Walking shoes

Abstract

The present invention reduces user burden as much a possible in regard to choosing to transition from a walking state to driven travel and from a driven travel state to walking. Rollers (12f, 12b), an electric motor (13), a braking mechanism (20), a solenoid (23), and a control unit (U) are provided. A detection mechanism (27) is associated with shoes (1L, 1R) so as to be able to detect that the shoes (1L, 1R) are in a first or a second arrangement state. The control unit (U), using detection information from the detection mechanism 27 as a basis, releases braking by the braking mechanism (20) and initiates driving of the electric motor (13) while in the first arrangement state, and initiates stopping of the driving of the electric motor (13) and applies braking by the braking mechanism (20) while in the second arrangement state.

Description

Walking boots

[0001] The present invention relates to walking boots that can be selectively driven and run.

[0002] Recently, as shown in Patent Document 1, roller skates are being developed with the aim of electric drive for running. This type can run by driving the running rollers at the bottom of the roller skates with a motor. When running, for the convenience of the user, operations such as starting the run and adjusting the speed are performed by operating a remote controller.

[0003] By the way, from the perspective of maintaining and promoting health, walking is recognized as an effective means. On the other hand, in areas where public transportation is not well-developed, vulnerable road users are deprived of the necessary movements such as going to the hospital and shopping, and are in a situation where they have to walk long distances.

[0004] Under such circumstances, the inventor of the present invention has been considering walking boots that can be selectively driven and run. Unlike electric roller skates, walking boots are originally used for walking. However, if the speed is below the legal speed (6 km / hr), legally, on the sidewalk, it is possible to immediately shift from walking to driving and running.

[0005] CECS Co., Ltd., "Electric Roller Skates AIRTRICK", [online], [searched on September 24, 2024], Internet, (URL: https: / / greenfunding.jp / lab / projects / 7135)

[0006] However, when developing walking boots that can be driven and run, in principle, a configuration that allows walking must be ensured. On the other hand, when changing to a completely different mode such as walking to driving or driving to walking, if the operation is performed by a remote controller (wireless type) as in the case of the above-mentioned electric roller skates, the operation itself by the remote controller (taking out from the holding place of the remote controller, line-of-sight movement for remote controller operation, operation on the remote controller) not only becomes a burden, but also the management (possession) of the remote controller, which is a separate part from the walking boots, becomes a burden.

[0007] This invention was made in consideration of the circumstances described above, and its purpose is to minimize the burden on the user when selecting between walking and driving, in a walking shoe that is primarily designed for walking but also allows for driving.

[0008] To achieve the above objective, the present invention has the following configurations (1) to (9).

[0009] (1) Walking shoes comprising a left shoe and a right shoe, wherein walking is performed using the left shoe and the right shoe, wherein each of the left shoe and the right shoe is provided with a running roller provided at its bottom, an electric motor for driving the running roller, a braking mechanism for applying braking to the running roller, a braking adjustment device for adjusting the braking mechanism and normally causing the braking mechanism to apply braking to each of the running rollers, and a control device for controlling the electric motor and the braking adjustment device, wherein a detection mechanism is associated with the left shoe and the right shoe so as to be able to detect when the arrangement of the left shoe and the right shoe is in a first arrangement state, or in a second arrangement state other than the first arrangement state, The control device, based on detection information from the detection mechanism, determines that the first arrangement state is reached, and controls the braking adjustment device to release the braking of the braking mechanism and outputs a drive start signal to start the electric motor. When it determines that the left shoe and the right shoe are in the second arrangement state, it outputs a drive stop start signal to start stopping the electric motor. In conjunction with the output of the drive stop start signal, it controls the braking adjustment device to set the braking mechanism to apply braking to each of the running rollers.

[0010] With this configuration, under normal circumstances, the braking mechanism applies brakes to each running roller, preventing them from rotating and creating friction between each roller and the sidewalk surface. Therefore, in this state, walking can be performed normally using the left and right shoes. On the other hand, when the left and right shoes are in the first position, the braking mechanism on each running roller is released and the electric motor starts driving. When the left and right shoes are in the second position, the electric motor stops driving and the braking mechanism on each running roller is reactivated. As a result, by simply adjusting the position of the user's left and right feet, it is easy to switch between walking and driven driving, and vice versa, and the remote controller does not need to be held or operated during the transitions between these states. Therefore, in walking shoes that allow for both walking and propulsion, the user's burden is minimized when selecting between walking and propulsion. This is particularly effective for elderly users with impaired vision or memory, as it eliminates the need for managing and operating a remote controller.

[0011] (2) Under the configuration of (1) above, the configuration is such that the first arrangement state is set to be a state in which the left shoe and the right shoe are relatively offset from each other in the front-to-back direction, and the second arrangement state is set to be a specific state other than the first arrangement state, and the specific state other than the first arrangement state is set to be a state in which the left shoe and the right shoe are parallel in the left-to-right direction, or that either the left shoe or the right shoe is in an arrangement state that is floating above the road surface.

[0012] In this configuration, the first arrangement in which the running rollers are driven is set so that the left and right shoes are relatively offset from each other in the front-to-back direction. Therefore, during this driven movement, the user can adopt a posture that most effectively withstands external forces from both the front-to-back and lateral directions by bracing their left and right feet. Moreover, the user can easily perceive this intuitively. As a result, the user can easily and smoothly transition to driven movement, and while they receive a certain amount of acceleration when starting driven movement and a reaction force according to the sidewalk surface conditions during driven movement, which could potentially destabilize their posture depending on their posture, this can be minimized. This is a particularly effective consideration when the user is an elderly person with reduced physical strength.

