Walking support device and walking support method

Abstract

In a walking support device 10 according to the present invention, a detection unit 11 detects an object around the walking support device 10. The detection range includes, as described above, a first range 141 close to a cane 120 and a second range 142 at a position farther than the first range from the position of the cane 120. A change unit 13 changes the sizes of the first range 141 and the second range 142. When an object is detected in the second range 142 by sensors 140, a wheel control unit 15 controls a wheel 130 so that the object does not enter the first range 141. Prior to the control of the wheel by the wheel control unit 15, a notification unit 14 notifies the pedestrian of the control,.

Description

Walking Support Device and Walking Support Method

[0001] The present invention relates to a technology for assisting the walking of visually impaired persons.

[0002] For example, in Patent Document 1, in a cane-type walking support device for assisting the walking of visually impaired persons, a mechanism for braking wheels when an obstacle is detected in the traveling direction of a visually impaired person by an obstacle sensor is disclosed.

[0003] Japanese Patent Application Laid-Open No. 2022-178922

[0004] In the invention described in Patent Document 1, for example, depending on the moving speed of a visually impaired person or the moving speed of an obstacle when the obstacle is a moving object, even if an obstacle is detected within a predetermined distance and the wheels are immediately braked, there is a possibility that the visually impaired person may come into contact with the obstacle.

[0005] An object of the present invention is to more safely assist the walking of visually impaired persons.

[0006] To solve the above problems, the present invention provides a walking support device including: a rod-shaped cane portion held by a walker; wheels provided on the cane portion and rotating along the road surface by the walking of a visually impaired person; a detection unit that detects an object around the cane portion, the detection unit having a detection range including a first range close to the cane portion and a second range located at a position farther from the position of the cane portion than the first range; and a wheel control unit that controls the wheels so that the object does not enter the first range when the object is detected in the second range by the detection unit.Moreover, the present invention provides a walking support method characterized in that, in a walking support device including: a rod-shaped cane portion held by a walker; wheels provided on the cane portion and rotating along the road surface by the walking of a visually impaired person; and a detection unit that detects an object around the cane portion, the detection unit having a detection range including a first range close to the cane portion and a second range located at a position farther from the position of the cane portion than the first range, when an object is detected in the second range by the detection unit, the wheels are controlled so that the object does not enter the first range.

[0007] According to the present invention, it becomes possible to more safely assist the walking of visually impaired persons.

[0008] This is a block diagram showing an example of the electrical configuration of a walking support device 10 according to one embodiment of the present invention. This is a diagram showing an example of the external appearance of the walking support device 10 according to the same embodiment. This is a diagram showing an example of the detection range of the walking support device 10 in the same embodiment. This is a block diagram showing an example of the functional configuration of the walking support device 10 in the same embodiment. This is a diagram showing an example of changing the detection range in the same embodiment. This is a flowchart illustrating the operation of the walking support device 10 in the same embodiment. This is a flowchart illustrating the operation of the walking support device 10 in the same embodiment.

[0009] [Configuration] The walking support device 10 is a cane-type device that assists visually impaired pedestrians in walking while holding it in their hands and placing it on the ground. The walking support device 10 assists pedestrians in walking safely by, for example, stopping the pedestrian's walking or guiding their direction of walking when there are obstacles around the pedestrian.

[0010] As shown in Figure 1, the walking support device 10 comprises a rod-shaped cane portion 120 with a gripping portion 110 at its base end for the pedestrian to hold with their hand H, a wheel 130 such as an omni-wheel provided at the tip of the cane portion 120 that rotates along the road surface R as the pedestrian walks, one or more sensors 140 that function as detection units for detecting objects around the cane portion 120, an image sensor 150 for determining the number or density of objects around the cane portion 120, and a wheel control device 1007 provided at the tip of the cane portion 120 for controlling the wheel 130.

