WO2004092858A1 - Automatically running wheelchair, wheelchair automatical running system, and wheechair automatical running method - Google Patents

Abstract

There is provided an automatically running wheelchair whose running is managed by a host computer and which automatically runs up to a destination along a guide path managed by the host computer. The automatically running wheelchair includes: destination input means for inputting destination information; guide path route information acquisition means for calculating the guide path route information in accordance with the start point and the destination information by the automatically running wheelchair itself or acquiring the route information calculated by the host computer; obstacle detection means for detecting an obstacle on the guide path; and obstacle evading means for performing a predetermined obstacle evasion operation in accordance with the type of the obstacle.

Description

 Technical field of automatic wheelchair, wheelchair automatic driving system, and wheelchair automatic driving method

 The present invention relates to an automatic traveling wheelchair that travels along a taxiway in an apartment house, various elderly facilities, a station, an airport building, and the like, and a wheelchair automatic traveling method. Background art

 book

 Japan is now heading towards an aged society, and many housing complexes for the elderly, nursing homes, care houses and group homes have been built. However, physical abilities gradually decline as the elderly grows, especially because they often have difficulty walking due to pain in the legs and legs, and walking is less likely. There are cases where the body becomes paralyzed, making it difficult to walk, and many elderly people withdraw to their rooms.

 For such elderly people who have difficulty walking, the use of self-propelled wheelchairs for the physically handicapped can be considered, but it is considerable to use the conventional self-propelled wheelchair safely. Therefore, it may be difficult for the elderly themselves to perform the operation. Therefore, it is necessary to pay sufficient attention to safety for the elderly. It should be noted that an invention relating to a travel route guidance device for guiding a route from a departure location to a destination by designating a departure location and a destination has been disclosed (for example, Japanese Patent Laid-Open No. 2000-032-2 3 3 3 3). (See No. 3 publication.)

 This travel route guide device is mounted on a vehicle such as an automobile and is a guide device for guiding a travel route from a departure place to a destination when the vehicle travels on a vehicle-only roadway. Various systems that guide or automatically travel a vehicle along a vehicle-specific route, such as a travel route guidance device, have been disclosed.

In contrast, wheelchairs are usually used in buildings such as apartment houses, various elderly facilities, stations, and airport buildings. There are no walls, furniture, obstacles, or doors in these buildings. There are many things that do not generally exist in a roadway or factory. For this reason, it is necessary to give guidance in consideration of these obstacles when a vehicle used in a building, such as a wheelchair, is automatically driven.

 In general, wheelchair passengers are often inconvenient for the elderly and others, so it is desirable to reduce the burden on the passengers during travel. In addition, unlike conventional driving guidance systems, people are on wheelchairs and are required to drive safely so as not to give uneasiness to passengers with special needs.

 As mentioned above, there are obstacles, doors, elevators, etc. in buildings such as apartment houses, various elderly facilities, stations, and airport buildings. For this reason, when a conventional automatic vehicle traveling system (travel route guidance device) that guides the traveling route of a dedicated roadway for a vehicle is applied to a wheelchair as it is, the safety of the wheelchair passenger is secured by an obstacle or the like. It is difficult to drive.

 In addition, examples of automated driving systems include automatic conveyance systems in factories.

 However, as mentioned above, wheelchair users generally have some kind of physical disability, such as the elderly, and in some cases their self-judgment ability is reduced.

 This is the decisive difference between the automatic transport system in factories and the like and the automatic travel system that is required to automatically drive the wheelchair. For this reason, when this automatic conveyance system is applied to a wheelchair, there arises a problem that it is necessary to travel safely so as not to cause anxiety to the passenger, as in the travel route guidance device described above. The present invention has been made to solve such problems.

 The object of the present invention can be used in places where wheelchairs are expected to be used, such as elderly apartments, nursing homes, hospitals, care houses, drape homes, supermarkets, department stores, public buildings, stations, airport buildings, etc. It is to provide an automatic traveling wheelchair, a wheelchair automatic traveling system, and a wheelchair automatic traveling method that are safe and easy to operate. Disclosure of the invention

The self-propelled wheelchair according to the present invention is managed by a host computer while traveling An automatic traveling wheelchair that automatically travels to a destination along a taxiway managed by the host computer, based on destination input means for inputting destination information, and information on a departure place and a destination The route information of the taxiway is calculated by the self-propelled wheelchair itself, or the route information acquisition means for acquiring the route information calculated by the host computer, and the obstacle on the taxiway Obstacle detecting means for detecting, and obstacle avoiding means for performing a predetermined obstacle avoiding operation predetermined according to the type of the obstacle.

