JP2012115311A - Walking device and walking program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To assist a user to properly walk by using an image projected on a walking reference surface.SOLUTION: A user wears a wearable robot 1 and gets on/off an escalator 300 to move. Step plate information including the speed of the step plates, and feed-out pitch of the step plates in the escalator 300 is superimposed on illumination light of a lighting unit 100 by modulating the illumination light. The wearable robot 1 detects the illumination light of the lighting unit 100 at a position 200 in an illumination area, and receives the step plate information included in the light. The wearable robot 1 emits light diagonally forward down in a predetermined shape pattern to project an image, photographs the image, detects a level difference between a comb plate at the end and the step plate, on the basis of the distortion of the image, and calculates a distance between the comb plate and the step plate to be fed. The wearable robot 1 drives to allow the user to appropriately put his/her feet on the step plate through the use of the distance to the step plate and the step plate information.

Description

  The present invention relates to a walking device and a walking program, for example, to a device that assists walking.

In recent years, wearable robots that assist the wearer's movement have attracted attention.
Wearable robots support the wearer's body movements by detecting the movement of the wearer's body and sensors installed on the wearer's body, for example, assisting muscle work such as lifting heavy objects It is expected to be used in situations where

As such a technique, there is “a wearable movement assist device, a control method of a wearable movement assist device, and a control program” in Patent Document 1.
In this technique, a biological signal is detected by a sensor installed on the wearer, and the actuator is used to generate power according to the wearer's intention.
Further, in the field of communication technology, there is “Lighting fixture having communication function” of Patent Document 2.
In this technique, a signal is transmitted to an illuminating body through a power line, and the signal is transmitted from the illuminating body by radio or light modulation.

By the way, the conventional wearable robot assists muscular labor and the like, and is not suitable for an application for assisting the operation of a wearer who does not have sufficient physical function or judgment ability, such as an elderly person or a physically handicapped person.
Particularly in the case of walking assist, how to perform an appropriate walking motion with respect to a step existing in the forward direction has been an important issue.

JP 2005-95561 A JP 2009-141766 A

  An object of the present invention is to assist an appropriate walking motion.

In the first aspect of the present invention, a walking control means for controlling at least two feet to walk on the walking reference plane, and an irradiating means for irradiating the walking reference plane in a forward direction with light of a predetermined pattern from a light source; Imaging means for capturing an image projected on the walking reference plane by the irradiated light; step detection means for detecting a step with respect to the walking reference plane using distortion from the predetermined pattern of the captured image; And the walking control means controls the foot part based on the detected step when walking from the near side of the detected step to the other side. .
In the invention according to claim 2, the walking reference plane on the far side is moving along the forward direction at the step, and the walking control means is synchronized with the movement of the walking reference plane on the far side. The walking device according to claim 1, wherein the foot is controlled so that the foot is placed on the walking reference plane on the far side.
According to a third aspect of the present invention, there is provided synchronization information receiving means for receiving synchronization information for synchronizing the foot portion with the movement of the walking reference plane on the far side, and the walking control means comprises the received synchronization 3. The walking device according to claim 1, wherein information is used to synchronize the foot with a movement of the walking reference plane on the far side.
According to a fourth aspect of the present invention, in the walking device according to the first, second, or third aspect, the step detecting means detects a distance from the foot to the step. provide.
The invention according to claim 5 is characterized in that the step is a step generated between a movable part and a stationary part at the start position or end position of an escalator or a moving sidewalk. The walking device according to any one of claims 4 to 4 is provided.
The invention according to claim 6 provides the walking device according to claim 3, wherein the synchronization information receiving means receives the synchronization information by light emitted from the lighting fixture.
In the invention according to claim 7, a walking control function for controlling at least two feet to walk on the walking reference plane, and an irradiation function for irradiating the walking reference plane in a forward direction with light of a predetermined pattern from a light source; An imaging function for capturing an image projected on the walking reference plane by the irradiated light; and a step detection function for detecting a step with respect to the walking reference plane using distortion from the predetermined pattern of the captured image; The walking control function controls the foot portion based on the detected step when walking from the near side of the detected step to the far side. Provide a walking program.

  According to the present invention, an appropriate walking motion can be assisted by using an image projected on the walking reference plane.

