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WO2018123032A1 - Système de commande d'entraînement pour un robot d'aide à la mobilité - Google Patents

Système de commande d'entraînement pour un robot d'aide à la mobilité Download PDF

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Publication number
WO2018123032A1
WO2018123032A1 PCT/JP2016/089142 JP2016089142W WO2018123032A1 WO 2018123032 A1 WO2018123032 A1 WO 2018123032A1 JP 2016089142 W JP2016089142 W JP 2016089142W WO 2018123032 A1 WO2018123032 A1 WO 2018123032A1
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WO
WIPO (PCT)
Prior art keywords
user
robot
movement support
support robot
operation management
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/089142
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English (en)
Japanese (ja)
Inventor
裕介 松下
大島　章
宏泰 城吉
柄川　索
裕一 腰原
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Doog Inc
Original Assignee
Doog Inc
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Filing date
Publication date
Application filed by Doog Inc filed Critical Doog Inc
Priority to PCT/JP2016/089142 priority Critical patent/WO2018123032A1/fr
Publication of WO2018123032A1 publication Critical patent/WO2018123032A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/06—Buying, selling or leasing transactions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services

Definitions

  • the present invention relates to an operation management system for a movement support robot, and more particularly to a technique for improving user convenience.
  • Patent Document 1 described above, after the user gets into an electric wheelchair stopped at a certain station, the electric wheelchair starts automatic driving by inputting a destination station.
  • the wheelchair robot moves autonomously within the service range while interacting with the user in a state where the user is on board.
  • these conventional mobility support robots are rented at zoos or amusement parks where there are a large number of visitors, it cannot be secured when the user temporarily gets off at the animal exhibition hall, etc. There was a possibility that a handicapped person might lose the means of transportation in the facility.
  • the present invention has been made in view of the above situation, and an object thereof is to provide an operation management system for a movement support robot that realizes improvement of user convenience and the like.
  • An operation management system for a movement support robot is provided for a user to ride, travels within a predetermined operation area with battery power, and has a plurality of movement support robots each having a unique ID, and these movements
  • a movement support robot operation management system including a management device that manages the operation of the support robot, wherein the movement support robot includes a mobile terminal owned by a user and an in-vehicle device that communicates with the management device
  • automatic travel is possible based on an instruction from at least one of the mobile terminal, the in-vehicle device, and the management device, and the management device is based on a boarding request from the mobile terminal or the in-vehicle device.
  • a secure mode in which the travel support robot is not accepted a boarding request from another user. Rutotomoni, to allow for the selection of once getting off and complete the getting-off by the user.
  • the association between the user and the ID of the movement support robot is performed via a boarding card possessed by the user or a two-dimensional code displayed on the screen of the portable terminal.
  • the management device transmits information including an ID of a travel-supporting robot that can be boarded as boarding candidate information to the mobile terminal, and the mobile terminal transmits the boarding candidate information.
  • the user is presented with at least one mobility support robot that can be boarded, and the boarding request signal is transmitted to the management device when a selection operation is performed by the user.
  • the boarding candidate information includes a distance between a travel support robot that can be boarded and a user, and the portable terminal selects a travel support robot that can be boarded from the user when a plurality of the boarding candidate information exists. Display in ascending order.
  • the management device when the movement support robot in the secure mode is located away from the user, the management device outputs an incoming command to the movement support robot toward the user.
  • the movement support robot has a follow-up travel mode in which the travel support robot travels following the leader or the lead travel support robot.
  • the movement support robot includes a control unit used for a user's control, and the in-vehicle device sets the movement support robot to an automatic operation mode based on a user operation or a command from a control device. And switching between user and piloting modes.
  • a charging facility is installed in the operation area, and the movement support robot charges at least one of the management device and the in-vehicle device when the remaining amount of the battery decreases below a predetermined value.
  • the battery has a charging mode in which the battery is charged by automatically running to the charging facility.
  • the movement support robot includes a sensor that detects an obstacle present in the traveling direction, and performs a collision avoidance operation based on a detection result of the sensor.
  • the movement support robot in use is not used by other users when getting off the vehicle temporarily.
  • FIG. 1 is a schematic configuration diagram of a movement support robot operation management system according to the embodiment.
  • FIG. 2 is a perspective view of the movement support robot according to the embodiment.
  • a zoo 1 has a large number of animal exhibition buildings 4 arranged on a vast site 3 partitioned by a fence 2, and a main gate 5 and a back gate 6 for users to enter and leave. Is provided.