 According to the above aspect of the present invention, it is possible to construct a highly safe wheelchair automatic driving system inside or outside a building or facility, and to support a wheelchair user such as an elderly person to actively live. it can. In addition, the burden on caregivers can be reduced.

 When the obstacle is detected, the automatic traveling wheelchair itself may calculate a detour route, or may include detour route acquisition means for acquiring detour route information calculated by the host computer. In this case, even if there are obstacles on the taxiway, the vehicle can smoothly travel automatically to the destination via the detour route. When the obstacle is an automatic door, the automatic traveling wheelchair itself may include automatic door opening / closing instruction means for communicating with the automatic door and instructing opening / closing via the host computer. Good. In this case, the automatic door is not obstructed by the automatic door.

 When the obstacle is an automatic door of an automatic elevator, the automatic traveling wheelchair itself, or via the host computer, an automatic door opening / closing instruction for calling the automatic elevator and instructing opening / closing of the automatic door And an automatic elevator movement instruction means for the automatic traveling wheelchair itself to give an instruction to the automatic elevator to go to the destination floor or via the host computer. In this case, automatic driving can be smoothly performed to a destination on another floor.

 You may further provide the driving | running | working condition notification means for notifying the passenger of an automatic driving | running | working wheelchair at any time. In this case, it is possible to avoid giving anxiety to the passengers of the automatic wheelchair.

The wheelchair automatic traveling system according to the present invention includes a traveling management of an automatic traveling wheelchair and an automatic traveling vehicle. A wheelchair automatic traveling system having a host computer for managing a taxiway on which a chair travels, wherein the automatic traveling wheelchair includes destination input means for inputting destination information, a starting point and a destination Based on the information, the route information of the taxiway is calculated by the automatic traveling wheelchair itself, or the taxiway route information acquisition means for acquiring the route information calculated by the host computer, on the taxiway Obstacle detecting means for detecting an obstacle, and obstacle avoiding means for performing a predetermined obstacle avoiding operation determined in advance according to the type of the obstacle.

 According to the above aspect of the present invention, it is possible to construct a highly safe wheelchair automatic driving system inside or outside a building or facility, and to support a wheelchair user such as an elderly person to actively live. it can. In addition, the burden on caregivers can be reduced.

 The wheelchair automatic traveling method of the present invention is a wheelchair automatic traveling method in which traveling is managed by a host computer and an automatic traveling wheelchair is automatically traveled to a destination along a taxiway managed by the host computer. Based on the destination input procedure for inputting the destination information and the information of the departure place and the destination, the automatic traveling wheelchair itself calculates the route information of the taxiway or Taxiway route information acquisition procedure for acquiring route information calculated by the host computer, obstacle detection procedure for detecting an obstacle on the taxiway, a predetermined predetermined according to the type of the obstacle An obstacle avoidance procedure for performing an obstacle avoidance action.

 According to the above aspect of the present invention, it is possible to construct a highly safe wheelchair automatic driving system inside or outside a building or facility, and to support a wheelchair user such as an elderly person to actively live. it can. In addition, the burden on caregivers can be reduced. Brief Description of Drawings

 FIG. 1A is a top view showing a configuration example of an automatic traveling wheelchair according to the present invention.

 FIG. 1B is a side view showing a configuration example of an automatic traveling wheelchair according to the present invention.

 FIG. 1C is a front view showing a configuration example of an automatic traveling wheelchair according to the present invention.

FIG. 2 is a diagram showing a configuration example of the taxiway. Figure 3 is a conceptual diagram of the taxiway.

 FIG. 4 is a block diagram showing a configuration example of a drive unit of an automatic traveling wheelchair. FIG. 5 is a block diagram illustrating a configuration example of the host computer.

 FIG. 6 is a first flowchart for explaining the automatic traveling of the automatic traveling wheelchair.

 Fig. 7 is a flowchart 2 for explaining the automatic driving of an automatic wheelchair.

 FIG. 8 is a diagram for explaining the obstacle detection process.

 FIG. 9 is a diagram for explaining the detour processing. BEST MODE FOR CARRYING OUT THE INVENTION

 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments, and for example, the components of these embodiments may be appropriately combined.

 FIG. 1 is a diagram showing a configuration example of an automatic traveling wheelchair 100 according to the present invention, FIG. 1A is a top view, FIG. 1B is a side view, FIG. 1C is a front view, and a drive unit 1 0 1 It is the drawing which emphasized and showed the part.