It is a figure for demonstrating the outline | summary of this Embodiment. It is the figure which showed the mounting state of a mounting type robot, and a mounting robot system. It is a figure for demonstrating the method to detect the level | step difference in the entrance / exit of an escalator. It is a flowchart for demonstrating the procedure boarded by the tread board center boarding method. It is a flowchart for demonstrating the stride walk pitch calculation process in the step board center boarding method. It is a flowchart for demonstrating the procedure boarded by the step board comb board boundary boarding method. It is a flowchart for demonstrating the foot position calculation process in the step board comb board border boarding method. It is a flowchart for demonstrating the procedure which gets off by the comb board center getting-off method. It is a flowchart for demonstrating the stride walk pitch calculation process in the comb board center getting-off method. It is a flowchart for demonstrating the procedure to get off by the step board comb board boundary drop method. It is a flowchart for demonstrating the foot position calculation process in the step board comb board boundary getting off method.

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

When receiving the tread board information, the wearable robot 1 projects and captures an image by irradiating a predetermined shape pattern of light onto the walking surface diagonally downward in the forward direction, and from the distortion of the image, the comb plate (com plate of the entrance) ) And the step difference between the treads and the distance from the comb plate to the tread is calculated.
The wearable robot 1 is driven using the distance to the tread and the tread information so that the wearer's feet appropriately land on the tread.

Moreover, the tread information is also included in the light emitted by the illumination 101 before exiting the escalator 300, and the wearable robot 1 receives the tread information at a position 201 in the illumination area of the illumination 101.
Then, the wearable robot 1 projects an image forward and obliquely downward, detects a step between the comb plate and the tread plate from the distortion, and calculates a distance to the comb plate. The image may be projected at all times, or may be projected after receiving tread information for power saving.
Next, the wearable robot 1 drives the wearer's foot to appropriately land on the comb plate at the position 202 using the distance to the comb plate and the tread board information.

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

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

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

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

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

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

  In order to detect a level difference, it is necessary to point the imaging unit 9 at a predetermined angle toward a walking reference plane (a surface on which the wearer walks, such as the ground or floor), but the wearer wears the wearable robot 1. In this case, since the imaging unit 9 is inclined depending on the mounting state, the triaxial actuator 6 corrects this.

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

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

In the imaging unit 9, the light source device 4 and the imaging camera 5 are fixed, and the roll angle, the yaw angle, and the pitch angle with respect to the waist mounting portion 7 are changed by the triaxial actuator 6.
That is, by driving the imaging unit 9 with the triaxial actuator 6, the roll angle of the light source device 4 and the triaxial actuator 6 with respect to the waist mounting portion 7 while the relative positions of the light source device 4 and the imaging camera 5 are fixed, The yaw angle and pitch angle can be changed.

The wireless communication device 10 detects various types of information such as tread information included in the light emitted from the lighting 100.
Here, the illumination light is used for wireless communication because the location where information is received can be limited to the illumination area, and the illumination is usually installed at the location where the escalator is installed. This is because new equipment investment for communication can be reduced.
Note that wireless communication using normal radio waves may be used without using illumination light.

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

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

The CPU executes various computer programs stored in the storage medium, calculates the height of the imaging camera 5, recognizes the steps of the stairs and the escalator, and drives the walking actuator 17 to provide walking support. .
The CPU is connected to the light source device 4, the imaging camera 5, the 3-axis actuator 6, the 3-axis sensor 3, and the wireless communication device 10 through an interface, and turns on / off irradiation from the light source device 4, or the imaging camera 5. Image data is acquired from the sensor, the triaxial actuator 6 is driven, the detection value is acquired from the triaxial sensor 3, and the tread board information is acquired from the wireless communication device 10.

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

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

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

Each drawing in FIG. 3 is a diagram for explaining a method of detecting a step between the comb board 40 and the tread board 50 at the entrance of the escalator 300.
FIG. 3A is a diagram showing a light irradiation state at the entrance of the escalator 300.
The entrance of the escalator 300 includes a comb plate 40 and a step plate (step) 50 disposed in front of the comb plate 40 and at a position lower than the comb plate 40.
The tip portion of the comb plate 40 has a flat portion 41 and an inclined portion 42 formed over the tread plate 50, and a step due to the inclined portion 42 is formed. And the tread board 50 is drawn out from the front-end | tip of the inclination part 42 at predetermined speed.

FIG. 3B is an example of an image of the projection image 26 of the light source device 4 captured by the imaging camera 5 at the entrance.
The wearable robot 1 irradiates a step with light having a predetermined shape pattern by the light source device 4 and captures an image projected by the imaging camera 5.
In the present embodiment, the light source device 4 irradiates light with a circular cross-section onto a walking reference plane that exists obliquely downward in the forward direction. Therefore, when the walking reference plane is a plane, the projection image 26 has the forward direction as the major axis. It becomes oval.
However, if there is a step in the projection image 26, the projection image 26 is distorted from an elliptical shape, and the step can be detected by detecting the distortion by image recognition.