[0013] On the other hand, as a second configuration in which the running rollers are stopped, the left and right shoes are positioned parallel to each other in the left-right direction, or either the left or right shoe is positioned so that it is lifted off the road surface, the user can intuitively perceive these configurations as a state (posture) in which they do not wish to run or a state (posture) in which they are not suitable for running, and thus easily stop the running of the running rollers. In other words, when the left and right shoes are positioned parallel to each other in the left-right direction, when subjected to external forces from the front-rear direction, the bracing provided by the left and right feet is less effective compared to when the left and right feet are shifted in the front-rear direction, resulting in an unstable posture for the user. Therefore, the user can intuitively associate the configuration of the left and right shoes that they themselves have chosen with a posture in which they do not wish to run or a posture in which they are not suitable for running. Furthermore, when either the left or right shoe is positioned above the road surface, the driving force from that shoe is not transmitted to the road surface. This makes it easy for the user to associate this state with a desire to not be driven. Therefore, the user's intuition can be used to stop the driving of the rollers, allowing the user to smoothly perform the operation to stop the driving of the rollers.

[0014] (3) Under the configuration of (1) above, the control device is configured to release the braking of the braking mechanism and output a drive start signal to start driving the electric motor when it determines, based on the detection information from the detection mechanism, that the detection time of the first arrangement state has continued for a predetermined time.

[0015] This configuration allows for the reliable detection of the user's preference for driving with either the left or right shoe, and enables accurate implementation of the user's preferences regarding driving with either the left or right shoe.

[0016] (4) Under the configuration of (1) above, each of the left shoe and the right shoe is provided with a lifting mechanism that moves the running roller up and down to set the running roller to a stored state in which it is retracted inward from the bottom of the left shoe and the right shoe, and to a usable state in which it is protruding from the bottom of the left shoe and the right shoe, and the control device is configured to control the lifting mechanism to set the running roller to the usable state when it determines from the detection information from the detection mechanism that the detection information is in the first arrangement state, and to control the lifting mechanism to set the running roller to the stored state when it determines from the detection information that the arrangement state is in the second arrangement state.

[0017] With this configuration, during driving, the running rollers on the left and right shoes become usable, enabling driving using the running rollers. On the other hand, during walking, the running rollers on the left and right shoes are retracted, allowing walking to be done using the wide soles of the left and right shoes (in contact with the sidewalk surface), just like when walking with normal shoes.

[0018] (5) Under the configuration of (4) above, the control device is configured to output a drive start signal to release the braking of the braking mechanism and start driving the electric motor when it determines that the time for detecting the first arrangement state has continued for a predetermined time based on the detection information from the detection mechanism, and the predetermined time is configured to be longer than the time it takes for the running roller to go from the stored state to the usable state.

[0019] This configuration not only reliably detects the user's desire for driven movement and accurately reflects that desire in the execution, but also utilizes the predetermined time used in that process to allow the driving rollers to become usable, enabling accurate commencement of driven movement using the driving rollers when transitioning from walking mode to driven movement using the driving rollers.

[0020] (6) Under the configuration of (2) above, the detection mechanism is provided with a first and second detection mechanism which is equipped with a pair of communication elements for exchanging communication information and outputs the detection information when an exchange of communication information is established between the pair of communication elements, wherein one of the communication elements in the first detection mechanism is provided on either the front or rear of the inner side surface of at least one of the left shoe and the right shoe, while the other communication element is provided on the other of the front or rear of the inner side surface of the other of the left shoe and the right shoe, wherein one of the communication elements in the second detection mechanism is provided in the center in the front-to-back direction of the inner side surface of at least one of the left shoe and the right shoe, while the other communication element is provided in the center in the front-to-back direction of the inner side surface of the other of the left shoe and the right shoe, The control devices for the left shoe and the right shoe are configured to receive the detection information output from the first and second detection mechanisms as common information.

[0021] With this configuration, the control devices in the left and right foot shoes can determine, based on detection information from the first detection mechanism, that the left and right foot shoes are in a predetermined misaligned state in the front-to-back direction, and can determine, based on detection information from the second detection mechanism, that the left and right foot shoes are in a parallel state. As a result, based on the determination of each control device, walking mode or driving mode using the driving rollers can be executed in a synchronized state, and the user can specifically select either walking mode or driving mode simply by adjusting the position of the left and right feet, without using a remote controller.

[0022] (7) Under the configuration of (1) above, the control device is configured to control the electric motor so that the travel speed based on the travel roller is less than or equal to the permissible upper limit speed on the sidewalk.

[0023] With this configuration, the travel speed based on the running rollers is below the permissible maximum speed on sidewalks (6 km / hr). Therefore, legally, it is possible to use the running rollers for propulsion even on sidewalks, and users can appropriately choose between walking and propulsion on sidewalks based on their own judgment.

[0024] (8) Under the configuration of (1) above, all states other than the first configuration are set as the second configuration, and when the control device determines, based on the information from the detection mechanism, that the first configuration has been reached, it controls the brake adjustment device to release the brake of the brake mechanism and outputs a drive signal to drive the electric motor, and when it determines that the configuration is other than the first configuration, it outputs a drive stop signal to stop the drive of the electric motor, and in conjunction with the output of the drive stop signal, it controls the brake adjustment device to set the brake mechanism to apply brakes to each of the running rollers.

[0025] With this configuration, even without using a remote controller, the user can adjust the positions of their left and right feet to achieve a first configuration, and only when this configuration is achieved can the vehicle be driven by the running rollers. When the vehicle is in any configuration other than the first, the vehicle can stop driving and switch to walking mode. This simplifies the switching between walking mode and driving mode, further reducing the user's burden in making these transitions. Moreover, the detection mechanism only needs to detect the first configuration; if the detection mechanism does not detect the first configuration (i.e., does not output detection information), this can be considered the detection of a second configuration, thus simplifying the configuration of the detection mechanism (number of parts, etc.).

[0026] (9) Under the configuration of (8) above, the configuration is set such that the left shoe and the right shoe are in a predetermined relative displacement state in the front-to-back direction as the first arrangement state.

[0027] With this configuration, the use of the drive rollers for propulsion can be limited to only when the user's posture is most stable due to the bracing of their left and right feet. Therefore, the user's posture stability can always be maintained at a high level during propulsion using the drive rollers.

