mode switching control unit is configured to switch the power mode from the power saving mode to the normal mode when the state from a risk index obtained by the risk index acquisition unit being equal to or less than the predetermined threshold changes to a risk index being greater than the predetermined threshold.

10. The mobile assistive device according to claim 1 or 2, characterized in that, In the power-saving mode, the mobile assistive device is in a sleep state, during which power is stopped from being supplied to the devices built into the mobile assistive device.

11. The mobile assistive device according to claim 1 or 2, characterized in that... It also includes a storage unit configured to store information relating to situations requiring the mobility assistance operation, wherein the mode switching control unit is configured to switch the power mode to the normal mode when the user, who is moving, is in a situation requiring the mobility assistance operation stored in the storage unit.

12. The mobile assistive device according to claim 11, characterized in that, The mode switching control unit is configured to switch the power mode by examining information related to the current area around the user based on a trained model generated from information stored in the storage unit related to situations requiring the mobility assistance operation.

13. The mobile assistive device according to claim 1 or 2, characterized in that, The mobility aid is held or carried by the user.

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