  • FIG. 1 shows a hippo house 4a, a bear house 4b, a rhino house 4c, an elephant house 4d, a horse house 4e, a lion house 4f, an ostrich house 4g, and a giraffe house 4h as a part of the animal display house 4.
  • the zoo 1 includes a movement support robot operation management system (hereinafter simply referred to as an operation management system) including an electric autonomous traveling type movement support robot 10, an operation management server 31 (management device), a charging station 32, an empty vehicle area 33, and the like. Is written).
  • an operation management system including an electric autonomous traveling type movement support robot 10, an operation management server 31 (management device), a charging station 32, an empty vehicle area 33, and the like. Is written).
  • the movement support robot 10 includes a vehicle body 11 made of a steel plate, FRP, and the like, a pair of left and right drive wheels 12 provided at the rear lower part of the vehicle body 11, and a pair of left and right caster wheels 13, 2 provided at the front lower part of the vehicle body 11.
  • the main components are a seat 14 on which a named user 7 can sit, a support column 15 erected at the front end of the vehicle body 11, and an in-vehicle device 17 fixed to the upper end of the support column 15.
  • the movement support robot 10 on which the user 7 is boarded is indicated as a boarded movement support robot 10 ′.
  • a tablet-type in-vehicle terminal 18 provided for input by the user 7 and a joystick-type control stick (hereinafter referred to as “joystick”) 19 provided for operation.
  • joystick a joystick-type control stick
  • An infrared laser (or millimeter wave radar or visible light laser) is used to detect surrounding obstacles including the pedestrian 9 (see FIG. 1) and other movement support robots 10 on the upper and lower portions of the support column 15. Sensors 20a and 20b are attached.
  • a battery 21 serving as a power source is provided below the seat 14.
  • a retractable armrest 22 is installed at the rear upper end of the vehicle body 11 so that the user 7 can easily get on and off.
  • the drive wheels 12 are respectively connected to a pair of left and right electric motors (not shown) to which electric power is supplied from the battery 21.
  • the drive wheels 12 are moved forward and backward based on commands from the in-vehicle device 17 or the joystick 19, Turn left and right and turn.
  • the operation management server 31 communicates with the mobile terminal 8 (for example, smart phone: see FIG. 2), the in-vehicle device 17, and the store terminal 35a (described later) held by the user 7 via the wireless LAN or the Internet via a 3G line. Communication is performed between them, and the operation of each of the movement support robots 10 is managed according to the request of the user 7, the movement support robot 10 and the surrounding state.
  • the mobile terminal 8 for example, smart phone: see FIG. 2
  • the in-vehicle device 17 the store terminal 35a (described later) held by the user 7 via the wireless LAN or the Internet via a 3G line. Communication is performed between them, and the operation of each of the movement support robots 10 is managed according to the request of the user 7, the movement support robot 10 and the surrounding state.
  • the charging station 32 has a non-contact type (for example, electromagnetic induction type) charging facility 32 a and charges the battery 21 of the movement support robot 10 in accordance with a charging command from the operation management server 31.
  • a non-contact type for example, electromagnetic induction type
  • the charging facility 32a is not a non-contact type, and may employ a system in which a connector is inserted into a charging socket in the same manner as an electric vehicle or the like.
  • the empty vehicle area 33 is an area where the empty vehicle movement support robot 10 is on standby, and is provided in several places in the site 3.
  • the movement support robot 10 may stop outside the empty vehicle area 33 as long as it does not interfere with the travel of the boarded movement support robot 10 ′ or the pedestrian 9.
  • a plurality of stores such as canteens 35 are arranged on the site 3 of the zoo 1, and store terminals (store terminals 35a in the case of the canteen 35) that communicate with the operation management server 31 are connected to the cash registers of these stores, respectively. Has been.
  • FIG. 3 is a front view of the robot boarding card.
  • FIG. 4 is a flowchart showing the procedure of the login process.
  • FIG. 5 is a front view showing the mobile terminal that has received the QR code request command.
  • FIG. 6 is a front view showing the mobile terminal that has received the password request command.
  • FIG. 7 is a front view showing the mobile terminal in the login state.
  • the user 7 When renting the movement support robot 10, the user 7 first obtains the robot boarding card 41 shown in FIG.
  • the robot boarding card 41 may be handed over by a staff at a facility (such as the main gate 5 or the back gate 6) in the site 3 or may be taken home freely from the card place.
  • the robot boarding card 41 is printed with a QR code (registered trademark) 41a, which is a kind of two-dimensional code, and a password 41b composed of a four-character string (four-digit number in the illustrated example).