[0011] The sensor 140 is, for example, a two-dimensional LiDAR (Light Detection and Ranging) sensor, and one is provided at each of the three different positions along the longitudinal direction of the cane portion 120 (three locations in the example of Figure 2). In the example of Figure 2, sensors 140 are provided at the highest position, the lowest position, and an intermediate position on the cane portion 120. However, the number and positions of the sensors 140 are not necessarily limited to this example. The sensor 140 can be any sensor that has the function of detecting objects around the cane portion 120 and determining the relative position of the object to the sensor 140, and the distance from the sensor 140 to the object, with the required accuracy. For example, the sensor 140 may be a three-dimensional LiDAR sensor, but since two-dimensional LiDAR sensors are generally less expensive than three-dimensional LiDAR sensors, they are used in this embodiment.

[0012] As shown in Figure 2, the detection range of each sensor 140 includes a first range 141 that is relatively close to the cane portion 120, and a second range 142 that is relatively farther from the position of the cane portion 120 than the first range. Since the detection ranges of each sensor 140 are located at different positions along the longitudinal direction of the cane portion 120, they roughly cover the upper and lower body of the pedestrian W. When the wheel control device 1007 detects an object O within the second range 142 by at least one of the multiple sensors 140, it controls the wheel 130 so that the object O does not enter the first range 141.

[0013] Figure 3 shows an example of the electrical configuration of the walking support device 10. Physically, the walking support device 10 is configured as a computer device including a processor 1001, memory 1002, storage 1003, communication device 1004, user interface device 1005, sensor group 1006, wheel control device 1007, and a bus connecting these. In the following description, the word "device" can be read as a circuit, device, unit, etc. The electrical configuration of the walking support device 10 may include one or more of the devices shown in the figure, or it may be configured without some of the devices.

[0014] Each function of the walking support device 10 is realized by loading predetermined software (programs) onto hardware such as the processor 1001 and memory 1002, which allows the processor 1001 to perform calculations, control communication by the communication device 1004, and control at least one of data reading and writing in the memory 1002 and storage 1003.

[0015] The processor 1001 controls the entire computer, for example, by running an operating system. The processor 1001 may be composed of a central processing unit (CPU) that includes interfaces with peripheral devices, control devices, arithmetic units, registers, etc. Also, for example, a baseband signal processing unit or a call processing unit may be implemented by the processor 1001.

[0016] The processor 1001 reads programs (program code), software modules, data, etc., from at least one of the storage 1003 and the communication device 1004 into the memory 1002 and executes various processes accordingly. The program used is one that causes the computer to execute at least a part of the operations described later. Functional blocks of the walking support device 10 are stored in the memory 1002 and may be realized by control programs that run on the processor 1001. Various processes may be executed by one processor 1001, but may also be executed simultaneously or sequentially by two or more processors 1001. The processor 1001 may be implemented by one or more chips. The program may also be transmitted from the network 50 to the walking support device 10 via a telecommunications line.

[0017] The memory 1002 is a computer-readable recording medium and may consist of at least one of the following: ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), RAM (Random Access Memory), etc. The memory 1002 may also be called a register, cache, main memory, etc. The memory 1002 can store executable programs (program code), software modules, etc., for carrying out the method according to this embodiment.

[0018] The storage 1003 is a computer-readable recording medium and may consist of at least one of the following: an optical disc such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disk, a magneto-optical disk (e.g., a compact disc, a digital multipurpose disc, a Blu-ray® disc), a smart card, flash memory (e.g., a card, a stick, a key drive), a floppy® disk, a magnetic strip, etc. The storage 1003 may also be called an auxiliary storage device.

[0019] The communication device 1004 is hardware (transceiver / receiver device) for communicating between computers via the network 50, and is also called a network device, network controller, network card, communication module, etc.

[0020] Each device, such as the processor 1001 and the memory 1002, is connected by a bus for communicating information. The bus may be configured using a single bus, or different buses may be used for each device.

[0021] The user interface device 1005 includes an input device (e.g., keys, microphone, switch, button, etc.) that receives input from the user and an output device (e.g., display, speaker, LED lamp, etc.) that provides output to the user. The input device and the output device may be configured as an integrated unit (e.g., a touchscreen).

[0022] The sensor group 1006 includes the aforementioned sensor 140 and image sensor 150.