[0028] According to the present invention, in a walking shoe that is primarily designed for walking but also enables propulsion running, the burden on the user regarding the selection of transitions from walking to propulsion running and from propulsion running to walking can be minimized.

[0029] An explanatory diagram showing a walking shoe (right shoe) according to the first embodiment. An explanatory diagram illustrating the internal configuration of the walking shoe according to the first embodiment. An explanatory diagram illustrating the lifting mechanism according to the first embodiment. A control system diagram illustrating the control system according to the first embodiment. A time chart illustrating the control in the first embodiment. An explanatory diagram illustrating the detection state by the RFID reader of the right shoe and the electronic tag of the left shoe (a state in which it is detected that the right shoe and the left shoe are positioned with a predetermined offset in the front-to-back direction). An explanatory diagram illustrating the detection state by the RFID reader of the left shoe and the electronic tag of the right shoe (a state in which it is detected that the left shoe and the right shoe are positioned with a predetermined offset in the front-to-back direction). An explanatory diagram illustrating the detection state by the RFID reader of the right shoe and the electronic tag of the left shoe (a state in which it is detected that the right shoe and the left shoe are in a parallel state). A flowchart showing an example of control of the walking shoe according to the first embodiment. An explanatory diagram illustrating a walking shoe according to the second embodiment. A time chart illustrating the control in the second embodiment.

[0030] Embodiments of the present invention will now be described based on the drawings. In Figures 1 and 2, reference numeral 1 denotes a walking shoe according to the first embodiment, and the walking shoe 1 consists of a left shoe 1L and a right shoe 1R. Figure 1 shows the inner side view of the right shoe 1R, which is one of the walking shoes 1, and Figure 2 shows the schematic internal structure of the left and right shoes 1L and 1R in plan view (partial omissions are made for the left shoe 1L). The left shoe 1L and the right shoe 1R are symmetrical and basically have the same structure. For this reason, the walking shoe 1 will be described using common reference numerals without the subscripts L and R under the right shoe 1R, and the description of the left shoe 1R having the same configuration as the right shoe 1R will be omitted. When it is necessary to describe the left shoe 1L and the right shoe 1R separately, the reference numerals in parentheses with the subscripts L and R will be added.

[0031] As shown in Figures 1 to 3, the right shoe 1R consists of a sole 2 that forms the bottom portion of the shoe and constitutes the base portion of the shoe, and an upper 3 that is positioned above the sole 2 and covers the user's foot when in use. The sole 2 includes an outsole 2a that forms the portion that contacts the ground, an insole 2b that has the same shape as the outsole 2a and is positioned above the outsole 2a at a predetermined distance and comes into contact with the sole of the user's foot when in use, and a peripheral wall portion 2c that connects the entire peripheral edges of the outsole 2a and the insole 2b to maintain the predetermined distance.

[0032] As shown in Figure 2, the outsole 2a is extended with its plate surface facing vertically. Rectangular notches 4f, 4f, 4b, 4b are formed on both sides in the width direction of the front and rear of the outsole 2a, respectively, for moving the running rollers described later in the vertical direction. Each of these notches 4f, 4f, 4b, 4b opens outward in the width direction and outward in the vertical direction. The insole 2b also has corresponding notches (not shown) similar to the notches 4f, 4f, 4b of the outsole 2a, and the peripheral wall portion 2c connects the periphery of the notches 4f, 4f, 4b, 4b of the outsole 2a and the notches of the insole 2b. For this reason, recesses 6 are formed on both sides in the width direction of the front and rear of the sole 2, opening outward in the width direction and vertically.

[0033] As shown in Figure 1, the upper 3 rises from the periphery of the sole 2 (insole 2b) to form the upper surface of the shoe that covers the foot. At this time, the upper 3 rises by a predetermined length from the opening periphery of each recess 6 on the upper surface of the sole 2 to form an expanded recess 7 that opens outward in the width direction of the sole 2. The expanded recess 7 of the upper 3 and the recess 6 of the sole 2 form a roller movement hole 8 on the side surface of the right shoe 1R. Of course, when the upper 3 rises by a predetermined length from the periphery of each recess 6 to form the expanded recess 7, the part above that forms a normal shoe side surface.

[0034] As shown in Figures 1 to 3, a substrate 9 is disposed in the internal space 2d between the outsole 2a and the insole 2b with its surface facing vertically. The substrate 9 extends through the notches 4f, 4f, 4b, 4b on both sides in the width direction of the front and rear of the outsole 2a, while maintaining a constant width. A rotating shaft 11f is rotatably attached to the upper front surface of the substrate 9 via a bearing 10. The rotating shaft 11f extends through the peripheral wall 2c or upper 3 at both ends in the direction of extension into the left and right roller movement holes 8, and rollers 12f, which serve as running rollers, are attached to each end of the rotating shaft 11f in the direction of extension within each roller movement hole 8. In this case, the through holes (not shown) in the peripheral wall 2c or upper 3 extend vertically to allow vertical movement of the rotating shaft 11b when the rotating shaft 11f passes through them.

[0035] As shown in Figure 2, a rotating shaft 11b is rotatably mounted on the rear upper surface of the substrate 9 via an electric motor (e.g., a BLDC motor) 13. The rotating shaft 11b extends to both the left and right sides of the electric motor 13, and both ends in the direction of extension pass through the peripheral wall portion 2c or upper 3 into the left and right roller movement holes 8. Within each of the roller movement holes 8, a roller 12b, which is a driving roller and serves as a running roller, is attached to each end of the rotating shaft 11b in the direction of extension, and the roller 12b is driven by the electric motor 13. In this case as well, the through holes (not shown) in the peripheral wall portion 2c or upper 3 extend in the vertical direction to allow vertical movement of the rotating shaft 11b when it passes through. A battery 14 is connected to the electric motor 13 as a power source, and the battery 14 supplies power to the electric motor 13 via a self-holding circuit 15. Of course, the battery 14 and the self-holding circuit 15 are also provided on the upper surface of the circuit board 9.