 The automatic traveling wheelchair 1 0 0 shown in FIG. 1 shows an example in which a drive unit 1 0 1, an input / output device 1 0 5, and a controller 1 0 6 are installed on a normal wheelchair. By removing 1 0 1, I / O device 1 0 5, and controller 1 0 6, it can be used as a normal wheelchair.

 The drive unit 1 0 1 is equipped with a notch 1 0 2, and the notch 1 0 2 drives the drive motor 1 0 3 as well as a wheelchair control device (also called an in-vehicle computer) 1 0 4, input / output Supply power to devices 1 0 5 and the like.

 The drive motor 10 3 is a direct current motor for driving the moving tire 1 1 0 and drives the two moving tires 1 1 0 individually by the two drive motors 1 0 3. . As a result, the traveling direction of the automatic traveling wheelchair 100 can be changed with the minimum turning radius.

Wheelchair control device (in-vehicle computer) 1 0 4 And a transmission / reception function for communicating with a host computer (to be described later), various automatic doors, and an automatic elevator (elevator).

 The input / output device 10 5 is an input / output device in which an evening panel, a speaker, a microphone, an optical flash, etc. are installed as necessary. The touch panel is used to input the destination, etc., the speaker is used to notify the occupant of the automatic traveling wheelchair 100, and the microphone is used to input the destination information. The optical flash is used to notify the passenger of an alarm. In addition to setting the destination with this input / output device 1 0 5, necessary information for automatic driving is transmitted to the passenger by voice or light flash as necessary to resolve insecurity during automatic driving. To do.

 The controller 10 6 is a device for the passenger to manually operate the automatic traveling wheelchair 1 0 0. In an emergency, the controller 1 0 6 operates the controller 1 0 6 a 1 The wheelchair 1 0 0 can be stopped. The input / output device 1 0 5 and the controller 1 0 6 should be installed in a place where wheelchair users can easily operate. In particular, the control unit 1 0 6 can be attached to the necessary places according to the user's specific physical abilities such as hands, feet, jaws, etc. and can move freely in order to control automatic driving. Built-in control lever 1 0 6 a etc.

 In addition, the sensor unit 107 is attached to the induction chip reader that reads the induction chip such as RFID (Radio Frequency Identification) embedded in the floor of the taxiway, or attached to the floor of the taxiway A magnetic sensor is installed to read the magnetic tape. In addition, the sensor unit 107 is equipped with an in-vehicle camera, an ultrasonic sensor, an infrared sensor for monitoring humans and animals, an obstacle sensor, an obstacle and other obstacles as necessary. Equipped with a collision prevention sensor to prevent collision with the automatic wheelchair.

The guiding tire 11 1 1 is a tire for stabilizing the traveling of the automatic traveling wheelchair 100. In addition, even if an obstacle suddenly approaches the automatic traveling wheelchair 100, the automatic traveling wheelchair 100 can be completely stopped by a large damper with an automatic stop function, etc. Equipped with a movable protective handrail for the purpose. Note that the driving unit 100 of the automatic traveling wheelchair 100 is detachable and can be lent to a necessary person for a necessary period. In addition, in order to charge the battery 1 0 2 of the automatic traveling wheelchair 100 at night, when it is not in use, it can automatically run to a certain place such as the side of the bed and automatically charge. .

 FIG. 2 is a diagram showing a configuration example of the guide path, and shows an example in which an RF chip is embedded as a guide chip 2 11 along the guide path 2100. Position information is recorded on the guidance chip 2 1 1, and the RFID reader mounted on the automatic traveling wheelchair 1 0 0 reads the information recorded on this guidance chip 2 1 1, and the position of the travel route Drive automatically while checking. The example shown in FIG. 2 shows an example in which the taxiway 200 is a two-way round trip. However, the present invention is not limited to this, and the number of round trips, six lanes, etc. can be increased as necessary. . In addition, if there are multiple lanes of taxiway 200 in the same direction of travel, if an obstacle is detected, the lane can be changed to avoid the obstacle.

 It is also possible to equip multiple lanes of guide chips 2 1 1 in one lane. In this case, the position information in the width direction relative to the traveling direction of the automatic wheelchair 100 is detected and controlled. It becomes possible to do.

 In addition, it is possible to improve the convenience of users by combining a taxiway for an automated driving wheelchair with an electric transfer machine for nursing care so that wheelchair passengers can be transported to toilets and bathrooms in each room. .