[0023] As described above, when an object is detected in the second range 142 by each sensor 140, the wheel control device 1007 controls the wheel 130 so that the object does not enter the first range 141. Specifically, the wheel control device 1007 either brakes the rotation of the wheel 130 so that the object O detected in the second range 142 by each sensor 140 does not enter the first range 141, or changes the direction of rotation by changing the orientation of the axle of the wheel 130 so that the object O detected in the second range 142 by each sensor 140 does not enter the first range 141. In other words, the wheel control device 1007 includes a brake mechanism for braking the rotation of the wheel 130 or a steering mechanism for changing the orientation of the axle of the wheel 130, and a control device for mechanically or electrically controlling these mechanisms.

[0024] The walking assistance device 10 may also be configured with hardware such as a microprocessor, a digital signal processor (DSP), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), and an FPGA (Field Programmable Gate Array), and some or all of each functional block may be realized by this hardware. For example, the processor 1001 may be implemented using at least one of these hardware components.

[0025] Figure 4 is a block diagram showing an example of the functional configuration of the walking support device 10. In the walking support device 10, the hardware components shown in the diagram work together to realize the functions of the detection unit 11, the storage unit 12, the modification unit 13, the notification unit 14, and the wheel control unit 15, as shown in Figure 4.

[0026] The detection unit 11 is a function mainly realized by the sensor 140, which detects objects in the vicinity of the walking support device 10. As described above, its detection range includes a first range 141 close to the cane portion 120 and a second range 142 located further from the cane portion 120 than the first range.

[0027] The modification unit 13 is a function mainly implemented by the processor 1001, and changes the size of the first range 141 and the second range 142. Specifically, the modification unit 13 performs image recognition processing on image data showing the image of the area around the cane part 120 captured by the image sensor 150, recognizes objects (e.g., people, structures, etc.) present around the cane part 120, and calculates the number or density of those objects. Here, the area around the cane part 120 that is the target of the calculation of the number or density of objects is a wider area than the detection range of the detection unit 11. By calculating the number or density of objects in such an area, it is possible to estimate the density of objects present in the space where a pedestrian is walking.

[0028] The memory unit 12 is a function mainly realized by the storage 1003 or memory 1002. As shown in Figure 5, the memory unit 12 stores the sizes of the first range 141 and the second range 142 for each of the multiple pre-defined sections based on the density of objects. Here, the density is divided into three sections according to the number or density of objects present around the cane portion 120, and the larger the density, the smaller the first range 141 and the second range 142. For example, when the density is high, the size of the first range 141 (for example, the diameter of the first range 141 if it were a circle) is x, and the size of the second range 142 (for example, the diameter of the second range 142 if it were a circle) is X. When the density is medium, the size of the first range 141 (for example, the diameter of the first range 141 if it were a circle) is y, and the size of the second range 142 (for example, the diameter of the second range 142 if it were a circle) is Y. When the density is low, the size of the first range 141 (for example, the diameter of the first range 141 if it were a circle) is z, and the size of the second range 142 (for example, the diameter of the second range 142 if it were a circle) is Z. However, x < y < z, X < Y < Z, x < X, y < Y, z < Z. The modification unit 13 changes the size of the first range 141 or the second range 142 based on the contents stored in the memory unit 12 and the density determined from the number or density of objects present around the cane portion 120.

[0029] The wheel control unit 15 is a function mainly implemented by the wheel control device 1007, and when an object is detected in the second range 142 by each sensor 140, it controls the wheel 130 so that the object does not enter the first range 141. Specifically, the wheel control unit 15 either brakes the rotation of the wheel 130 so that the object O detected in the second range 142 by each sensor 140 does not enter the first range 141, or changes the orientation of the axle of the wheel 130 to change the direction of rotation so that the object O detected in the second range 142 by each sensor 140 does not enter the first range 141.

[0030] The notification unit 14 is a function mainly implemented by the user interface device 1005, and it notifies pedestrians about the control of the wheels prior to the control of the wheels by the wheel control unit 15. Specifically, when the wheel control unit 15 brakes the rotation of the wheels 130, the notification unit 14 outputs a message, sound, image, light, or vibration to the pedestrian indicating that the wheels are being braked. Also, when the wheel control unit 15 changes the orientation of the axle of the wheels 130 to change the direction of rotation, it outputs a message, sound, image, light, or vibration to the pedestrian indicating that the wheels are being braked.