[0036] As shown in Figure 3, a lifting mechanism 16 is provided between the outsole 2a and the insole 2b. The lifting mechanism 16 consists of the base plate 9, a plurality of spring members 17 interposed between the outsole 2a and the base plate 9, and a plurality of solenoids 18 interposed between the insole 2b and the base plate 9. Each spring member 17 constantly biases the base plate 9 toward the insole 2b, while each solenoid 18 is fixed to the lower surface of the insole 2b, with the tip of its plunger 18a connected to the base plate 9. As a result, when the plunger 18a of the solenoid 18 is shortened, each roller 12 retracts into the roller movement hole 8 based on the biasing force of the spring material 17, and the rollers do not protrude from the lower surface of the outsole 2a (roller 12 in storage state). When the plunger 18a of the solenoid 18 is extended, the base plate 9 is pushed down against the biasing force of the spring material 17, and the rollers 12 protrude from the lower surface of the outsole 2a (roller usable state). At this time, the base plate 9 is pushed down until it contacts the stopper 19 on the upper surface of the outsole 2a, and the amount of protrusion of the rollers 12 protruding from the lower surface of the outsole 2a is kept constant.

[0037] As shown in Figure 2, a braking mechanism 20 is provided on the substrate 9 for each of the rotating shafts 11f and 11b. Each braking mechanism 20 includes a disc 21 attached to the rotating shafts 11f and 11b, and a caliper 22 equipped with brake pads that press the brake pads against the disc 21 for adjustment. The caliper 22 is provided with an operating force by a solenoid 23 (plunger 23a) acting as a braking adjustment device to adjust the braking force of the braking mechanism 20.

[0038] As shown in Figure 2, a control unit U is provided on the circuit board 9 as a control device to control the lifting mechanism 16, the braking mechanism 20, and the electric motor 13. Therefore, as shown in Figures 2 and 4, control signals are output from the control unit U to the solenoid 18, the self-holding circuit 15, and the solenoid 23, respectively. The control unit U receives ON / OFF signals from the main switches 26, which are provided on each of the left and right shoes 1L and 1R to start and stop them, detection information (detection signals) from the detection mechanism 27, which detects the arrangement of the left shoe 1L and the right shoe 1R, and rotation speed signals from the rotation speed sensor 28, which detects the rotation speed of the electric motor 13.

[0039] The control signal for the solenoid 18 is either a plunger extension signal or a plunger shortening signal, and in response, the plunger 18a of the solenoid 18 extends and retracts, causing the substrate 9 to move up and down. The control signal for the solenoid 23 is either a plunger extension signal (brake release signal) or a plunger shortening signal (brake signal), and based on these signals, the solenoid 23 puts the braking mechanism 20 into a brake release state or a brake state. The control signal for the self-holding circuit 15 is either a drive start signal or a drive stop start signal, and based on the combination circuit of its a-contact (normally open contact) and b-contact (normally closed contact), the self-holding circuit 15 holds the electric motor 13 in a drive state or a drive stop state thereafter, conditional on the input of the drive start signal or drive stop start signal (control of battery 14 application to electric motor 13).

[0040] As shown in Figures 2, 6 to 8, the detection mechanism 27 is composed of first and second detection mechanisms 27A and 27B, which use a pair of communication elements to exchange communication information. In this embodiment, the first and second detection mechanisms 27A and 27B use an RFID reader (reading device) and an electronic tag (IC tag) as a pair of communication elements under RFID (Radio Frequency Identification). Electromagnetic waves or radio waves are transmitted and received between the electronic tag and the RFID reader, and when the RFID reader reads the specific code information of the electronic tag, the RFID reader detects the corresponding electronic tag and outputs detection information.

[0041] The first detection mechanism 27A is equipped with two pairs of communication elements (RFID reader and electronic tag) to detect a predetermined relative front-to-back displacement state (first arrangement state) between the left shoe 1L and the right shoe 1R. In one pair, as shown in Figure 2, the RFID reader 31a is provided on the rear of the inner side surface of the right shoe 1R, and the electronic tag 31b in the same pair is provided on the front of the inner side surface of the left shoe 1L at the same height as the RFID reader 31a (height from the bottom). When the RFID reader 31a detects the electronic tag 31b and reads the code information from it, it outputs detection information and outputs this detection information as a drive request signal to the control unit U (UR) mounted on the right shoe 1R. In this embodiment, the RFID reader 31a is equipped with a directional antenna and is configured to detect the electronic tag 31b within a predetermined range based on when it is facing the electronic tag 31b. When the RFID reader 31a detects the electronic tag 31b and outputs detection information, it means that the right shoe 1R has shifted forward of the left shoe 1L, as shown in Figure 6. In contrast, in the other pair, as shown in Figure 2, the RFID reader 32a is provided on the rear of the inner side of the left shoe 1L, and the electronic tag 32b in this pair is provided on the front of the inner side of the right shoe 1R at the same height as the RFID reader 32a. Therefore, when the RFID reader 32a detects the electronic tag 32b and outputs detection information, it means that the left shoe 1L has shifted forward of the right shoe 1R, as shown in Figure 7, and the RFID reader 32a outputs this detection information as a drive request signal to the control unit U (UL) mounted on the left shoe 1L.

[0042] As shown in FIG. 2, the second detection mechanism 27B is provided with a pair of communication elements (RFID reader 34a and electronic tag 34b) to detect the parallel state (second arrangement state) of the left-foot shoe 1L and the right-foot shoe 1R. The RFID reader 34a is provided at a substantially central portion in the longitudinal direction on the inner side surface of the right-foot shoe 1R, and the electronic tag 34b is provided at the same height as the RFID reader 34a at a substantially central portion in the longitudinal direction on the inner side surface of the left-foot shoe 1L. Therefore, when the RFID reader 34a detects the electronic tag 34b and outputs detection information, as shown in FIG. 8, it is detected that the left-foot shoe 1L and the right-foot shoe 1R are in a parallel state. The RFID reader 34a outputs the detection information as a driving stop request signal to the control unit U (UR) mounted on the right-foot shoe 1R.