  • QR code registered trademark
  • 41a is a kind of two-dimensional code
  • a password 41b composed of a four-character string (four-digit number in the illustrated example).
  • the user 7 who has obtained the robot boarding card 41 accesses the robot web application from the mobile terminal 8 and touches login. Then, the operation management server 31 performs the login process which shows the procedure in the flowchart of FIG. When the login process is started, the operation management server 31 outputs a QR code request command to the mobile terminal 8 in step S1 of FIG. 4, and displays a frame 51 for prompting the reading of the QR code 41a on the display 8a as shown in FIG. Then, in step S2, it is determined whether or not the QR code 41a has been read.
  • buttons 52 are displayed at the bottom of the display 8a.
  • the HOME button 52a is a button for moving to the homepage of the robot operation application
  • the MAP display button 52b is a button for displaying a facility map
  • the purchase history button 52c is a button for displaying a point charge and consumption history
  • the boarding confirmation button 52d is being secured.
  • the movement support robot 10 and the button (e.g., the user 7) and the operation method button 52e are buttons for displaying guidance on the operation method of the robot operation application.
  • step S2 If the determination in step S2 is Yes, the operation management server 31 transmits a password request command to the portable terminal 8 in step S3, and displays a password input box 53a and a login button 53b on the display 8a as shown in FIG. Next, the operation management server 31 determines whether or not an appropriate password (password 41b corresponding to the QR code 41a) is input in step S4. If this determination is Yes, the mobile terminal 8 is set in the login state in step S5. To do.
  • an appropriate password password 41b corresponding to the QR code 41a
  • the operation management server 31 determines whether or not the user ID has been registered in step S6 (that is, whether or not the login has been made within 24 hours with the combination of the mobile terminal 8 and the robot boarding card 41). If this determination is No, the QR code 41a is registered as the user ID of the portable terminal 8 (user 7) in step S7. On the other hand, when determination of step S6 is Yes, the operation management server 31 complete
  • a boarding point display 61 As shown in FIG. 7, a boarding point display 61, a robot status confirmation button 62, a point charge button 63, a point use button 64, and a support contact button 65 are displayed on the display 8 a of the mobile terminal 8 in the login state. .
  • FIG. 8 is a front view of the point card.
  • FIG. 9 is a flowchart showing the procedure of the point charge process.
  • FIG. 10 is a front view showing the mobile terminal that has received the card number request command.
  • FIG. 11 is a front view showing the mobile terminal that has received the re-input request command.
  • FIG. 12 is a front view showing the mobile terminal that has received the invalid display command.
  • FIG. 13 is a front view showing the mobile terminal that has received the charge completion display command.
  • the point card 42 includes a card number (9-digit number in the illustrated example: hereinafter referred to as a prepaid number) 42a and an authentication code 42b composed of a four-character string (four-digit number in the illustrated example). It is printed.
  • the user 7 who purchased the point card 42 accesses the robot web application with the mobile terminal 8, logs in, and touches the point charge button 63. Then, the operation management server 31 performs the point charge process which shows the procedure in the flowchart of FIG. When the point charge process is started, the operation management server 31 outputs a card number request command to the portable terminal 8 in step S11 of FIG. 9, and the card number input box 54a and the authentication code input box are displayed on the display 8a as shown in FIG. 54b and the ENTER button 54c are displayed.
  • the operation management server 31 determines whether or not the prepaid number 42a and the authentication code 42b are input in step S12, and if this determination is Yes, in step S13 whether or not they are of the issued point card 42. Determine whether. If the determination in step S13 is No due to an input error by the user 7, the operation management server 31 outputs a re-input request command to the portable terminal 8 in step S14, and the prepaid number is displayed on the display 8a as shown in FIG. After the display for prompting the re-input of 42a and the authentication code 42b is performed, the process returns to step S12.
  • step S13 determines whether or not the prepaid number 42a and the authentication code 42b input in step S15 belong to an unused point card 42. If the determination in step S15 is No due to a mistake by the user 7 (such as erroneous input of the prepaid number 42a and the authentication code 42b of the used point card 42), the operation management server 31 carries the mobile phone in step S16. An invalid display command is output to the terminal 8, and as shown in FIG. 12, the display 8a is displayed to indicate that it is a used point card 42, and then the process returns to step S12.