[0031] [Operation] Next, the operation of the walking support device 10 will be described. The procedures for each process shown in Figures 6 and 7 are described in the program stored in the walking support device 10.

[0032] In Figure 6, when the modification unit 13 acquires image data showing the area around the cane portion 120 captured by the image sensor 150 (step S11; YES), it performs image recognition processing on the image data to calculate the density of objects present around the cane portion 120. Then, the modification unit 13 sets or changes the size of the first range 141 or the second range 142 based on the contents stored in the storage unit 12 and the density of objects present around the cane portion 120 (step S12).

[0033] Next, in Figure 7, when an object is detected in the second range 142 by each sensor 140 (step S21; YES), the notification unit 14 notifies the pedestrian about the control before the wheel control unit 15 controls the wheels (step S22). After the notification, the wheel control unit 15 controls the wheels 130 so that the object does not enter the first range 141 (step S23).

[0034] According to the embodiment described above, a second range 142 is provided outside the first range 141, and when an object enters the second range 142, the wheels are controlled so that the object does not enter the first range 141. This makes it possible to provide safer support for pedestrians who are visually impaired.

[0035] Furthermore, according to the above embodiment, the sizes of the first range 141 and the second range 142 are changed according to the density of surrounding objects. This allows, for example, in areas with low density, a certain distance from other pedestrians and objects is maintained, reducing the feeling of being cramped by the surroundings, while in areas with high density, it becomes possible to walk safely while securing the first range 141, which is the smallest size possible.

[0036] [Modifications] The present invention is not limited to the embodiments described above. The embodiments described above may be modified as follows. Furthermore, two or more of the following modifications may be combined and implemented.

[0037] [Modification 1] In the above embodiment, the modification unit 13 performed image recognition processing on image data showing the area around the cane part 120 captured by the image sensor 150 to recognize objects (e.g., people, structures, etc.) present around the cane part 120 and calculate the density of objects. However, the method for calculating the density of objects is not limited to this. For example, the walking support device 10 may determine the density by using a computer system that calculates the geographical distribution of the locations of people carrying mobile terminals (for example, a mobile population system called Mobile Spatial Statistics (registered trademark) from NTT DOCOMO, INC.). This mobile population statistics system can calculate the distribution of anonymized mobile terminal locations as human locations for predetermined time periods, for example, by going through de-identification processing, aggregation processing, and concealment processing, in predetermined mesh units divided on a map. The modification unit 13 may use the time distribution of mobile terminal locations obtained from this mobile population statistics system to calculate the density of objects (other pedestrians).

[0038] [Modification 2] In addition to changing the size of the first range 141 and the second range 142, the modified section 13 may also have its shape changed. For example, the modified section 13 may be modified so that the shape of the first range 141 and the second range 142 extends longer in the direction of pedestrian movement as the density increases.

[0039] [Modification 3] The detection unit 11 can detect the speed of movement of an object based on the time displacement of the detected object. In this case, the modification unit 13 may change the size or shape of the first range 141 and the second range 142 according to the speed of movement of the object detected by the detection unit 11. The storage unit 12 stores the size or shape of the first range 141 and the second range 142 for each of the multiple divisions of the object's speed that have been predetermined. For example, when changing the size of the first range 141 and the second range 142, the larger the speed of movement, the larger the first range 141 and the second range 142 will be, and when changing the shape of the first range 141 and the second range 142, the larger the speed of movement, the longer the shape of the first range 141 and the second range 142 will be in the direction of the pedestrian's movement. The modification unit 13 changes the size or shape of the first range 141 and the second range 142 based on the contents stored in the storage unit 12 and the speed of movement of the objects present around the cane part 120. This makes it possible to ensure safe walking by expanding the first range 141 and the second range 142 when an object (such as a bicycle) approaching at high speed is detected, even in areas with low population density.

