JP2005143892A - Walking support apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking support apparatus allowing a visually handicapped person in walking to efficiently recognize an obstacle. <P>SOLUTION: This walking support apparatus 10 which is carried by the visually disabled and supports the walking of the visually handicapped person, allows a spatial condition detecting means 13 to detect a spatial condition data and, when an obstacle detecting means 11a1 detects the obstacle on a course based on the spatial condition data, allows a divided space specifying means 11a2 to specify a divided space where the obstacle is present based on divided space information stored by a divided space information storage means 12a. When an alarm sound information extracting means 11a3 extracts alarm sound information corresponding to the specified divided space from an alarm sound information storing means 12b, a transmission means 15 transmits an alarming sound indicating the alarm sound information to the visually disabled. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a walking support device that supports a free walking of a visually impaired person.

  When a visually handicapped person walks alone, it is common to walk using a white cane or a guide dog. Further, as public infrastructure, there are cases where guide blocks and guide signs installed in stations and towns are used. And visually impaired persons live their social life by supplementing visual information with information obtained from them.

  Since breeding of guide dogs requires years and costs, the actual number of people working with visually impaired persons who require guide dogs is very small. Therefore, a visually handicapped person usually has a white cane and touches the white cane against the obstacle to detect a nearby obstacle and avoid the obstacle.

  However, since the range that can be perceived by a white cane is narrow, it is dangerous to walk in complicated road conditions and traffic conditions using only information obtained from the white cane, such as accidents, falls, collisions with obstacles, etc. Because it was difficult to ensure safety in the dangers of visually impaired people, the visually impaired had to walk alone under constant tension.

  In order to solve such a problem, various devices for causing a visually handicapped person to recognize surrounding obstacles have been proposed. For example, a visually handicapped person assistance system for guiding a visually handicapped person to a destination stores the position of the destination and the obstacle as map information in a predetermined range including the destination, and includes the position information of the arrangement location. A plurality of transmitters for transmitting signals are arranged within a predetermined range, and a receiver for receiving a signal transmitted from the transmitter is attached to a visually impaired person using the system. An azimuth sensor that detects the direction of travel is provided. Based on the output of the azimuth sensor, the position information of the transmitter received by the receiver, and the map information stored in the memory, the destination or obstacle from the current position of the visually impaired The distance to the object and its direction are obtained, and this result is output as a sound by converting the distance as it is or into the number of steps (see Patent Document 1).

  In addition, the environment recognition support apparatus for visually impaired persons images a space in front of the user with a multi-view stereo camera mounted on the user's forehead and the like, and calculates a three-dimensional position (distance image) of the object in the space. Then, the object is identified as an object in the space based on the distance image, and the tactile display device that the user touches with hands or the stereo headphones attached to both ears of the user are driven using the identification result. Then, the position and height of the ground and obstacles are recognized by the advancing and retracting pins of the tactile display device, and the position of the ground and the obstacles in which direction is recognized by the user with the stereo headphones. Patent Document 2).

Furthermore, the spatial information hearing apparatus acquires at least three-dimensional coordinate data of an object existing in a predetermined three-dimensional space based on the image data of the imaging device, recognizes the object based on the data, Based on this recognition result, it has been aimed to more reliably and realistically grasp the environment, state, etc. in the target space by outputting stereophonic sound corresponding to the object (see Patent Document 3).
JP 2001-344688 A JP 2002-65721 A JP 2003-23699 A

  As described above, various devices that support walking for visually impaired people have been proposed, but when visually impaired people walk, wearing stereo headphones may hinder judgment of the surrounding situation by voice navigation and guidance. Therefore, it was not suitable as a device to be worn by visually impaired people while running.

  In addition, when trying to recognize the situation by voice, it takes time to recognize the situation. Therefore, depending on the visually impaired person, the walking speed may be slowed or stopped, which hinders walking. Therefore, if the detected obstacle is reliably transmitted to the visually handicapped person by voice, the obstacle to be transmitted is separated from the visually handicapped person to some extent, which is not effective as walking support. . For this reason, there has been a demand for helping to walk safely and efficiently even in places where blind persons do not know.