  • step S15 determines whether the determination in step S15 is also Yes. If the determination in step S15 is also Yes, the operation management server 31 executes point charge for the robot boarding card 41 in step S17. Thereafter, the operation management server 31 outputs a charge completion display command to the portable terminal 8 in step S18, and displays the current point balance and the robot status confirmation button 62 on the display 8a as shown in FIG. End the process.
  • the point balance is naturally merged (for example, 50P ⁇ 110P).
  • FIG. 14 is a flowchart showing the procedure of the robot securing process.
  • FIG. 15 is a front view showing the portable terminal that has received the empty robot display instruction.
  • FIG. 16 is a front view showing the mobile terminal that has received the selection candidate display command.
  • FIG. 17 is a front view showing the mobile terminal that has received the temporary securing candidate display command.
  • FIG. 18 is a front view showing the mobile terminal that has received the card number request command.
  • the operation management server 31 executes a robot securing process whose procedure is shown in the flowchart of FIG.
  • the operation management server 31 determines the user 7 in step S21 from the positional information of the movement assisting robot 10 (the securing assisting movement assisting robot 10) and the user 7 of the empty vehicle existing in the site 3.
  • the movement supporting robot 10 in a position close to is picked up.
  • the operation management server 31 determines whether or not the robot boarding card 41 has a point balance that can be secured in step S22. If the determination in step S22 is Yes, the operation management server 31 transmits a selection candidate display command to the portable terminal 8 in step S23, and as shown in FIG.
  • the table selection candidates 71 (in the example shown, two of the red tiger 71a and the blue lion 71b) are displayed on the display 8a in ascending order of distance.
  • the selection candidate 71 is provided with a selection button 72 and a position confirmation button 73 indicating the position of the movement support robot 10 on a map (not shown).
  • the operation management server 31 determines whether or not the user 7 has selected (touched) one of the selection candidates 71 in step S24. Then, when the determination in step S24 is Yes, the operation management server 31 links the robot boarding card 41 and the movement support robot 10 in step S25, and then transmits a lock command to the in-vehicle device 17 in step S26. The setting and operation of the movement support robot 10 by the in-vehicle terminal 18 and the joystick 19 are disabled. As a result, boarding (unintentional interception or the like) by other users 7 is not performed on the temporarily secured movement support robot 10.
  • the operation management server 31 transmits a securement process completion display command to the portable terminal 8 in step S27, and as shown in FIG. 16, the securement process completion display 75, an incoming call button 76, a QR code display button 77, and a boarding cancel button 78. Is displayed on the display 8a.
  • the reservation processing completion display 75 displays the point balance 75a and the remaining time 75b together with the name of the selected movement support robot 10, and these decrease as time elapses.
  • step S22 when the determination in step S22 is No, the operation management server 31 transmits a temporary reservation candidate display command to the portable terminal 8 in step S28, as shown in FIG.
  • a caution statement 70 indicating that provisional reservation is automatically canceled in a short time (10 minutes in the illustrated example) and two selection candidates 71a and 71b of the picked-up movement support robot 10 are It is displayed on the display 8a.
  • the selection candidate 71 is provided with a selection button 72 and a position confirmation button 73 indicating the position of the movement support robot 10 on a map (not shown).
  • Below the caution statement 70 there is a “Point card sales place confirmation” link 70a, and when this is touched, a map of ticket machines and shops in the site 3 is displayed.
  • the operation management server 31 determines whether or not the user 7 has selected one of the selection candidates 71 in step S29, and when this determination is Yes, the point charge process (FIG. 9) described above in step S30 is performed. Execute. At this time, in the portable terminal 8 that has output the card number request command, as shown in FIG. 18 (corresponding to FIG. 10 described above), in order to prompt the user 7 to charge points, an authentication code input box 54b, an ENTER button 54c, During this period, the provisional remaining time 54d of the movement support robot 10 is displayed.
  • step S31 determines whether or not the point charge has been completed in step S31. If this determination is Yes, the operation management server 31 proceeds to step S25 to step S27 to transmit the association or securing process completion display command. Execute.
  • FIG. 19 is a flowchart showing the procedure of the incoming vehicle process.
  • FIG. 20 is a front view showing the mobile terminal that has received the call location display command.
  • FIG. 21 is a front view showing the mobile terminal that has received the confirmation display command.
  • FIG. 22 is a front view showing the mobile terminal that has received the in-coming-call display command.
  • the operation management server 31 executes the pick-up process whose procedure is shown in the flowchart of FIG.
  • the operation management server 31 transmits a call location display command to the portable terminal 8 in step S41 of FIG. 19, and as shown in FIG. 20, the call button 81a and the user 7's A current location map 81b and a pull-down menu 8c of each facility (eg, the main gate 5, the back gate 6, the elephant d) are displayed on the display 8a.