[0040] [Modification 4] The detection unit 11 may be an acceleration sensor to detect the movement speed of the walking support device 10 (i.e., the pedestrian itself). In this case, the modification unit 13 may change the size or shape of the first range 141 and the second range 142 according to the pedestrian's movement speed. The storage unit 12 stores the size or shape of the first range 141 and the second range 142 for each of the multiple divisions of the pedestrian's movement speed that have been predetermined. For example, when changing the size of the first range 141 and the second range 142, the larger the movement speed, the larger the first range 141 and the second range 142 become, and when changing the shape of the first range 141 and the second range 142, the longer the shape of the first range 141 and the second range 142 becomes in the direction of the pedestrian's movement, the faster the movement speed. The modification unit 13 changes the size or shape of the first range 141 and the second range 142 based on the contents stored in the storage unit 12 and the pedestrian's movement speed. This makes it possible to enlarge the first range 141 and the second range 142 to ensure safe walking, even in areas with low density, when pedestrians are moving quickly.

[0041] [Modification 5] The detection unit 11 can detect the direction of movement of an object (direction of movement relative to a pedestrian) based on the time displacement of the detected object. In this case, the modification unit 13 may change the size or shape of the first range 141 and the second range 142 according to the direction of movement of the object detected by the detection unit 11. The storage unit 12 stores the size or shape of the first range 141 and the second range 142 for each of the multiple divisions into which the direction of movement of the object has been divided in advance. For example, when changing the size of the first range 141 and the second range 142, if the direction of movement of the object is towards the pedestrian, the first range 141 and the second range 142 are made larger, and when changing the shape of the first range 141 and the second range 142, if the direction of movement of the object is towards the pedestrian, the shape of the first range 141 and the second range 142 are extended in the direction of the pedestrian's movement.

[0042] [Modification Example 6] The modification unit 13 may change at least one of the size or shape of the first range 141 or the second range 142. For example, the modification unit 13 may not change the size or shape of the first range 141, and only change the size or shape of the second range 142 based on the density specified from the number or density of the objects existing around the stick portion 120.

[0043] Further, the modification unit 13 may change the first range 141 or the second range 142 by different modification methods. For example, the modification unit 13 changes the size or shape of the first range 141 based on the density specified from the number or density of the objects existing around the stick portion 120, and changes the size or shape of the second range 142 by an amount or ratio even larger than the change amount or change ratio of the size or shape of the first range 141.

[0044] [Modification Example 7] The processing procedures, sequences, flowcharts, etc. of each aspect / embodiment described in the present disclosure may be rearranged as long as there is no contradiction. For example, regarding the methods described in the present disclosure, the elements of various steps are presented using an exemplary order, and are not limited to the specific order presented. The present invention relates to a walking assistance device including a stick-shaped stick portion held by a pedestrian, wheels provided on the stick portion and rotating along a road surface by the walking of a visually impaired person, and a detection unit that detects an object around the stick portion, the detection unit having a detection range including a first range close to the stick portion and a second range located at a position farther from the stick portion than the first range. When an object is detected in the second range by the detection unit, it may be a walking assistance method characterized by controlling the wheels so that the object does not enter the first range.

[0045] [Other Modifications] The block diagrams used in the description of the above embodiments show functional units. These functional blocks (components) are realized by any combination of at least one of hardware and software. Furthermore, the method of realizing each functional block is not particularly limited. That is, each functional block may be realized using one device that is physically or logically coupled, or it may be realized using two or more physically or logically separated devices that are directly or indirectly connected (for example, using wired or wireless connections). A functional block may also be realized by combining software with the one or more of the above devices.

[0046] Functions include, but are not limited to, judgment, decision, determination, calculation, calculation, processing, derivation, investigation, exploration, confirmation, reception, transmission, output, access, resolution, selection, selection, establishment, comparison, assumption, expectation, assumption, broadcasting, notifying, communicating, forwarding, configuring, reconfiguring, allocating (mapping), and assigning. For example, a functional block (configuration part) that enables transmission is called a transmitting unit or transmitter. In all cases, as mentioned above, the method of implementation is not particularly limited.

[0047] The notification of information is not limited to the embodiments described herein and may be carried out by other means. For example, the notification of information may be carried out by physical layer signaling (e.g., DCI (Downlink Control Information), UCI (Uplink Control Information)), upper layer signaling (e.g., RRC (Radio Resource Control) signaling, MAC (Medium Access Control) signaling, broadcast information (MIB (Master Information Block), SIB (System Information Block))), other signals, or combinations thereof. RRC signaling may also be called RRC messages, and may be, for example, RRC Connection Setup messages, RRC Connection Reconfiguration messages, etc.