In the example of FIG. 3B, the position corresponding to the start position of the inclined portion 42 of the comb plate 40 (the position of x pixels from the lower end of the screen frame 31) and the tip of the inclined portion 42 due to the level difference caused by the inclined portion 42, That is, distortion occurs at a position corresponding to the position where the tread board 50 is extended (position of y pixel from the lower end of the screen frame 31).
In the screen frame 31, the forward end is the upper end, the end closer to the wearer is the lower end, and the distance from the lower end to the upper end is z pixels.

The light emitted from the light source device 4 spreads away from the light source device 4, the inclination of the comb plate 40 is inclined downward from the reference plane toward the tip, and the tread plate 50 is lower than the comb plate 40. Exists in position.
Therefore, when the comb plate 40 is inclined, the width of the projection image 26 is wider than that of the flat portion of the comb plate 40, and the width of the projection image 26 is further widened because the step is at a position lower than the comb plate 40.

In this way, when descending due to a step, the width of the projected image 26 increases on the upper end side of the screen frame 31. Conversely, when climbing upward due to a step, the width of the projected image 26 is narrowed on the upper end side of the screen frame 31.
That is, it is possible to recognize the presence of a step by the distortion (discontinuous portion) of the contour of the projection image 26, and to determine whether it is an up or down step by the width of the projection image 26.

FIG. 3C is a diagram for explaining a method for obtaining the distance to the step.
The horizontal distance from the imaging camera 5 to the position corresponding to the lower end of the screen frame 31 is C, the horizontal distance to the position corresponding to the upper end is D, the distance a from the lower end to the start position of the inclined portion 42 of the comb plate 40, The distance from the lower end to the tip of the comb plate 40 is b.
Then, since x, y, and z of the screen frame 31 correspond to a, b, and (D−C), the inclination of the comb plate 40 from the imaging camera 5 (that is, the position of the wearer) from these proportional expressions. The horizontal distance C + a to the start position of the part 42 is represented by the following formula (1).

  C + a = C + x (DC) / z (1)

Further, the horizontal distance C + b from the imaging camera 5 (that is, the position of the wearer) to the tip of the comb plate 40 is expressed by the following equation (2).
These equations (1) and (2) are stored in the storage device and read out by the CPU at the time of calculation.

  C + b = C + y (DC) / z (2)

In general, since the level difference at the entrance / exit of the escalator 300 is small, the above proportional expression can be used, and the wearable robot 1 recognizes that the level difference of the escalator 300 exists ahead by the illumination 100. The above proportional expression is applied to the step.
Expressions (1) and (2) are examples of approximate expressions, and expressions different from these may be used.

FIG. 3D is a diagram showing a light irradiation state at the exit of the escalator 300, and FIG. 3E is an image of the projection image 26 of the light source device 4 captured by the imaging camera 5 at the exit. It is an example.
The wearable robot 1 can calculate the distance to the step in the same way even at the exit.

Hereinafter, a method for the wearable robot 1 to get on the escalator 300 and a method for getting off the escalator 300 will be described.
There are two types of methods for getting on the escalator 300: a step board center boarding method and a tread board comb board border boarding method.
The tread board center boarding method is a method of moving a weight to the tread board 50 by putting a foot on the center of the tread board 50 to be fed out.

  On the other hand, in the step board comb board border boarding method, a foot is put on the boundary between the comb board 40 and the tread board 50, that is, the toe side of the sole is extended while the rear end side of the sole is placed on the comb board 40. The weight is moved from the rear end of the sole to the toe side when the positional relationship between the toe side of the sole and the tread board 50 becomes appropriate, and is transferred from the comb board 40 to the tread board 50.

In addition, there are two types of methods of getting off from the escalator 300: a comb plate central drop method and a tread plate comb plate boundary drop method.
The comb board center dismounting method is a method in which the entire foot is stepped on the flat portion 41 of the comb board 40 and the weight is moved to the comb board 40.
On the other hand, the step board comb board border drop off method lifts the toe side of the sole of both feet while placing the rear end side of the sole on the tread board 50 to form a space under the toe, and the foot gets on the comb board 40 and gets caught. If detected, this is a method in which the center of gravity of the body is taken forward, that is, a method of starting walking when the inclined portion 42 of the comb plate 40 enters the space under the toes and comes into contact with the sole of the foot.
The wearer selects a favorite method from among these boarding methods and getting-off methods, or automatically selects from a past data archive and registers it in the ECU 16.

First, the step board center boarding method will be described in detail.
FIG. 4A is a flowchart for explaining a procedure for the wearable robot 1 to get on the escalator 300 by the step board center boarding method.
The following operations are performed by the CPU of the ECU 16 according to a predetermined program.
First, the CPU monitors the output from the wireless communication device 10 and monitors whether or not the wireless communication device 10 is within the facility-side communication range (that is, within the illumination area of the illumination 100) (step 5).
When not in the communication range on the equipment side (step 5; N), the CPU continues monitoring in step 5.