  • the operation management server 31 determines whether or not the call button 81a is touched in step S42, and when this determination is Yes, transmits a confirmation display command to the portable terminal 8 in step S43, and confirms as shown in FIG. A confirmation display 82 having a button 82a and a cancel button 82b is popped up on the display 8a. Next, the operation management server 31 determines whether or not the confirmation button 82a has been touched in step S44, and when this determination is Yes, in step S45, an incoming command is transmitted to the in-vehicle device 17 of the movement support robot 10.
  • the in-vehicle device 17 that has received the arrival command causes the movement support robot 10 to autonomously travel to the location designated by the user 7 along the road in the site 3 as indicated by A in FIG.
  • the in-vehicle device 17 detects obstacles in the traveling direction based on input signals from the sensors 20a and 20b, and increases / decreases traveling speed and steers to prevent a collision.
  • the operation management server 31 or the in-vehicle device 17 sends an arrival signal to the mobile terminal 8 of the user 7 when the movement support robot 10 arrives at a place designated by the user 7 so as to notify the arrival. Also good.
  • the operation management server 31 After outputting the incoming command, the operation management server 31 transmits an incoming command to the portable terminal 8 in step S46, and as shown in FIG. 22, the robot status confirmation button 62, the QR code display button 77, the boarding cancel button Along with 78 and the like, a robot call display 85 and a call change button 86 are displayed on the display 8a.
  • the robot call display 85 displays the name of the movement support robot 10 that is calling, the point balance, and the remaining time.
  • the call change button 86 is touched, a display for selecting cancellation of the call and change of the call destination pops up.
  • step S43 determines whether or not the cancel button 82b is touched in step S46. If the determination in step S46 is Yes, the operation management server 31 cancels the call in step S47 and causes the mobile terminal 8 to perform the original display (FIG. 16). If the determination in step S46 is No, the operation management server 31 The process proceeds to S44.
  • FIG. 23 is a flowchart showing the procedure of the robot boarding process.
  • FIG. 24 is a front view showing the in-vehicle terminal that has received the QR code request command.
  • FIG. 25 is a front view showing the in-vehicle terminal that has received the password request command.
  • FIG. 26 is a front view showing the in-vehicle terminal that has received the boarding completion display command.
  • the operation management server 31 executes a robot boarding process whose procedure is shown in the flowchart of FIG.
  • the operation management server 31 outputs a QR code request command to the in-vehicle terminal 18 in step S51 of FIG. 23, and reads the QR code 41a of the robot boarding card 41 on the display 18a as shown in FIG. Display the frame 91, the point balance, and the remaining time.
  • the operation management server 31 determines whether or not the QR code 41a of the robot boarding card 41 associated with the movement support robot 10 has been read in step S52.
  • step S52 When the determination in step S52 is Yes, the operation management server 31 transmits a password request command to the in-vehicle terminal 18 in step S53, and displays the password input box 92 and the lock release button 93 on the display 18a as shown in FIG. .
  • the operation management server 31 determines whether or not an appropriate password (password 41b corresponding to the QR code 41a) is input to the password input box 92 in step S54, and when this determination is Yes, the lock is released in step S55. It is determined whether or not the button 93 is touched.
  • the operation management server 31 transmits an unlock command to the in-vehicle device 17 in step S56, and the user 7 moves the robot 10 Enable operation.
  • the operation management server 31 transmits a boarding completion display command to the mobile terminal 8 and the in-vehicle terminal 18 in step S57, and as shown in FIG. 26, in addition to the point charge button 63 and the support contact button 65, the exit button 95, A complete getting-off button 96 and an operation mode setting button 97 are displayed on the displays 8a and 18a (FIG. 26 shows the display 18a of the in-vehicle terminal 18).
  • the operation mode setting button 97 displays a mode display 97a (in FIG. 26, (line trace mode)) indicating the current operation mode.
  • FIG. 27 is a flowchart showing the procedure of the operation mode setting process.
  • FIG. 28 is a front view showing the in-vehicle terminal that has received the operation mode display change command.
  • the movement support robot 10 has four operation modes (operation support mode, follow-up running mode, line trace mode, and automatic operation mode).
  • the steering support mode is an operation mode when the user 7 controls the movement support robot 10 with the joystick 19, and the in-vehicle device 17 performs a collision prevention assist or the like by securing an inter-vehicle distance or automatic braking.