[0048] Each aspect / embodiment described in the present disclosure may be applied to at least one of systems using LTE (Long Term Evolution), LTE-A (LTE-Advanced), SUPER 3G, IMT-Advanced, 4G (4th generation mobile communication system), 5G (5th generation mobile communication system), FRA (Future Radio Access), NR (new Radio), W-CDMA (registered trademark), GSM (registered trademark), CDMA2000, UMB (Ultra Mobile Broadband), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, UWB (Ultra-Wide Band), Bluetooth (registered trademark), and other suitable systems, and next-generation systems extended based on these. Also, multiple systems may be combined and applied (for example, a combination of at least one of LTE and LTE-A and 5G, etc.).

[0049] Information, etc. may be output from an upper layer (or a lower layer) to a lower layer (or an upper layer). It may be input and output via a plurality of network nodes.

[0050] The input and output information, etc. may be stored in a specific location (for example, a memory), or may be managed using a management table. The input and output information, etc. may be overwritten, updated, or appended. The output information, etc. may be deleted. The input information, etc. may be transmitted to other devices.

[0051] The determination may be made by a value represented by 1 bit (0 or 1), by a boolean value (true or false), or by a numerical comparison (for example, comparison with a predetermined value).

[0052] Each aspect / embodiment described in this disclosure may be used individually, in combination, or switched between as needed during implementation. Furthermore, notification of specific information (e.g., notification that "X is") is not limited to explicit notification, but may also be implicit (e.g., by not providing such notification).

[0053] Although the present disclosure has been described in detail above, it will be clear to those skilled in the art that the present disclosure is not limited to the embodiments described herein. The present disclosure can be implemented in modified and altered forms without departing from the intent and scope of the present disclosure as defined by the claims. Therefore, the descriptions in the present disclosure are illustrative and not intended to be restrictive in any way.

[0054] Software should be broadly interpreted to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, executable files, execution threads, procedures, functions, etc., whether they are called software, firmware, middleware, microcode, hardware description languages, or by any other name. Furthermore, software, instructions, information, etc., may be transmitted and received via a transmission medium. For example, if software is transmitted from a website, server, or other remote source using at least one of wired technologies (such as coaxial cable, fiber optic cable, twisted pair, or digital subscriber line (DSL)) and wireless technologies (such as infrared or microwave), at least one of these wired and wireless technologies is included in the definition of a transmission medium.

[0055] The information, signals, etc., described in this disclosure may be represented using any of the various different technologies. For example, data, instructions, commands, information, signals, bits, symbols, chips, etc., which may be referred to throughout the above description, may be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or photons, or any combination thereof. Terms used in this disclosure and terms necessary for understanding this disclosure may be replaced with terms having the same or similar meanings. For example, at least one of a channel and a symbol may be a signal (signaling). A signal may also be a message. Furthermore, a component carrier (CC) may also be called a carrier frequency, cell, frequency carrier, etc.

[0056] The terms “system” and “network” as used in this disclosure are interchangeable.

[0057] Furthermore, the information, parameters, etc., described in this disclosure may be expressed using absolute values, relative values ​​from a given value, or other corresponding information. For example, radio resources may be indicated by an index. The names used for the parameters described above are not limiting in any way. Moreover, the formulas, etc., that use these parameters may differ from those expressly disclosed in this disclosure. Various channels (e.g., PUCCH, PDCCH, etc.) and information elements can be identified by any suitable name, and therefore, the various names assigned to these various channels and information elements are not limiting in any way.

[0058] In this disclosure, terms such as “Mobile Station (MS),” “user terminal,” “User Equipment (UE),” and “terminal” may be used interchangeably. A mobile station may also be referred to by those skilled in the art as a subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, pedestrian agent, mobile client, client, or several other appropriate terms.

[0059] The walking assistance device 10 may also be called a transmitting device, receiving device, communication device, etc.