When entering the equipment side communication (step 5; Y), the wireless communication device 10 receives the tread information from the lighting 100, and the CPU acquires the speed and the feeding pitch of the tread 50 from the tread information, and the RAM. (Step 10).
Here, the feeding pitch of the tread board 50 is a timing at which a new tread board 50 is fed out from the comb board 40, and the speed of the tread board 50 is a speed at which the tread board 50 is circulating.
In the case of a moving sidewalk, since there is no feeding pitch, it is sufficient to receive the speed.

Next, in the tread board distance calculation process, the CPU calculates the distance from the comb board 40 to the position where the tread board 50 is drawn out, that is, the distance to the tip of the comb board 40 that is the end of the step between the comb board 40 and the tread board 50. Calculate (step 15).
Next, the CPU calculates an optimum stride and a walking pitch for riding on the tread board 50 in a stride direction pitch calculation process (step 20).
Here, the optimal stride and walking pitch are a stride and a walking pitch that puts the foot of the wearer on the center of the tread board 50 and minimizes the load acting on the wearer's body.

Next, the CPU drives the walking actuator 17 with the calculated stride and walking pitch (step 25).
When the wearer places his / her foot on the tread 50, the CPU places the remaining foot on the tread 50 by aligning the remaining foot with the foot previously placed on the tread 50.

FIG. 4B is a flowchart for explaining the tread board distance calculating process in step 15.
First, the CPU drives the light source device 4 and irradiates light of a predetermined shape pattern forward (step 30).
Next, the CPU captures the projection image 26 projected by the imaging camera 5 and stores the image data in the RAM.
Then, the CPU detects distortion corresponding to the x and y positions in the image data by image recognition, and counts the number of pixels up to x and y (step 35).

Next, the CPU reads equation (2) from the storage device, substitutes y stored in the RAM, calculates the distance to the tread plate 50, that is, the distance L1 to the tip of the comb plate 40, and stores it in the RAM. (Step 40).
Note that parameters such as z, C, and D are stored in advance in a storage device.

FIG. 5 is a flowchart for explaining the stride walking pitch calculation process in step 20.
First, the CPU acquires the walking speed v1 of the wearer before boarding (step 50).
The walking speed can be obtained from the movement of the wearer's foot driven by the walking actuator 17. Further, a speed sensor may be mounted on the wearable robot 1 and acquired from the speed sensor, or a navigation system may be mounted on the wearable robot 1 and acquired.

Next, the CPU reads and acquires the speed v2 of the tread 50 from the tread information stored in the RAM (step 55).
Next, the CPU compares the difference between v1 and v2 (step 60), and if the difference between v1 and v2 is within a predetermined value (here, 10%) (step 60; Y), the virtual walking speed v3 is set to v1 and stored in the RAM (step 65).

On the other hand, when the difference between v1 and v2 is not within 10% (step 60; N), the CPU sets the virtual walking speed v3 to v2 and stores it in the RAM (step 70).
Here, the virtual walking speed is a provisional walking speed for determining the final walking speed.

Next, the CPU reads and acquires the distance L1 to the tip of the comb plate 40 from the RAM (calculated by the image recognition in step 40) (step 75).
Next, the CPU calculates time T = L1 / v3 until it reaches the tread board 50 when walking at a virtual speed, and stores it in the RAM (step 80).

Next, the RAM calculates the cycle of the tread 50 after T seconds using the tread information stored in the RAM (step 85).
Here, the cycle is a position state in which the step board 50 is drawn out from the comb plate 40. For example, whether the entire step board 50 has been drawn out or has been drawn out by 1/3. is there.

Next, the CPU determines whether or not the tread plate 50 exists in front of the comb plate 40 after T seconds, that is, whether or not the entire tread plate 50 has been fed out from the comb plate 40 after T seconds (step). 90).
In addition, it is possible to give a predetermined allowable width, for example, when 90% or more of the tread board 50 is extended, it is determined that the whole is extended.
When the tread board 50 does not exist in front of the comb board 40 after T seconds (step 90; N), the CPU reduces the virtual walking speed by a predetermined amount (here, 10%) (step 95) and returns to step 75.

On the other hand, when the tread board 50 is present in front of the comb board 40 after T seconds (step 90; Y), the CPU can perform the stride and the walking pitch that can be performed with the minimum change from the current state in order to set the walking speed to v3. Is calculated and stored in the RAM (step 100).
Next, the CPU reads out the stride and the walking pitch stored in the RAM, and controls the walking actuator 17 based on the steps (step 105).