  • the follow-up running mode is an operation mode when the other traveling support robot 10 or the leader follows the traveling mode, and the in-vehicle device 17 keeps the predetermined distance from the other traveling support robot 10 or the leader. To run.
  • the line trace mode is an operation mode for moving the movement support robot 10 to a place designated by the user 7, and the in-vehicle device 17 automatically moves the movement support robot 10 along a retroreflective tape or the like attached to the road surface. Let it run.
  • the automatic driving mode is a mode in which automatic driving is performed toward a destination point (latitude, longitude, area, etc.), and the in-vehicle device 17 moves the movement support robot 10 along a predetermined traveling route based on the position information of the mounted GPS. Let it run automatically.
  • a line trace mode and an automatic driving mode are possible from the viewpoint of safety, but it is not possible to select a steering support mode or a follow-up running mode.
  • the operation management server 31 that has transmitted the boarding completion signal to the mobile terminal 8 and the vehicle-mounted terminal 18 executes an operation mode setting process whose procedure is shown in the flowchart of FIG.
  • the operation management server 31 determines whether or not the operation mode setting button 97 is touched in step S61 of FIG.
  • the operation management server 31 transmits an operation mode display change command shown in FIG. 28 to the in-vehicle device 17 in step S62, and displays the operation mode change display 101 as shown in FIG. Pop up on 18a.
  • the operation mode change display 101 is provided with the three operation modes 101a to 101c and the operation mode selection button 101d described above, and the user 7 can select the operation mode.
  • the operation management server 31 determines whether or not the operation support mode is selected in step S63. And if this determination is Yes, the operation management server 31 will validate operation by the joystick 19 at step S64, and will make the vehicle-mounted apparatus 17 perform driving assistance at step S65. As a result, the user 7 can freely move within the site 3 as indicated by B in FIG. 1, while the movement support robot 10 is detected from the sensors 20a and 20b as indicated by B ′ in FIG. Based on the input detection signal, warning, deceleration, braking, and the like are performed to prevent a collision with another movement support robot 10 ′ or a pedestrian 9. Next, the operation management server 31 transmits an operation support mode display command to the in-vehicle device 17 in step S66, and changes the mode display 97a of the operation mode setting button 97 (see FIG. 26) to (operation support mode).
  • step S63 determines whether or not the follow-up traveling mode is selected in step S67. And if this determination is Yes, the operation management server 31 will perform follow-up driving
  • the movement support robot 10 sets a predetermined distance (for example, 2 to 3 m) to the tracking target (leader or leading vehicle) determined by the user 7. Keep track and keep running.
  • D in FIG. 1 shows a state in which the four movement support robots 10 ′ follow and travel following the leading movement support robot 10 ′ (so-called parade travel).
  • the operation management server 31 transmits a follow-up travel mode display command to the in-vehicle device 17 in step S69, and changes the mode display 97a of the operation mode setting button 97 to (follow-up travel mode).
  • step S67 determines whether or not the line trace mode is selected in step S70. And if this determination is Yes, the operation management server 31 will perform line trace driving
  • step S70 If the operation mode is not yet selected by the user 7 and the determination in step S70 is also No, the operation management server 31 returns to step S63 and executes the processes such as determination again.
  • FIG. 29 is a flowchart showing a procedure of the getting-off process once.
  • FIG. 30 is a front view showing the in-vehicle terminal that has received the confirmation display command.
  • FIG. 31 is a front view showing the in-vehicle terminal that has received the confirmation display command.
  • the user 7 may want to stop the movement support robot 10 at any facility (for example, the animal exhibition building 4 or a store) and then get off the vehicle temporarily.
  • the user 7 once touches the getting-off button 95 (see FIG. 26), and then gets off the movement support robot 10 in accordance with an instruction on the display 8a of the in-vehicle terminal 18.
  • the operation management server 31 starts a getting-off process whose procedure is shown in the flowchart of FIG. 29, and transmits a confirmation display command to the in-vehicle device 17 in step S81, as shown in FIG.
  • a confirmation display 103 is popped up on the display 18a.
  • the confirmation display 103 is provided with a confirmation button 103a and a cancel button 103b, and the user 7 can confirm or cancel the getting-off once.
  • the operation management server 31 determines whether or not the confirmation button 103a is touched in step S82. If this determination is Yes, the operation management server 31 transmits a QR code request command to the in-vehicle terminal 18 in step S83, and a frame 105 that prompts the display 18a to read the QR code 41a as shown in FIG. Display. Next, the operation management server 31 determines whether or not the QR code 41a of the robot boarding card 41 associated with the movement support robot 10 is read in step S84.