 FIG. 3 is a view showing a conceptual diagram of a taxiway, and is a diagram showing an example of a taxiway when the wheelchair automatic traveling system according to the present invention is installed in a 6-story building.

 Taxiways 3 0 1 to 3 0 6 are installed on each floor, and various automatic doors (house doors, fire doors, etc.) 3 1 1 to 3 1 5 and automatic elevator doors 3 1 6 to 3 2 0 It is provided. Various automatic doors 3 1 1 to 3 1 5 and the automatic traveling wheelchair 1 0 0 are electrically opened and closed automatically so as not to interfere with the traveling of the automatic traveling wheelchair 1 0 0. I do. In addition, the self-propelled wheelchair 100 sends the information on the destination floor to the automatic elevator and automatically makes it land.

In addition, wheelchair detection sensors 3 3 0 are attached to the taxiways 3 0 1 to 3 0 6 at arbitrary places, departure places, arrival places, branch points, etc. A host computer 400 is installed in one or more locations to manage the entire system.

 In addition, speakers, microphones, surveillance cameras, etc. are installed in the vicinity of taxiways 3 0 1 to 3 0 6, and when a trouble occurs, the wheelchair passenger can be contacted by voice, etc. Information such as monitor images and audio can be sent to places such as stations where caregivers are present so that necessary measures can be taken when a failure occurs.

 Fig. 4 is a block diagram showing an example of the configuration of a drive unit of an automatic traveling wheelchair. The drive unit 10 1 installed in the automatic traveling wheelchair 100 has a wheelchair control device (also called an in-vehicle computer). ) 10 4, I / O device 1 0 5, drive motor 1 0 3, controller 1 0 6, guidance chip reader 1 3 1, surveillance camera 1 3 2 are provided. In addition, the wheelchair control device (on-board computer) 10 4 includes a control unit 1 4 1 for overall control of the drive unit 1 0 1, a host computer 4 0 0, various automatic doors 3 1 1 and automatic elevators. A communication unit 1 4 2 for performing communication, a motor control circuit unit 1 4 3, and a processing program unit 1 5 0 are provided.

 In addition, the processing program unit 1 5 0 includes the following processing units.

 The taxiway route information acquisition processing unit 1 5 1 calculates the route information of the taxiway by the wheelchair control device 1 0 4 itself or based on the information of the departure place and the destination 4 0 0 is a processing unit for acquiring the calculated route information. The obstacle detection processing unit 1 5 2 is a processing unit for acquiring image information from the monitoring camera 1 3 2 and calculating the shape, size, distance to the obstacle, and the like of the obstacle.

 The obstacle avoidance processing unit 15 3 is a processing unit for performing avoidance processing such as collision prevention according to the type of obstacle. The detour route acquisition processing unit 1 5 4 is a processing unit for acquiring a detour route of an obstacle, and the wheelchair control device (onboard computer) 1 0 4 calculates the detour route by itself or the host computer 4 0 0 Get information about the detour route calculated by. If the obstacle is the automatic door 3 1 1, the automatic door opening / closing instruction processing unit 1 5 5 automatically controls the wheelchair control device 1 0 4 itself or via the host computer 4 0 0 Is a processing unit that communicates with the device and instructs opening and closing.

Automatic elevator movement instruction processing unit 1 5 6 calls automatic elevator to go to the destination floor This is a processing unit for the wheelchair control device 10 4 itself or the host computer 4 0 0 to give instructions.

 The traveling state notification processing unit 1 5 7 is a processing unit for notifying the passengers of the automatic traveling wheelchair 1 0 0 at all times of the traveling state. This running status notification can be made by voice using, for example, the speaker 10 5 b.

 The motor control processing unit 1 5 8 issues a command to the motor control circuit unit 1 4 3 to control the rotational speed of the drive motor 1 0 3 and the rotational direction control for rotating the wheelchair. It is a processing unit.

 FIG. 5 is a block diagram showing a configuration example of the host computer, and shows only the portion directly related to the present invention. The host review 400 includes a control unit 4 0 1, a database 4 0 2, and a processing program unit 4 1 0 for overall control of the host computer 4 0 0.

 Further, the processing program unit 4 10 includes the following processing units.

 The information transmission processing unit 4 11 to the manager room is a processing unit for transmitting monitoring information from the monitoring capability and an obstacle alarm to the manager in the manager room 500. The automatic traveling wheelchair monitoring processing unit 4 1 2 is a processing unit for monitoring the entire traveling state of each automatic traveling wheelchair.