[0043] As shown in FIG. 4, the control unit U is provided with a communication unit 36, a storage unit 37, and an arithmetic control unit 38. The communication unit 36 is provided not only in the control unit U (UR) of the right-foot shoe 1R but also in the control unit U (UL) of the left-foot shoe 1R. The two communication units 36 have a function of transmitting the detection information taken into the control unit U to which each communication unit 36 belongs to the other party and receiving it from the other party, with each other as communication partners.

[0044] The storage unit 37 is composed of storage elements such as a ROM (Read Only Memory) and a RAM (Random Access Memory). In the storage unit 37, as necessary information, a predetermined time t1 required to detect and determine the user's desire to drive, a predetermined time t2 (t1>t2) required to detect and determine the user's desire to stop driving, the upper limit rotation speed of the electric motor 13 for setting the traveling speed based on the rollers 12f and 12b to 6 km / h or less, and the initial state (the storage state, braking state, driving stop state of the rollers 12f and 12b) when the main switch 26 is ON are stored. As necessary programs, in addition to basic programs, programs for the arithmetic control unit 38 to perform various processes are stored.

[0045] The arithmetic control unit 38 is composed of a CPU (Central Processing Unit) and functions as an input information acquisition unit 38a, an input information discrimination unit 38b, a duration determination unit 38c, a comparison unit 38d, an output adjustment unit 38e, etc., based on the program read from the storage unit 37, as shown in Figure 4.

[0046] The input information acquisition unit 38a (right shoe 1R) has the function of directly acquiring detection information when detection information is output from RFID readers 31a and 34a, and also acquiring detection information when detection information is output from RFID reader 32a in the left shoe 1L via the communication units 36 (36L, 36R) of the left shoe 1L and the right shoe 1R. On the other hand, when detection information is output from RFID readers 31a and 34a in the right shoe 1R, the detection information is sent to the control unit U (UL) in the left shoe 1L via the communication units 36 (36R, 36L) of the right shoe 1R and the left shoe 1L, and is acquired by the input information acquisition unit 38a. As a result, the control units U(UL, UR) in the right shoe 1R and the left shoe 1L receive the same detection information at the same time, and the right shoe 1R and the left shoe 1L synchronize with respect to driving and stopping (walking). In addition, the input information acquisition unit 38a also acquires the rotation speed of the electric motor 13 from the rotation speed sensor 28 in order to ensure that driving is performed at or below the permissible upper limit speed on the sidewalk.

[0047] The input information discrimination unit 38b has the function of determining whether the input information acquired by the input information acquisition unit 38a is information indicating that the left shoe 1L and the right shoe 1R are in a predetermined forward-backward displacement state, information indicating that the left shoe 1L and the right shoe 1R are in a parallel state, or information indicating the rotation speed of the electric motor 13, based on the content of the input information and the input device.

[0048] Based on the information from the input information discriminator 38b, when the input information detects a predetermined deviation state between the left-foot shoe 1L and the right-foot shoe 1R, the duration determination unit 38c determines whether the detected state has continued for a predetermined time t1 from the detection time point. When the input information detects a parallel state between the left-foot shoe 1L and the right-foot shoe 1R, it has a function of determining whether the detected state has continued for a predetermined time t2 (t1 > t2) from the detection time point.

[0049] Based on the information from the input information discriminator 38b, when the input information is the rotation speed information of the electric motor 13, the comparison unit 38d has a function of determining whether the rotation speed of the electric motor 13 exceeds the upper limit rotation speed.

[0050] Based on the information from the input information discriminator 38b and the duration determination unit 38c, when the output adjustment unit 38e obtains determination information that the input information has detected a predetermined deviation state between the left-foot shoe 1L and the right-foot shoe 1R and the detected state has continued for a predetermined time t1 from the detection time point, it outputs a drive start signal to the self-holding circuit 15 (realizing the self-holding state) and at the same time exhibits a function of outputting a braking release signal (plunger extension signal) to the solenoid 23. Further, when the output adjustment unit 38e obtains determination information that the input information has detected a parallel state between the left-foot shoe 1L and the right-foot shoe 1R and the detected state has continued for a predetermined time t2 (t1 > t2) from the detection time point, it outputs a drive stop start signal to the self-holding circuit 15 (releasing the self-holding state) and at the same time exhibits a function of outputting a braking signal (plunger shortening signal) to the solenoid 23. Additionally, based on the information from the comparison unit 38d, when the output adjustment unit 38e obtains determination information that the rotation speed of the electric motor 13 exceeds the upper limit rotation speed, it outputs a drive stop start signal to the self-holding circuit 15 (stopping the drive of the electric motor 13). When it obtains determination information that the rotation speed of the electric motor 13 has dropped below the upper limit rotation speed, it has a function of outputting a drive start signal to the self-holding circuit 15 (resuming the drive of the electric motor 13).

[0051] In addition, in this embodiment, the output adjustment unit 38e, based on information from the input information discrimination unit 38b, determines that the input information has detected a predetermined misalignment between the left shoe 1L and the right shoe 1R, and at that time outputs a plunger extension signal to the solenoid 18 to make the rollers 12f and 12b usable. Furthermore, based on information from the input information discrimination unit 38b, the output adjustment unit 38e determines that the input information has detected a parallel state between the left shoe 1L and the right shoe 1R, and at that time or with a slight delay outputs a plunger shortening signal to the solenoid 18 to retract the rollers 12f and 12b.

[0052] The operation and control of the walking shoe 1 will be explained with reference to Figures 5 to 8. (1) When the main switch 26 is turned ON and the system starts up, the plunger 23a of the solenoid 23 is shortened (braked), and the other equipment is in a state of inactivity (REID readers 31a, 32a, 34a are not detected, and solenoid 18 (plunger 18a) is in the shortened state). As a result, the rollers 12f and 12b are stopped with the brakes applied, and moreover, the rollers 12f and 12b are in the retracted state. Therefore, at this time, the sole of the walking shoe 1 is in contact with the road surface, just like a normal shoe, and the user can walk using the sole of the walking shoe 1.