  • step S84 the operation management server 31 locks the movement support robot 10 in step S85 and disables the setting and operation of the movement support robot 10 by the in-vehicle terminal 18 and the joystick 19. Thereby, although the boarding point is consumed with progress of time, the user 7 can ensure the movement assistance robot 10 in the place where it got off until it got on again.
  • step S82 determines whether or not the cancel button 103b is touched in step S86. And if this determination is Yes, the operation management server 31 will stop alighting temporarily in step S87, and will return the display 8a to the original display (FIG. 26). Further, when the user 7 has not yet made the determination and the determination in step S86 is No, the operation management server 31 returns to step S82 and executes the process such as determination again.
  • FIG. 32 is a flowchart showing the procedure of a complete getting-off process.
  • FIG. 33 is a front view showing the in-vehicle terminal that has received the confirmation display command.
  • FIG. 34 is a front view showing the in-vehicle terminal that has received the confirmation display command.
  • the user 7 touches the complete getting-off button 96 and then gets off according to the instruction on the display 8 a of the in-vehicle terminal 18.
  • the operation management server 31 starts a complete getting-off process whose procedure is shown in the flowchart of FIG. 32, and transmits a confirmation display command to the in-vehicle device 17 in step S91, as shown in FIG.
  • a confirmation display 103 is popped up on the display 18a.
  • the confirmation display 103 is provided with a confirmation button 103a and a cancel button 103b, and the user 7 can confirm or cancel the complete disembarkation.
  • the operation management server 31 determines whether or not the confirmation button 103a is touched in step S92. If this determination is Yes, the operation management server 31 transmits a QR code request command to the in-vehicle terminal 18 in step S93, and displays a frame 105 that prompts the display 18a to read the QR code 41a as shown in FIG. Display. Next, the operation management server 31 determines whether or not the QR code 41a of the robot boarding card 41 associated with the movement support robot 10 has been read in step S94.
  • step S94 the operation management server 31 activates a timer for releasing the movement support robot 10 in step S95, so that another user 7 can be secured after a predetermined time has elapsed.
  • the movement support robot 10 that the user 7 got off completely may stay in the place, or may move to the empty vehicle area 33 and stand by as indicated by F in FIG.
  • step S92 determines whether or not the cancel button 103b is touched in step S96. And if this determination is Yes, the operation management server 31 will stop complete alighting at step S97, and will return the display 8a to the original display (FIG. 26). If the user 7 has not yet made a determination and the determination in step S96 is also No, the operation management server 31 returns to step S92 and executes the process such as determination again.
  • FIG. 35 is a flowchart showing the procedure of the point balance warning process.
  • FIG. 36 is a front view showing the in-vehicle terminal that has received the balance warning display command.
  • the operation management server 31 repeatedly executes a point balance warning process whose procedure is shown in the flowchart of FIG. 35 over the opening time of the zoo 1.
  • the operation management server 31 sets the point balance Pr of the robot boarding card 41 to the warning balance Prm (for example, 10) for all the movement support robots 10 on which the user 7 is boarded in step S101.
  • Point Determine whether or not
  • the operation management server 31 transmits a balance warning display command to both the mobile terminal 8 and the in-vehicle terminal 18, as shown in FIG. 36 (example of in-vehicle terminal 18).
  • the balance warning display 111 is popped up on the display 18a.
  • the balance warning display 111 is provided with a point card sales office link 111a and a close button 111b.
  • the point card sales office link 111a is touched, a map of ticket machines and shops in the site 3 is displayed. . Thereby, the user 7 can acquire the point card 42 and can charge the robot boarding card 41 with points when using the movement supporting robot 10 continuously.
  • FIG. 37 is a flowchart showing the procedure of the battery remaining amount warning process.
  • FIG. 38 is a front view showing the in-vehicle terminal that has received the first remaining amount warning display command.
  • FIG. 39 is a front view showing the in-vehicle terminal that has received the second remaining amount warning display command.
  • the operation management server 31 repeatedly executes a battery remaining amount warning process whose procedure is shown in the flowchart of FIG. 37 in parallel with each process described above.
  • the operation management server 31 determines in step S111 that the remaining amount Br of the battery 21 is less than or equal to the first warning remaining amount Brm1 for all the movement support robots 10 on which the user 7 is boarded. It is determined whether or not.
  • the first warning remaining amount Brm1 is a value that enables traveling for about 10 minutes, for example.