 The taxiway route calculation processing unit 4 1 3 receives the destination information from the automatic traveling wheelchair 1 0 0, and based on the current position of the automatic traveling wheelchair 1 0 0 and the destination information, determines the optimum route for the taxiway. It is a processing unit for calculating and notifying the automatic traveling wheelchair 100. The route calculation for the taxiway may be performed on the automatic traveling wheelchair 100 side. The bypass route calculation processing unit 4 14 is a processing unit that calculates a bypass route and notifies the automatic traveling wheelchair 100 when the automatic traveling wheelchair 100 encounters an obstacle. The detour route may be calculated on the automatic traveling wheelchair 100 side.

The automatic elevator movement instruction processing unit 4 1 5 is a processing unit for calling the automatic elevator 4 3 2 and instructing movement to go to the destination floor. The automatic elevator 4 3 2 may be called and instructed to move on the automatic traveling wheelchair 100 side. Automatic door opening / closing instruction processing unit 4 1 6 and processing unit for instructing automatic door 4 3 1 to open / close is there. The automatic door opening / closing instruction may be issued on the automatic traveling wheelchair 100 side. The traveling state notification processing unit 4 1 7 is a processing unit for notifying the passengers of the automatic traveling wheelchair 1 0 0 at all times of the traveling state.

 The taxiway monitoring processing unit 4 1 8 is a processing unit for monitoring the taxiway with the taxiway installation sensor 4 3 0 installed near the taxiway 2 0 0 (floor, wall, ceiling, etc.). is there. Taxiway installation sensors 4 3 0, for example, monitor obstacles, monitor fires using in-facility disaster prevention sensors, monitor obstacles using in-facility installation monitoring cameras, and monitor obstacles using wheelchair built-in sensors. Is called. If an obstacle is detected, the automatic traveling wheelchair 100 is notified and the automatic traveling wheelchair 100 is instructed to decelerate or stop.

 The database 4 0 2 records information necessary for system operation. For example, the wheelchair management information includes user information about each automatic traveling wheelchair used in this system, verification information for opening and closing an automatic door, and the current position of each automatic traveling wheelchair. Information such as usage status, movement trajectory, and time is recorded. In addition, the wheelchair management information can be verified as a record at a later date if necessary. Sensor management information is management information that records the location and type of guidance chips and taxiway sensors used in the system. Automatic door management information is management information that records information such as the location and open / closed state of automatic doors used in the system. The automatic elevator management information is management information that records the location of the automatic elevator used in the system and the operational status information. Taxiway management information is management information that records information about taxiways installed in buildings.

 FIG. 6 is a flowchart 1 for explaining the automatic traveling of the automatic traveling wheelchair 100, and shows an example in the case of automatic traveling from the own room to another destination floor. Hereinafter, the traveling of the automatic traveling wheelchair 100 will be described with reference to FIG.

 First, a passenger in the automatic traveling wheelchair 100 enters a destination by a touch panel 10 05 a provided in the input / output device 10 5. Alternatively, the destination is voice-input by the microphone 1 0 5 c provided in the input / output device 1 0 5 (step S 1 0 1).

The destination information input from the input / output device 1 0 5 is the host computer 4 0 0 The route of the taxiway is calculated (selected) by the host computer 400 and notified to the automatic traveling wheelchair 100 (step S 1 0 2). The automatic traveling wheelchair 100 receives the route information of the taxiway from the host computer 400, selects the route, and starts automatic traveling (step S1 0 3).

 If the destination is entered incorrectly, it can be canceled by the input / output device 1 0 5 and the destination can be set again (step S 1 0 4).

 The self-propelled wheelchair 1 0 0 automatically travels while reading the information on the guide chip on the taxiway and checking whether the taxiway is passable (Step S 1 0 4) o

 If the taxiway is impassable, it moves to the nearest taxiway (step S 1 0 5). If the taxiway is accessible, run automatically while checking for obstacles (step S 1 0 6). In addition to checking obstacles on the taxiway using wheelchair built-in sensors (such as in-vehicle cameras, ultrasonic sensors, and infrared sensors), this obstacle check includes taxiway installation sensors (surveillance cameras, thermal smoke sensors, magnetic sensors, Obstacles on the taxiway are monitored by infrared sensors and ultrasonic sensors.

 If an obstacle is detected (step S 1 0 7), check whether the detected obstacle is a recognized obstacle (automatic door, automatic elevator door, etc.) or an unspecified obstacle. Is a recognized obstacle (automatic door, automatic elevator door, etc.), the automatic door, automatic elevator, etc. directly on the automatic wheelchair 100 or the host computer 4.