[0053] (2) As shown in Figure 6 or Figure 7, when the left shoe 1L and the right shoe 1R are in a predetermined relative displacement state in the front-to-back direction, either the RFID reader 32a in the left shoe 1L or the RFID reader 31a in the right shoe 1R will detect the corresponding electronic tag 31b or 32b (read the code information) and output detection information. This detection information is input as common information to the control unit U of the left shoe 1L and the control unit U of the right shoe 1R. Specifically, as shown in Figure 6, when the right shoe 1R is positioned in front of the left shoe 1L, and the RFID reader 31a in the right shoe 1R detects the electronic tag 31b in the left shoe 1L, the detection information is directly received by the control unit U (UR) in the right shoe 1R and also sent to the control unit U (UL) in the left shoe 1L via the communication unit 36 ​​(36R, 36L). On the other hand, as shown in Figure 7, when the left shoe 1L is positioned in front of the right shoe 1R, and the RFID reader 32a in the left shoe 1L detects the electronic tag 32b in the right shoe 1R, the detection information is directly received by the control unit U (UL) in the left shoe 1L, and also sent to the control unit U (UR) in the right shoe 1R via the communication unit 36 ​​(36L, 36R).

[0054] (3) When detection information is output by the RFID reader 31a or 32a, the plunger 18a of the solenoid 18 is immediately extended in the left shoe 1L and the right shoe 1R, causing the rollers 12f and 12b to protrude from the bottom surfaces of the left shoe 1L and the right shoe 1R (making the rollers 12f and 12b usable). After the detection state continues for a predetermined time t1 from the time of the output (detection), the plunger 23a of the solenoid 23 is extended, releasing the braking by the braking mechanism 20, and the electric motor 13 is turned ON, starting the drive movement by the rollers 12f and 12b. In this case, even if the RFID reader 31a or 32a stops outputting detection information after this, the drive movement by the rollers 12f and 12b continues based on the self-holding circuit 15, and the user can assume a free posture during this time. However, if the rotational speed of the electric motor 13 exceeds the upper limit rotational speed while the rollers 12f and 12b are driving the vehicle, the electric motor 13 will be turned OFF, and will not be turned ON until the rotational speed of the electric motor 13 falls below the upper limit rotational speed.

[0055] (4) As shown in Figure 8, when the left shoe 1L and the right shoe 1R are in parallel, the RFID reader 34a in the right shoe 1R detects the electronic tag 34b in the left shoe 1L. This detection information is directly received by the control unit U (UR) in the right shoe 1R and also sent to the control unit U (UL) in the left shoe 1L via the communication unit 36 ​​(36R, 36L). After the detection state from the RFID reader 34a continues for a predetermined time t2, the electric motor 13 is turned OFF, stopping the drive movement by the rollers 12f and 12b, and the plunger 23a of the solenoid 23 is shortened, allowing the braking mechanism 20 to work. At the same time, the plunger 18a of the solenoid 18 is shortened, and consequently, the rollers 12f and 12b are moved to their retracted state by the spring material 17. This allows the user to walk while utilizing the soles of both the left shoe 1L and the right shoe 1R.

[0056] Figure 9 is a flowchart that specifically illustrates an example of controlling the walking shoe 1 described above. In Figure 9, S represents a step.

[0057] When the main switch 26 is turned ON, various information is read in S1. This information includes the initial state when the main switch 26 is turned ON (the retracted state of the rollers 12f and 12b (the plunger 18a of the solenoid 18 is in a shortened state), the braking state (the plunger 23a of the solenoid 23 is in a shortened state), the drive stop state (the electric motor 13 is OFF)), a predetermined time t1 for determining whether to drive, a predetermined time t2 for determining whether to stop driving, and the upper limit rotational speed of the electric motor 13 to keep the driving speed based on the rollers 12f and 12b at 6 km / hr or less. Once the various information is read in S1, in S2, it is determined whether or not it has been detected that the left shoe 1L and the right shoe 1R are in a predetermined misaligned state, based on the detection information from the RFID reader 31a or 32a in the first detection mechanism 27A. This is to determine whether to drive. In this case, the control unit U from which the RFID reader has outputted detection information will transmit the detection information to the control unit U that the RFID reader has not outputted.

[0058] When S2 is YES, S3 determines whether or not the vehicle is already in a driven state. Initially, since the vehicle is not in a driven state, S3 is determined to be NO, and in S4, the plunger 18a of the solenoid 18 is extended so that the rollers 12f and 12b are ready for use. Subsequently, the timer is activated (S5), and while determining that the detection of the above-mentioned misalignment state is continuing (S6), it is determined whether or not a predetermined time t1 has elapsed (S7). This is to reliably detect the user's desire for driven driving. For this reason, when S6 is NO, the plunger 18a of the solenoid 18 is shortened to retract the rollers 12f and 12b (S8), and the process returns to S2, and when S7 is NO, the process returns to S6.

[0059] If the answer to S7 is YES, it is assumed that the user desires to drive the vehicle, and in S9 the timer is released. Then, in the next step, S10 the plunger 23a of the solenoid 23 is extended, releasing the brake of the braking mechanism 20, and in S11 the electric motor 13 is driven. This enables the vehicle to drive using the walking shoe 1.

[0060] In the next step, S12, it is determined whether the rotational speed of the electric motor 13 has exceeded the permissible upper limit during driving. This is to maintain a speed of 6 km / hr or less, which is the permissible speed on sidewalks. Therefore, if S12 is NO, S13 determines whether the electric motor 13 is stopped and returns to S2, and driving continues. On the other hand, if S12 is YES, S14 stops the driving of the electric motor 13 and returns to S12, and the driving speed is reduced until it reaches the permissible speed on sidewalks. As a result, when the determination in S12 is NO, S13 becomes YES, and in S15, the driving of the electric motor 13 is started. This, combined with the fact that the braking mechanism 20 is not applied at this time, maintains the speed of driving by the walking shoes 1 at the permissible speed on sidewalks.