  As described above, the CPU continuously operates the wearer's walking and stepping on the tread 50 while minimizing the change in the walking speed of the wearer and reducing the unnatural feeling given to the wearer. (That is, the wearer does not need to stop at the comb plate 40 and adjust the time for the stepping on).

Next, the step board comb board boundary boarding method will be described in detail.
FIG. 6A is a flowchart for explaining a procedure for the wearable robot 1 to get on the escalator 300 by the step board comb board boundary boarding method.
The same steps as those in FIG. 4A are denoted by the same step numbers, and description thereof is omitted.
After receiving the tread information (steps 5 and 10) and the tread distance calculation process (step 15), the CPU performs the foot position calculation process (step 21) and controls the walking actuator (step 25). .
Here, the foot position calculation process is to calculate a foot position for minimizing a speed change when getting on the tread board 50.
FIG. 6B is a flowchart showing the steps of the tread board distance calculation process, which is the same as FIG. 4B.

FIG. 7 is a flowchart for explaining the foot position calculation processing in step 21.
First, the CPU acquires the wearer's walking speed v1 (step 150).
Next, the CPU reads and acquires the distance y to the tip of the comb plate 40 from the RAM (calculated by the image recognition in step 40) (step 155).

Next, the CPU reads and obtains the footer size y1 of the wearer previously stored in the storage device from the storage device (step 160).
As described above, in the step board comb board boundary boarding method, the foot size of the wearer is previously input to the ECU 16 and stored in the storage medium.

Next, the CPU corrects the distance to the boarding to L1 = y + y1 / 2 and stores it in the RAM (step 165). That is, the CPU extends the distance to the tread board 50 by half of the sole size.
Next, the CPU calculates an arrival time T = L1 / v1 to the tread board 50 and stores it in the RAM (step 170).
Next, the CPU calculates the cycle of the escalator after T seconds based on the feeding pitch included in the tread board information, and stores it in the RAM (step 175).

Next, the CPU determines whether or not the tread board 50 protrudes y1 / 2 or more from the comb board 40 after T seconds (step 180).
That is, the CPU calculates whether or not the step board 50 has come out from the comb board 40 by more than half the foot size when the user steps on the step board 50 at the current walking speed.

If the tread board 50 is out of y1 / 2 or more (step 180; Y), the CPU sets the posture maintenance time T2 to T2 = 0 and stores it in the RAM (step 185). The posture maintaining time T2 is a time for adjusting the difference between the position of the wearer's foot and the cycle of the tread board 50.
On the other hand, when the step board 50 does not come out more than y1 / 2 (step 180; N), the CPU calculates the posture maintaining time T2 where the step board 50 comes out more than 1/2 and stores it in the RAM (step 190).

Next, the CPU reads the walking speed v1 and the corrected distance L1 stored in the RAM, calculates the stride and the walking pitch such that the legs are half on the comb board 40 and the tread board 50 without changing v1, and the RAM (Step 195).
Next, the CPU controls the walking actuator 17 according to the stride and the walking pitch stored in the RAM (step 200).

Next, the CPU determines whether or not the wearer's feet are present on the comb board 40 and the tread board 50 (step 205).
This determination is performed by confirming the passage of the arrival time T stored in the RAM and confirming that the foot is in contact with the ground from the angle of the walking actuator 17 or the like.
In addition to this, since there is a step at the tip of the comb plate 40, it may be determined by detecting that it is inclined downward from the heel to the toe.

When the wearer's foot is not yet on the tread board 50 (step 205; N), the process returns to step 200 and the control of the walking actuator 17 is continued.
On the other hand, when the wearer's foot is on the tread board 50 (step 205; Y), the posture maintaining time T2 stored in the RAM is read, and the posture is maintained for the posture maintaining time T2 seconds (step 210).

  Thus, when the wearer places the toe half of the foot on the tread 50, if the tread 50 is over half, the posture maintaining time T2 = 0 and the time for maintaining the posture becomes zero, and the tread 50 is more than half. If not, the posture is maintained for the posture maintaining time T2 seconds until the tread board 50 comes out more than half.

Next, the CPU controls the walking actuator 17 to move the center of gravity of the wearer's body to the toe side (step 215).
Next, the CPU attracts the other foot at the speed of the escalator 300, and further controls the walking actuator 17 so as to stand upright on the tread board 50 in alignment with the one foot (step 220).

  In the above, the control is performed so that the step board 50 is transferred to the tread board 50 when the tread board 50 protrudes from the comb board 40 or more. However, for example, when the tread board 50 protrudes from 1/4 to 3/5. It can be controlled to change to.