0 A door open signal or automatic elevator call signal is transmitted via 0 0 (Step S 1

0 8, S 1 0 9).

 In this case, the automatic traveling wheelchair 100 and the automatic door are personally collated (step S 110). If the verification result is “OK”, the door power supply is set to “Ο Ν”, the door is opened (Step S 1 1 1), and the automatic traveling wheelchair 100 is notified that the automatic door has been opened. The automatic traveling wheelchair 100 receives the automatic door opening confirmation signal (step S 1 1 2) and then starts automatic traveling (step S 1 2 0). In step S 1 1 0, if the verification result is “indeterminate”, the passenger in the automatic traveling wheelchair 1 0 0 cannot pass through the automatic door, so select another taxiway again. Is required.

In addition, if it is determined in step S 1 0 7 that the obstacle is an unspecified obstacle, If this is the case, the speed of the automatic traveling wheelchair 100 is adjusted to decrease or stop the traveling speed (step S113). Then, it is determined whether or not the obstacle can be bypassed.

 If the detour is possible, the host computer 400 searches for the detour route and notifies the automatic traveling wheelchair 100 (step S 114). The automatic traveling wheelchair 100 acquires information on the detour route and detours the obstacle (step S115). When it is confirmed that the obstacle has been detoured and has returned to the first selected taxiway, start normal driving (Steps S116, S120) o

 If the obstacle cannot be bypassed, the self-propelled wheelchair 100 stops (step S 1 17) and reports to the administrator (step S 118). After the obstacle is manually removed (step S119), the automatic traveling wheelchair 100 starts automatic traveling (step S120).

 In step S 120, when the automatic traveling wheelchair 100 starts automatic traveling, the automatic traveling toward the destination is performed while selecting the taxiway (step S 121). When the automatic traveling wheelchair 100 arrives at the destination, the automatic traveling is terminated ( Step S 122).

 FIG. 7 is a flowchart 2 for explaining the automatic traveling of the automatic traveling wheelchair 100, and shows an example of automatic traveling in the own room. The flowchart shown in FIG. 7 is basically the same processing flow as the flowchart shown in FIG. 6, except for the following points.

 In step S108 of Fig. 7, the recognized obstacles are only automatic doors, not automatic elevator doors. In Step S109, only the door opening signal is applicable, not the automatic elevator call signal.

 FIG. 8 is a diagram for explaining the obstacle detection process, and details the procedure of the obstacle detection process. Hereinafter, the flow of the obstacle detection process will be described with reference to FIG.

On the self-driving wheelchair side, obstacles on the taxiway are checked by the wheelchair built-in sensor. For example, a person using an in-vehicle camera to monitor obstacles, an infrared sensor, or a human sensor. Monitoring of animals, monitoring of an object (non-magnetic material) using an ultrasonic sensor, and monitoring of a magnetic material using a magnetic sensor are performed (step S201). The signal from the wheelchair built-in sensor is transmitted to the in-vehicle computer, and monitoring processing is performed by the in-vehicle computer (step S 2 0 2).

 When an obstacle is detected (step S 2 0 3), the wheelchair speed adjustment is reduced or stopped (step S 2 0 4). Also notify the system that an obstacle has been detected (arrow line a;).

 On the automatic traveling wheelchair side, after adjusting the speed of the wheelchair, the automatic traveling vehicle 1f child 100 or the host computer 400 checks whether or not an obstacle can be bypassed (step S 2 0 5). If detouring is possible, a detour route is acquired from the host computer 4 0 0 and detouring is performed (steps S 2 0 6, S 2 0 7, S 2 0 8). The automatic traveling wheelchair returns to the normal route after detouring the obstacle (step S 2 0 9). If it is determined in step S 2 0 5 that detouring is not possible, the administrator is notified of the situation (arrowed line b).

 On the other hand, on the system side, the manager checks obstacles on the taxiway (manned monitoring in the manager's room). For example, monitoring of obstacle alarms by sensors installed in taxiways, monitoring of fire alarms by disaster prevention sensors installed in facilities, monitoring of obstacles by monitoring power installed in facilities, monitoring of alarms by sensors installed in wheelchairs, etc. Performed (step S 3 0 1).