[0061] When the determination in S2 is NO, it means that the left shoe 1L and the right shoe 1R are not in a forward-backward displacement state. In this case, in S16, it is determined whether the left shoe 1L and the right shoe 1R are in a parallel state based on the detection information from the RFID reader 34a in the second detection mechanism 27B. This is to determine whether the driving of the walking shoe 1 is stopped. If S16 is NO, the system returns, while if S16 is YES, in S17, it is determined whether the driving has already stopped. This is to determine whether the processing in S17 to S19 described later is necessary. In this case, the detection information indicating that the left shoe 1L and the right shoe 1R are in parallel state is sent from the communication unit 36 ​​(36R) of the control unit U (UR) in the right shoe 1R to the communication unit 36 ​​(36L) of the left shoe 1L. Based on this common detection information, the left shoe 1L and the right shoe 1R perform the same processing in synchronization.

[0062] When S17 is YES, no further processing is required to stop the drive, so the system returns. However, when S17 is NO, the timer is activated (S18), and while determining that the detection of the parallel state is continuing (S19), it is determined whether a predetermined time t2 has elapsed (S20). This is to reliably detect the user's desire to stop the drive. For this reason, when S19 is NO, the system returns to S2, and when S20 is NO, the system returns to S19.

[0063] If S20 is YES, it is assumed that the user wishes to stop the drive, and in S21 the timer is released, and in S22 the electric motor 13 is stopped. Next, in S23 the plunger 23a of the solenoid 23 is shortened and the braking mechanism 20 is activated, and in the following S24 the plunger 18a of the solenoid 18 is shortened and the rollers 12f and 12b are retracted, and then returned. This makes it possible to walk while keeping the bottom surface of the walking shoe 1 in contact with the road surface.

[0064] Figures 10 and 11 show a second embodiment. In this second embodiment, the same reference numerals are used for components that are the same as in the first embodiment, and their descriptions are omitted.

[0065] The second embodiment shown in Figures 10 and 11 shows a modification of the first embodiment. In this second embodiment, the first arrangement state of the left shoe 1L and the right shoe 1R is set to be a predetermined displacement state in the front-rear direction relative to the left shoe 1L and the right shoe 1R, and the second arrangement state is set to be all arrangement states other than the predetermined displacement state. Therefore, as shown in Figure 10, the continuous output of detection information by the RFID reader 31a or 32a (maintaining the first arrangement state) is a condition for driving by the rollers 12f and 12b, and as long as this is maintained, as shown in Figure 11, the braking of the braking mechanism 20 is released and the electric motor 13 is driven (driving by the rollers 12f and 12b).

[0066] Conversely, when no detection information is output from either the RFID readers 31a or 32a, the electric motor 13 is stopped and the braking mechanism 20 is activated. As a result, in this embodiment, when the main switch 26 is ON, the plunger 18a of the solenoid 18 extends and the rollers 12f and 12b become usable, so the vehicle walks with the rollers 12f and 12b, which have been made immobile by the braking mechanism 20, as the bottom surface. In stopping the electric motor 13, the second detection mechanism 27B (RFID reader 34a, electronic tag 34b) in the first embodiment becomes unnecessary, thus reducing the number of parts.

[0067] This second embodiment of control can be shown by removing steps S4, S8, S16, and S24 from the flowchart in Figure 9 showing the control example of the first embodiment, and changing S19 to a step of determining whether or not state detection other than a predetermined misalignment state is continuing. Of course, in this case as well, as in the first embodiment, the lifting mechanism 18 can be used to make the rollers 12f and 12b usable when the electric motor 13 is driven, and to retract the rollers 12f and 12b when the electric motor 13 is not driven.

[0068] Furthermore, in the first embodiment, the driving conditions for the electric motor 13 were that the detected misalignment state continued for a predetermined time t1 from the point of detection, taking into account the user's desire for driving and the completion time of the lifting mechanism 18 (the time until the rollers 12f and 12b become usable). However, in this embodiment, considering that the rollers 12f and 12b become usable when the main switch is turned ON, it is possible to omit setting a predetermined time t1 before driving the electric motor 13.

[0069] Although the embodiments have been described above, the present invention also includes the following embodiments: (1) Setting the arrangement relationship between the left shoe 1L and the right shoe 1R as appropriate for the first and second arrangement states. (2) Setting the second arrangement state not only when the left shoe 1L and the right shoe 1R are in parallel in the left-right direction, but also when either the left shoe 1L or the right shoe 1R is in an arrangement state that is lifted off the road surface. To detect this state, load fluctuations are detected by detecting the current consumption, terminal voltage, rotation speed, torque, etc. of the electric motor 13, and based on these load fluctuations, it is possible to determine that either the left shoe 1L or the right shoe 1R is lifted off the road surface. (3) Two sets of the second pair of communication elements are provided, with one set provided as in the first embodiment, while the RFID reader in the other set is provided approximately in the center of the front-to-back direction on the inner side surface of the left shoe 1L, and the electronic tag in the same set is provided approximately in the center of the front-to-back direction on the inner side surface of the right shoe 1R at the same height as the RFID reader.

[0070] (4) The direction of the directional antennas of the RFID readers 31a, 32a, and 34a are appropriately set (detection direction of predetermined misalignment state and parallel state, and detectable range). Specifically, under the configuration according to the first embodiment, the more the direction of the radio waves from the RFID readers 31a and 32a is directed diagonally backward, the wider the predetermined misalignment state to be detected can be. Also, in the case where the RFID reader 31a is provided on the front of the right shoe 1R and the electronic tag 32b is provided on the rear, while the RFID reader 32a is provided on the front of the left shoe 1L and the electronic tag 31b is provided on the rear, the more the direction of the radio waves from the RFID readers 31a and 32a is directed diagonally forward, the wider the predetermined misalignment state to be detected can be. For this reason, by appropriately setting the direction of the radio waves from the RFID readers 31a and 32a, the degree of misalignment in the predetermined misalignment state can be made desirable. Of course, in this case, the directivity range of the radio waves from the RFID readers 31a and 32a is preferably narrow as long as it does not cause any problems. (5) An optical sensor is used as the detection mechanism (first and second detection mechanisms 27A and 27B) 27. For example, a detection mechanism consisting of an optical emitter and receiver and a reflector that reflects light from the optical emitter and receiver when facing the optical emitter and receiver can be used. (6) In the first embodiment, the rollers 12f and 12b are made usable when the main switch 26 is turned ON, and the rollers 12f and 12b are put back into storage when the main switch 26 is turned OFF.