  • step S111 When the determination in step S111 is Yes, the operation management server 31 transmits the first remaining amount warning display instruction to both the mobile terminal 8 and the in-vehicle terminal 18 in step S112, and FIG. As shown in the example), the first remaining amount warning display 121 is popped up on the display 18a.
  • the first remaining amount warning display 121 is provided with a description prompting to get off and a close button 111b. Therefore, the user 7 can touch the close button 111 b to close the first remaining amount warning display 121 and operate the movement support robot 10.
  • the operation management server 31 determines whether or not the user 7 gets out of the movement support robot 10 in step S113. And if this determination is Yes, the operation management server 31 will transmit a battery charge command to the vehicle-mounted terminal 18 by step S114, and will show the movement assistance robot 10 to the charging station 32 mentioned above as shown by F in FIG. It is made to move and charging by the charging equipment 32a is performed.
  • step S113 determines whether or not the remaining amount Br of the battery 21 is equal to or less than the second warning remaining amount Brm2 in step S115. While there is, the determination in step S115 is repeated.
  • the second warning remaining amount Brm2 is a value at which the movement support robot 10 can move to the charging station 32 at least.
  • step S115 the operation management server 31 transmits the second remaining amount warning display instruction to both the mobile terminal 8 and the in-vehicle terminal 18 in step S116, and the second remaining warning display instruction is shown in FIG. 2.
  • a remaining amount warning display 122 is popped up on the display 18a.
  • the second remaining amount warning display 122 describes that the remaining amount of battery is 0 and that the operation of the user 7 is not accepted.
  • the operation management server 31 transmits a lock command to the in-vehicle device 17 in step S117 so that the in-vehicle terminal 18 and the joystick 19 cannot set and control the movement support robot 10. Thereafter, the operation management server 31 proceeds to step S114 to transmit a battery charging command to the in-vehicle terminal 18, and moves the movement support robot 10 to the charging station 32 as shown by F in FIG. Charge by 32a is performed.
  • the robot boarding card 41 charged with points can be used in a restaurant or a store such as a store. For example, after having eaten in the dining room 35 (see FIG. 1), the user 7 can pay in points by holding the QR code 41a of the robot boarding card 41 over the cashier terminal 35a. Thereby, the user 7 can effectively consume the remaining points of the robot boarding card 41 at the same time as the trouble of paying with cash is eliminated.
  • the present invention is applied to a zoo, but can naturally be applied to the operation of a movement support robot in an amusement park or a theme park.
  • a four-seater car type or the like may be adopted instead of the two-seater wheelchair type of the embodiment.
  • the user carries the robot boarding card on which the QR code is printed.
  • a two-dimensional code such as a QR code may be stored in the mobile terminal.
  • the user calls the two-dimensional code on the display of the mobile terminal, and the user ID is recognized by the operation management server by holding it over the in-vehicle terminal or the store terminal when boarding the movement support robot or using it in the store. Is done.
  • the specific configuration of the movement support robot operation management system, the specific procedure of each process, and the like can be appropriately changed.
  • the operation management system of the movement support robot of the present invention can be effectively used for rental type movement support robots in zoos, amusement parks, theme parks, and the like.

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Abstract

Le problème à résoudre dans le cadre de la présente invention consiste à fournir un système de commande d'entraînement pour un robot d'aide à la mobilité, ledit système obtenant une commodité d'utilisateur améliorée ou similaire. La solution consiste, lors de l'initiation d'un processus d'ouverture de session, en un serveur de commande d'entraînement (31) qui contraint, à l'étape S1, un dispositif d'affichage (8a) d'un terminal mobile (8) à afficher une trame (51) pour demander la lecture d'un code QR (41a) et détermine ensuite, à l'étape S2, si le code QR (41a) a été lu ou non. Si la détermination à l'étape S2 est oui, le serveur de commande d'entraînement (31) contraint, à l'étape S3, le dispositif d'affichage (8a) du terminal mobile (8) à afficher une boîte d'entrée de mot de passe (53a) et un bouton d'ouverture de session (53b). Le serveur de commande d'entraînement (31) détermine ensuite, à l'étape S4, si un mot de passe correct (un mot de passe (41b) associé au code QR (41a)) a été, ou non, saisi, et si la détermination est oui, alors le serveur de commande d'entraînement (31) met le terminal mobile (8) dans un état d'ouverture de session à l'étape S5.
PCT/JP2016/089142 2016-12-28 2016-12-28 Système de commande d'entraînement pour un robot d'aide à la mobilité Ceased WO2018123032A1 (fr)

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