 If the administrator confirms an obstacle alarm, first check the obstacle status. (Step S 3 0 2). If an obstacle is found (step S 3 0 3), notify the passenger of the self-propelled wheelchair 100 using an audio / light signal to remove the obstacle (step S 3 0 4), Move and remove obstacles by the administrator (step S 3 0 5). Thereafter, the automatic traveling wheelchair starts automatic traveling (step S 2 0 9).

 If no obstacle is found in step S 3 0 2 (step S 3 0 6), the user is notified of the wheelchair restart by sound / light signal (step S 3 0 7). The automatic traveling wheelchair 1 0 0 resumes automatic traveling (step S 2 0 9).

On the system side, the taxiway is monitored by the taxiway installation sensor. For example, monitoring of magnetic materials using magnetic sensors, monitoring of objects (non-magnetic materials) using ultrasonic sensors, monitoring of fires using thermal smoke sensors, monitoring of obstacles using monitoring cameras, etc. are performed (Step S 4 0). 1). A signal from the taxiway installation sensor is transmitted to the host computer, and monitoring processing is performed by this host computer (step S 4 0 2).

 When an obstacle is detected (step S 4 0 3), a signal for reducing or stopping the speed adjustment of the automatic traveling wheelchair 100 is transmitted (step S 4 0 4), and the automatic traveling vehicle chair 10. Decelerate or stop 0 (arrowhead line c). Also notify the administrator that an obstacle has been detected (arrow d).

 FIG. 9 is a diagram for explaining the detouring process when there is an obstacle on the taxiway. Hereinafter, the flow of the detouring process will be described with reference to FIG.

 If an obstacle is detected by the in-vehicle camera of the self-propelled wheelchair 10 0 0 (step S 5 0 1), the size of the obstacle and the distance to the obstacle are calculated by the in-vehicle computer of the self-propelled wheelchair 1 0 0 (Step S 5 0 2). In addition, the status of the taxiway, width, and obstacles are detected (step S 500). Then, determine whether the obstacle can be bypassed.

 If detouring is possible, a detour route is acquired and detouring is performed (steps S 5 0 4, S 5 0 5, S 5 0 6). The automatic traveling wheelchair 100 then returns to the normal route after detouring the obstacle (step S 5 0 7). If it is determined in step S 5 0 3 that detours cannot be made, the administrator is notified of the situation and the administrator removes the obstacle (steps S 5 0 8, S 5 0 9) o

 As described above, the processing program unit 1 5 0 in the wheelchair control device 10 4 shown in FIG. 4 and the processing program unit 4 1 0 in the host computer 4 0 0 shown in FIG. The wheelchair control device shown in Fig. 4 is recorded by recording a program for realizing the function on a computer-readable recording medium, and reading and executing the program recorded on the recording medium in the computer system 1 Processing necessary for the functions of the processing program unit 1 5 0 in 0 4 and the processing program unit 4 1 0 in the host computer 4 0 0 shown in FIG. 5 may be performed. The “computer system” mentioned here includes hardware such as OS and peripheral devices.

“Computer-readable recording media” refers to flexible media, magneto-optical discs, general media such as ROM, CD-ROM, and computer systems. A built-in storage device such as a hard disk.

 Furthermore, a “computer-readable recording medium” means a program that is dynamically programmed for a short time, such as a communication line when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. That hold the program (transmission medium or transmission wave), and those that hold the program for a certain period of time, such as the volatile memory inside the computer system that is the server or client in that case. The program may be a program for realizing a part of the above-described functions. Further, a program that can realize the above-described functions in combination with a program already recorded in a computer system, a so-called difference file. (Difference program) may be used.

 As mentioned above, although embodiment of this invention was described, the automatic traveling wheelchair of this invention and a wheelchair automatic traveling system are not limited only to the above-mentioned illustration example, In the range which does not deviate from the summary of this invention Of course, various changes can be made.

 As described above, in the automatic traveling wheelchair and the automatic traveling method of the wheelchair according to the present invention, when the destination information is input to the automatic traveling wheelchair, the automatic traveling wheelchair uses the taxiway from the information of the departure place and the destination. The route information is automatically acquired, and when there is an obstacle on the taxiway, the obstacle avoidance operation is performed. It is possible to build an automatic driving system for the elderly and assist the wheelchair users such as elderly people to live positively. In addition, the burden on caregivers can be reduced.

 In the automatic traveling wheelchair according to the present invention, when an obstacle is detected, the automatic traveling wheelchair itself calculates a detour route, or obtains detour route information from the host computer, and detours the obstacle. As a result, even if there are obstacles, etc. on the guide route, it is possible to smoothly and automatically travel to the destination via the detour route.