Next, the comb board center disembarkation method will be described in detail.
FIG. 8A is a flowchart for explaining a procedure for the wearable robot 1 to get off from the escalator 300 by the comb plate central drop-off method.
The same steps as those in FIG. 4A are denoted by the same step numbers, and description thereof is omitted.
After receiving the tread board information (steps 5 and 10), the CPU calculates the distance to the tip of the comb board 40 installed at the end point of the escalator 300 by image processing (step 16).

Next, the CPU calculates an optimum stride and a walking pitch for riding on the comb plate 40 in a stride walking pitch calculation process, and stores it in the RAM (step 22).
Here, the optimal stride and walking pitch are the stride and the walking pitch that minimizes the load acting on the wearer's body while putting the wearer's foot on the comb plate 40, and the wearer moves back and forth when getting off the vehicle. It is a stride and a walking pitch that cancels out the inertia so as not to shake.
Next, the CPU controls the walking actuator 17 with the stride and the walking pitch.

FIG. 8B is a flowchart showing the procedure of the comb distance calculation process in step 16.
Steps 30 and 35 are the same as those in FIG.
Thereafter, the CPU calculates the distance to the comb plate 40 (step 41). In this method, the wearable robot 1 causes the wearer's foot to land on the flat portion 41 of the comb plate 40, so that the distance to the comb plate 40 is the distance to the start position of the inclined portion 42 (FIG. 3 (e)). To the position corresponding to y).

FIG. 9 is a flowchart for explaining the stride walking pitch calculation process in step 22.
First, the CPU reads and acquires the speed v1 from the RAM from the tread board information (step 250).
Next, the CPU reads and acquires the distance L1 to the comb plate 40 calculated in step 41 from the RAM (step 255).

Next, the CPU calculates the arrival time T1 = L1 / v1 at the tip of the comb plate 40 and stores it in the RAM (step 260).
Next, the CPU reads and acquires the wearer's stride S1 from the RAM (step 265). The stride S1 is measured by the CPU when the wearer is walking on a flat ground and stored in the RAM as past data. You may acquire the average value of past data.

Next, the CPU reads and acquires the sole size S2 of the wearer from the storage device (step 270). The sole size S2 is assumed to be registered in the storage device in advance.
Next, the CPU determines whether or not the sole size S2 is larger than the stride S1 (step 275).

  When the sole size S2 is larger than the step S1 (step 275; Y), the CPU sets the step to S2 (step 280), and sets the walking pitch P1 from S2 so that the speed v2 during normal walking is constant. It is set by P1 = S2 / v1 and stored in the RAM (step 285).

  On the other hand, when the step S1 is larger than the sole size S2 (step 275; N), the CPU sets the step to S1 (step 290), and the walking pitch P1 from S1 so that the speed v2 during normal walking is constant. Is set at P1 = S1 / v1 and stored in the RAM (step 295).

The reason for this setting is as follows.
Elderly people have low exercise ability of their feet and may walk little by little with a small stride. If the wearer tries to transfer from the tread board 50 to the comb board 40 with such a small stride, there is a possibility that the wearer will fall.
Therefore, the wearable robot 1 judges such a way of walking with a small stride as “when the sole size is larger than the stride S1”, and forcibly increases the stride to the sole width when getting off the vehicle. is there.
As described above, the wearable robot 1 can prevent the shogi from being defeated due to being stopped by forcibly moving the wearer forward.

After setting the stride and the walking pitch in this way, the CPU determines whether or not the arrival time T1 has elapsed (step 300).
When the arrival time T1 has not elapsed (step 300; N), the CPU continues monitoring in step 300.
On the other hand, when the arrival time T1 has elapsed (step 300; Y), the CPU controls the walking actuator 17 with the stride and the walking pitch stored in the RAM (step 305).
As described above, even when the wearer's walking ability is low, the wearable robot 1 can compensate for this and get off the vehicle appropriately.

Next, the step board comb board boundary getting off method will be described in detail.
FIG. 10A is a flowchart for explaining a procedure for the wearable robot 1 to get off from the escalator 300 by the step board comb board boundary drop method.
The same steps as those in FIG. 4A are denoted by the same step numbers, and description thereof is omitted.
After receiving the tread board information (steps 5 and 10), the CPU calculates the distance to the tip of the comb board 40 installed at the end point of the escalator 300 by image processing (step 17).

Next, the CPU calculates a foot position for minimizing energy loss when getting off the tread 50 in the foot position calculation process and stores it in the RAM (step 23).
Next, the CPU drives the walking actuator 17 to get off the vehicle (step 25).