[0071] (7) The lifting mechanism 20 is omitted, and the rollers 12f and 12b are always made protruding from the bottom surfaces of the left shoe 1L and the right shoe 1R, respectively, to make them usable. (8) The lifting mechanism 18 only needs to be functionally able to move up and down to move the rollers 12f and 12b in the vertical direction, and any suitable configuration can be used, such as a mechanical type using a link mechanism. (9) The predetermined times t1 and t2 are set or omitted as appropriate depending on the situation.

[0072] The present invention relates to walking shoes that allow for both walking and propulsion, and can be used to minimize the burden on the user when selecting between walking and propulsion.

[0073] 1 Walking shoe 1L Left shoe 1R Right shoe 12f Front roller 12b Rear roller 16 Lifting mechanism 20 Braking mechanism 27 Detection mechanism 27A First detection mechanism 27B Second detection mechanism 31a RFID reader (one communication element) 31b Electronic tag (other communication element) 32a RFID reader (one communication element) 32b Electronic tag (other communication element) 34a RFID reader (one communication element) 34b Electronic tag (other communication element) U Control unit (control device)

Claims

1. Walking shoes comprising a left shoe and a right shoe, wherein walking is performed using the left shoe and the right shoe, each of the left shoe and the right shoe is provided with a running roller provided at its bottom, an electric motor for driving the running roller, a braking mechanism for applying braking to the running roller, a braking adjustment device for adjusting the braking mechanism and normally causing the braking mechanism to apply braking to each of the running rollers, and a control device for controlling the electric motor and the braking adjustment device, wherein a detection mechanism is associated with the left shoe and the right shoe so as to be able to detect when the arrangement of the left shoe and the right shoe is in a first arrangement state, or in a second arrangement state other than the first arrangement state, Walking shoe characterized in that, when the control device determines, based on detection information from the detection mechanism, that the first arrangement state is reached, it controls the brake adjustment device to release the brake of the brake mechanism and outputs a drive start signal to start driving the electric motor, and when it determines that the left shoe and the right shoe are in the second arrangement state, it outputs a drive stop start signal to start stopping the driving of the electric motor, and in conjunction with the output of the drive stop start signal, it controls the brake adjustment device to set the brake mechanism to apply brakes to each of the running rollers.

2. The walking shoe according to claim 1, wherein the first arrangement state is set to be a state in which the left shoe and the right shoe are relatively offset from each other in the front-to-back direction, and the second arrangement state is set to be a specific state other than the first arrangement state, wherein the left shoe and the right shoe are in a parallel state in the left-to-right direction, or either the left shoe or the right shoe is in an arrangement state that is floating above the road surface.

3. The walking shoe according to claim 1, wherein the control device is configured to release the braking of the braking mechanism and output a drive start signal to start driving the electric motor when it determines, based on detection information from the detection mechanism, that the detection time in the first arrangement state has continued for a predetermined time.

4. The walking shoe according to claim 1, wherein each of the left shoe and the right shoe is provided with a lifting mechanism that moves the running roller up and down to set the running roller to a stored state in which it is retracted inward from the bottom of the left shoe and the right shoe, and to a usable state in which it is protruding from the bottom of the left shoe and the right shoe, and the control device is set to control the lifting mechanism to set the running roller to the usable state when it determines from the detection information from the detection mechanism that the detection information is in the first arrangement state, and when it determines from the detection information that the detection information is in the second arrangement state, it controls the lifting mechanism to set the running roller to the stored state.

5. The walking shoe according to claim 4, wherein the control device is configured to output a drive start signal to release the braking of the braking mechanism and start driving the electric motor when it determines, based on the detection information from the detection mechanism, that the time during which the first arrangement state has been detected has continued for a predetermined time, and the predetermined time is set to be longer than the time it takes for the running roller to move from the stored state to the usable state.

6. The detection mechanism in claim 2 is provided with a first and second detection mechanism which includes a pair of communication elements for exchanging communication information and outputs the detection information when an exchange of communication information is established between the pair of communication elements, wherein one of the communication elements in the first detection mechanism is provided on either the front or rear of the inner side surface of at least one of the left shoe and the right shoe, while the other communication element is provided on the other of the front or rear of the inner side surface of the other of the left shoe and the right shoe, wherein one of the communication elements in the second detection mechanism is provided in the center in the front-to-back direction of the inner side surface of at least one of the left shoe and the right shoe, while the other communication element is provided in the center in the front-to-back direction of the inner side surface of the other of the left shoe and the right shoe, A walking shoe characterized in that the control devices in the left shoe and the right shoe are configured to receive the detection information output from the first and second detection mechanisms as common information.

7. The walking shoe according to claim 1, characterized in that the control device controls the electric motor so that the running speed based on the running roller is less than or equal to the permissible upper speed limit on the sidewalk.

8. The walking shoe according to claim 1, wherein all states other than the first arrangement state are set as the second arrangement state, and when the control device determines, based on information from the detection mechanism, that the first arrangement state has been reached, it controls the brake adjustment device to release the brake of the brake mechanism and outputs a drive signal to drive the electric motor, and when it determines that the state is other than the first arrangement state, it outputs a drive stop signal to stop the driving of the electric motor, and in conjunction with the output of the drive stop signal, it controls the brake adjustment device to set the brake mechanism to apply brakes to each of the running rollers.

9. The walking shoe according to claim 8, characterized in that, as the first arrangement state, the left shoe and the right shoe are set to be in a predetermined relative displacement state in the front-to-back direction.

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