[0060] The terms "determining" and "decision" can encompass a wide variety of actions. "Determining" and "decision" can include, for example, judging, calculating, computing, processing, deriving, investigating, looking up, searching, inquiry (e.g., searching in tables, databases, or other data structures), and ascertaining. Furthermore, "determining" and "decision" can also include receiving (e.g., receiving information), transmitting (e.g., sending information), input, output, and accessing (e.g., accessing data in memory). Furthermore, "judgment" and "decision" can include considering something as having been "judged" or "decided" after resolving, selecting, choosing, establishing, comparing, etc. In other words, "judgment" and "decision" can include considering something as having been "judged" or "decided" after some action. Also, "judgment (decision)" can be reinterpreted as "assuming," "expecting," or "considering."

[0061] The terms “connected,” “coupled,” or any variation thereof, mean any direct or indirect connection or coupling between two or more elements, and may include the presence of one or more intermediate elements between two elements that are “connected” or “coupled” with each other. The coupling or connection between elements may be physical, logical, or a combination thereof. For example, “connection” may be read as “access.” As used in this disclosure, two elements may be considered to be “connected” or “coupled” with each other using at least one of one or more wires, cables, and printed electrical connections, and, in some non-limiting and non-exclusive examples, electromagnetic energy having wavelengths in the radio frequency domain, microwave domain, and optical (both visible and invisible) domain.

[0062] In this disclosure, the phrase "based on" does not mean "based solely on" unless otherwise specified. In other words, the phrase "based on" means both "based solely on" and "based at least on."

[0063] In the configuration of each of the above devices, "means" may be replaced with "part," "circuit," "device," etc.

[0064] Where the terms “include,” “including,” and variations thereof are used in this disclosure, these terms are intended to be inclusive, as is the term “comprising.” Furthermore, the term “or” as used in this disclosure is not intended to mean exclusive OR.

[0065] In this disclosure, if articles are added through translation, such as a, an, and the in English, this disclosure may include the fact that the noun following these articles is plural.

[0066] In this disclosure, the term "A and B are different" may mean "A and B are different from each other." The term may also mean "A and B are each different from C." Terms such as "separate" and "combine" may be interpreted similarly to "different."

[0067] 10...Walking assistance device, 1001...Processor, 1002...Memory, 1003...Storage, 1004...Communication device, 1005...User interface device, 1006...Sensor group, 1007...Wheel control device, 11...Detection unit, 12...Storage unit, 13...Change unit, 14...Notification unit, 15...Wheel control unit, 110...Gripping unit, 120...Cane unit, 130...Wheel, 140...Sensor, 150...Image sensor.

Claims

1. A walking assistance device comprising: a stick-shaped cane portion held by a pedestrian; a wheel provided on the cane portion that rotates along the road surface as a visually impaired person walks; a detection unit for detecting objects around the cane portion, having a detection range that includes a first range close to the cane portion and a second range located further from the cane portion than the first range; and a wheel control unit that controls the wheel so that the object does not enter the first range when the detection unit detects an object in the second range.

2. The walking support device according to claim 1, characterized by comprising a modification part that changes the size or shape of the first range or the second range.

3. The walking assistance device according to claim 2, characterized in that the modification is performed according to the number or density of objects around the cane portion.

4. The walking support device according to claim 2, characterized in that the modification unit makes the modification according to the movement speed of the object detected by the detection unit.

5. The walking support device according to claim 2, characterized in that the modification unit makes the modification according to the direction of movement of the object detected by the detection unit.

6. The walking support device according to claim 2, characterized in that the modification is performed according to the speed of movement of the pedestrian.

7. The walking support device according to claim 2, characterized in that the modified part modifies the first range or the second range using different modification methods.

8. The walking assistance device according to claim 1, further comprising a notification unit that notifies the pedestrian about the control prior to the control of the wheels by the wheel control unit.

9. A walking assistance device comprising a stick-shaped cane held by a pedestrian, wheels provided on the cane that rotate along the road surface as a visually impaired person walks, and a detection unit for detecting objects around the cane, the detection unit having a detection range that includes a first range close to the cane and a second range located further from the cane than the first range, wherein when the detection unit detects an object in the second range, the wheel is controlled so that the object does not enter the first range.

Images