FIG. 10B is a flowchart for explaining the comb plate distance calculation processing in step 17.
Steps 30 and 35 are the same as those in FIG.
Next, the CPU calculates the distance to the comb plate 40 (step 42). In this method, in order to raise the toe before reaching the tip of the comb plate 40, the distance to the tip of the comb plate 40 (the distance to the position corresponding to x in FIG. 3E) is calculated.

  Further, the CPU calculates the height H of the step by the inclined portion 42 (the height of the y position with respect to the x position) from the difference between x and y, and stores it in the RAM (step 45). This value is used to control the height at which the toes are raised at the point of departure.

FIG. 11 is a flowchart for explaining the foot position calculation processing in step 23.
First, the CPU acquires the speed v1 of the tread board 50 from the tread board information (step 350).
Next, the CPU reads and acquires the distance L1 to the comb plate 40 from the RAM (step 355). This distance L1 is the distance to the tip of the comb plate 40 because the wearer needs to raise his toes.

Next, the CPU reads and acquires the sole size S2 of the wearer registered in advance in the storage device from the storage device (step 360).
Next, the CPU calculates a toe arrival time T1 = L1 / v1 for the toe to reach the tip of the comb plate 40 and stores it in the RAM (step 365).

Next, the CPU calculates L2 = L1 + S2 / 2 as a correction value for the distance L1 to the comb plate 40 and stores it in the RAM (step 370). That is, a value obtained by adding half of the sole size S2 to the distance to the tip of the comb plate 40 is set as the distance L2 to the escalator end point.
Next, the CPU calculates the sole arrival time T2 = L2 / v1 when the sole reaches the tip of the comb plate 40 and stores it in the RAM (step 375). The arrival time T1 is a time until the front half of the sole of the wearer reaches the comb plate 40.

Next, the CPU reads and acquires the wearer's stride S1 from the RAM (step 380).
Next, the CPU determines whether or not the toe arrival time T1 has elapsed (step 385). If the toe arrival time T1 has not elapsed (step 385; N), the toe arrival time T1 has elapsed in step 385. Monitor whether or not

On the other hand, when the toe arrival time T1 has elapsed (step 385; Y), the CPU reads and obtains the height H of the step from the RAM, and controls the ankle joint with the walking actuator 17 to lift the toes of both feet by H. (Step 390).
Note that the toes may be lifted up a predetermined time before the toe arrival time T1 elapses (for example, one second before) with a margin.

  Next, the CPU determines whether or not the sole arrival time T2 has elapsed (step 395). If the sole arrival time T2 has not elapsed (step 395; N), the sole reaches in step 395. It is monitored whether time T2 has passed.

On the other hand, when the sole arrival time T2 has elapsed (step 395; Y), the CPU drives the walking actuator 17 to perform the first step of getting off at the normal step S1 (step 400).
Whether the sole has reached the tip of the comb plate 40 is determined based on the sole arrival time T2 and, for example, the center of the sole is detected by detecting a forward impact with the triaxial sensor 3. It may be sensed that it hits the comb plate 40.
The step board comb board border drop-off method is suitable for a wearer with a small stride because there is no need to increase the stride even when the stride is small.

The step board center boarding method, the tread board comb board boundary boarding method, the comb board center boarding method, and the tread board comb board boarding method described above can be applied not only to the escalator 300 but also to a moving sidewalk.
The wearable robot 1 can also be configured to detect the steps of the stairs and go up and down.
Furthermore, although this Embodiment demonstrated the case where the wearer's walk was assisted as an example, an automatic walking robot may be sufficient. Further, the number of legs is not limited to two and may be larger.

According to the embodiment described above, the following effects can be obtained.
(1) The wearable robot 1 can recognize an image of a step between the comb board 40 and the tread board 50 at the entrance and exit of the escalator 300 or the like.
(2) The wearable robot 1 measures the distance to the tread board 50 at the entrance and the distance to the comb board 40 at the exit and recognizes tread information (speed of the tread 50, feeding pitch). By acquiring, the walking actuator 17 can forcibly intervene and get on and off the escalator 300 regardless of the wearer's intention.
(3) Since the wearable robot 1 forcibly intervenes in the walking motion of the wearer, it is possible to realize safe movement even when the judgment and sense of the wearer are weakened.
(4) Utilizing that the lighting fixture is used in a fixed place unless there is a special circumstance, the wearable robot 1 receives the tread information from the lighting equipment installed at the entrance of the escalator 300. Obtainable. Moreover, since the facility side can transmit tread information using the existing equipment, capital investment can be reduced.
(5) The wearable robot 1 supports two types of boarding methods and two types of getting off methods, and the wearer can select a favorite method.