Further, in the automatic traveling wheelchair of the present invention, when the obstacle is an automatic door, the automatic traveling wheelchair itself communicates with the automatic door via the host computer or instructs opening and closing. This prevents the automatic door from hindering the smooth running of the automatic wheelchair. Further, in the automatic traveling wheelchair according to the present invention, when the obstacle is the automatic door of the automatic elevator, the automatic traveling wheelchair itself calls the automatic elevator and opens / closes the automatic door via the host computer. In addition, the automatic elevator can be automatically instructed to go to the target floor, so that it is possible to smoothly and automatically travel to the destination on another floor.

 Moreover, in the automatic traveling wheelchair of the present invention, since the traveling state is notified to the passenger of the automatic traveling wheelchair as needed, it is possible to prevent the passenger of the automatic traveling wheelchair from being insecure.

 In the wheelchair automatic traveling system of the present invention, when the destination information is input to the automatic traveling wheelchair, the automatic traveling wheelchair acquires the route information of the taxiway from the departure point and destination information and automatically travels. In addition, when there is an obstacle on the taxiway, the obstacle avoidance operation is performed, so that it is possible to construct a highly safe wheelchair automatic driving system inside or outside the building or facility. It is possible to support users of wheelchairs, etc. so that they can actively live. In addition, the burden on caregivers can be reduced.

Industrial applicability

 INDUSTRIAL APPLICABILITY The present invention can be used as a self-propelled self-propelled wheelchair for elderly people and physically disabled people. In addition, automatic wheelchairs are automatically driven along the taxiway to destinations in elderly apartments, nursing homes, hospitals, care houses, group homes, supermarkets, department stores, public buildings, stations, airport buildings, etc. It can be used for wheelchair automatic driving systems.

Claims

 The scope of the claims 1 · An automatic traveling wheelchair that is managed by a host computer and that automatically travels to a destination along a taxiway managed by the host computer,  Destination input means for inputting destination information;  Based on the information on the starting point and the destination, the route information of the taxiway is calculated by the automatic traveling wheelchair itself or the route information calculated by the host computer is acquired. Means,  Obstacle detection means for detecting an obstacle on the taxiway;  Obstacle avoiding means for performing a predetermined obstacle avoiding operation determined in advance according to the type of the obstacle. 2. The automatic traveling wheelchair according to claim 1,  When the obstacle is detected, the automatic traveling wheelchair itself calculates a detour route, or includes detour route acquisition means for acquiring detour route information calculated by the host computer. 3. The automatic traveling wheelchair according to claim 1 or claim 2,  When the obstacle is an automatic door, the automatic traveling wheelchair itself includes automatic door opening / closing instruction means for communicating with the automatic door and instructing opening / closing via the host computer. 4. The automatic traveling wheelchair according to any one of claims 1 to 3,  When the obstacle is an automatic door of an automatic elevator, the automatic traveling wheelchair itself, or via the host computer, an automatic door opening / closing instruction for calling the automatic elevator and instructing opening / closing of the automatic door Means, The automatic traveling wheelchair itself or an automatic elevator movement instruction means for giving an instruction for going to the destination floor to the automatic elevator or via the host computer. 5. The automatic traveling wheelchair according to any one of claims 1 to 4, further comprising traveling state notifying means for notifying passengers of the automatic traveling wheelchair at any time. 6. A wheelchair automatic driving system having a host computer for managing the driving of the automatic driving wheelchair and the taxiway on which the automatic driving wheelchair runs  In the automatic traveling wheelchair,  Destination input means for inputting destination information;  Taxiway route information acquisition means for calculating the route information of the taxiway by the automatic wheelchair itself or obtaining the route information calculated by the host computer based on the information of the starting point and the destination When,  Obstacle detection means for detecting an obstacle on the taxiway;  Obstacle avoiding means for performing a predetermined obstacle avoiding operation determined in advance according to the type of the obstacle. 7. A method for automatically driving a wheelchair that is controlled by a host computer and that automatically drives the wheelchair to a destination along a taxiway managed by the host computer,  Destination input procedure for entering destination information,  Taxiway route information acquisition procedure for calculating the route information of the taxiway by the self-driving wheelchair itself or obtaining the route information calculated by the host computer based on the information of the departure place and the destination When,  An obstacle detection procedure for detecting obstacles on the taxiway;  An obstacle avoidance procedure for performing a predetermined obstacle avoidance operation determined in advance according to the type of the obstacle.