Further, the following configuration can be obtained by the embodiment described above.
The wearable robot 1 walks on a walking reference plane by driving at least two feet, in order to walk on a walking reference plane, such as a floor or a road, using two walking assist units 2. Control means are provided.
The wearable robot 1 irradiates a predetermined pattern of light onto the floor surface in the forward direction by the light source device 4 and captures an image thereof with the imaging camera 5. Irradiation means for irradiating the reference plane and imaging means for capturing an image projected on the walking reference plane by the irradiated light.
Further, the wearable robot 1 uses the distortion from the predetermined pattern of the captured image in order to detect a step generated between the comb board 40 and the tread board 50 using image recognition from the distortion of the projected image 26. Step detecting means for detecting a step with respect to the walking reference plane.
Further, when getting on the escalator 300, the comb plate 40 functions as a walking reference plane on the near side, and the tread board 50 functions as a walking reference plane on the far side. 40 functions as a walking reference plane on the far side, and the wearable robot 1 walks by controlling the stride and the walking pitch on the basis of the distance to the step or the like. When walking from the near side to the far side, the foot is controlled based on the detected step.

Further, when getting on the escalator 300, the step board 50 moves in the forward direction at the step between the comb board 40 and the step board 50. Therefore, the other side of the walking reference plane moves along the forward direction at the step.
The wearable robot 1 synchronizes with the distance to the tread board 50 and the speed and feeding pitch of the tread board 50 when getting on, and the distance to the comb board 40 and the comb board 40 with respect to the wearer when getting off. In order to drive the walking assist unit 2 in synchronization with the apparent speed due to the relative mobility of the walking, the walking control means moves the foot to the walking reference on the far side in synchronization with the movement of the walking reference plane on the far side. The foot is controlled to be placed on the surface.

In addition, the wearable robot 1 receives tread information (functioning as synchronization information) from the lighting 100 or the like, and therefore has synchronization information for synchronizing the foot with the movement of the walking reference plane on the far side. Synchronous information receiving means for receiving is provided.
Since the wearable robot 1 gets on the step board 50 or gets down to the comb board 40 using the speed or feeding pitch of the step board 50 included in the tread board information, the walking control means uses the received synchronization information. It is used to synchronize the foot with the movement of the walking reference plane on the far side.

  In addition, the wearable robot 1 detects the distance from the foot to the step (the tip of the comb plate 40 or the starting position of the inclined portion 42), so that the step detecting means detects the distance from the foot to the step. The distance is detected.

  In addition, the wearable robot 1 detects the step between the comb board 40 and the tread board 50 at the start position and the end position of the escalator 300 or the moving sidewalk. It can be set as the level | step difference which arises between the movable part (step board 50) and stationary part (comb board 40) in an end position.

  Further, since the wearable robot 1 receives the tread information included in the light of the illumination 100, the synchronization information receiving means receives the synchronization information by the light emitted by the lighting fixture.

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

Claims (7)

Walking control means for controlling at least two feet and walking on a walking reference plane;
Irradiating means for irradiating the walking reference plane in a forward direction with light of a predetermined pattern from a light source;
Imaging means for capturing an image projected on the walking reference plane by the irradiated light;
A step detecting means for detecting a step with respect to the walking reference plane using distortion from the predetermined pattern of the captured image;
Comprising
The walking control means, when walking from the near side of the detected step to the far side, controls the foot part with reference to the detected step.   The walking reference plane on the far side moves along the forward direction at the step, and the walking control means moves the foot on the far side in synchronization with the movement of the walking reference plane on the far side. The walking device according to claim 1, wherein the foot is controlled so as to be placed on a reference plane. Synchronization information receiving means for receiving synchronization information for synchronizing the foot to the movement of the walking reference plane on the far side,
The walking device according to claim 1, wherein the walking control unit synchronizes the foot with the movement of the walking reference plane on the far side using the received synchronization information.   The walking device according to claim 1, 2, or 3, wherein the step detecting means detects a distance from the foot to the step.   The said level | step difference is a level | step difference which arises between the movable part and stationary part in the starting position of the escalator or a moving sidewalk, or an end position, The any one of Claim 1 to 4 characterized by the above-mentioned. The walking device according to claim.   The walking apparatus according to claim 3, wherein the synchronization information receiving unit receives the synchronization information by light emitted from a lighting fixture. A walking control function for controlling at least two feet and walking on a walking reference plane;
An irradiation function for irradiating the walking reference plane in a forward direction with a predetermined pattern of light from a light source
An imaging function for capturing an image projected on the walking reference plane by the irradiated light;
A step detection function for detecting a step with respect to the walking reference plane using distortion from the predetermined pattern of the captured image;
Is a walking program that realizes
The walking control function, when walking from the near side of the detected step to the far side, controls the foot part based on the detected step.

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