  Therefore, in view of the above-described problems, an object of the present invention is to provide a walking support device that can make a visually impaired person who is walking efficiently recognize an obstacle.

  In order to solve the above problems, the walking support device according to claim 1 according to the present invention is carried by a visually handicapped person and supports walking of the visually handicapped person as shown in the basic configuration diagram of FIG. The device 10 is configured to be different for each divided space, and the divided space information storage unit 12a that stores divided space information indicating a plurality of divided spaces obtained by dividing the space on the path where the visually impaired person walks. Alarm sound information storage means 12b for storing alarm sound information indicating the alarm sound being detected, spatial state detection means 13 for detecting spatial state data corresponding to the spatial state on the path, and detection by the spatial state detection means 13 Based on the obtained space state data, the obstacle detection means 11a1 for detecting the obstacle on the route, and in which divided space the obstacle detected by the obstacle detection means 11a1 exists The divided space specifying means 11a2 specified based on the divided space information stored in the divided space information storage means 12a, and the warning sound information corresponding to the divided space specified by the divided space specifying means 11a2 are stored in the warning sound information. An alarm sound information extracting means 11a3 extracted from the means 12b; and a transmission means 15 for transmitting the alarm sound indicated by the alarm sound information extracted by the alarm sound information extracting means 11a3 to the visually impaired person. .

  According to the walking assist device of the present invention described in claim 1, the spatial state data is detected by the spatial state detection means 13 comprising, for example, two CCD cameras, a distance sensor, a human body sensor, etc. Based on the divided space information stored in the divided space information storage unit 12a, if the obstacle on the route is detected based on the divided space information based on the divided space information, the divided space is specified. Identified by means 11a2. When the alarm sound information corresponding to the specified divided space is extracted from the alarm sound information storage unit 12b by the alarm sound information extraction unit 11a3, the alarm sound indicated by the alarm sound information is transmitted to the visually impaired person by the transmission unit 15. Communicated.

  In order to solve the above-mentioned problem, the invention according to claim 2 is the walking support device according to claim 1, as shown in the basic configuration diagram of FIG. 1, wherein the divided space information includes each of the divided spaces. Risk level data indicating the risk level set in advance, and when the obstacle is interposed in a plurality of divided spaces, the divided space specifying unit 11a2 corresponds to the divided spaces. The division space having the highest risk is identified based on the risk data of the division space information.

  According to the walking support device of the present invention described in claim 2 above, if obstacles on the path detected by the obstacle detection means 11a1 are interposed in a plurality of divided spaces, the divided spaces corresponding to them are provided. The divided space with the highest degree of risk is specified by the divided space specifying unit 11a2 based on the information risk level data. Then, the alarm sound indicated by the alarm sound information corresponding to the divided space is transmitted to the visually impaired person by the transmission means 15.

  The invention according to claim 3, which has been made to solve the above problem, is the walking support device according to claim 1 or 2, as shown in a basic configuration diagram of FIG. 1, wherein the divided space is on the path. The route section divided according to the step length of the visually impaired person and the height section divided into a predetermined range in the height direction of the visually impaired person, and the warning sound information is the route As the classification is closer to the visually handicapped person, a warning sound with a higher degree of danger is shown.

  According to the walking support device of the present invention described in claim 3 above, the warning sound information is stored in the warning sound information storage means 12b so that the higher the degree of danger the warning sound is as the course division is closer to the visually impaired person. The As the obstacle on the route approaches the visually impaired person, a warning sound with a high degree of danger is transmitted to the visually impaired person by the transmission means 15.

  As described above, according to the walking support device of the present invention described in claim 1, the space on the path where the visually impaired walks is divided into a plurality of divided spaces, and different warning sounds are preset in each divided space. In addition, when an obstacle on the route is detected, the divided space where the obstacle exists is identified, and the alarm sound corresponding to the divided space is transmitted to the visually impaired person. By preliminarily remembering the alarm sound corresponding to the divided space, the person can recognize where the obstacle is present on the course with only the alarm sound. Moreover, since an alarm sound is transmitted only when an obstacle is detected, it does not prevent the visually impaired from walking. Furthermore, by setting the divided space corresponding to the perceived range of the white cane carried by the visually impaired person, the obstacle can be confirmed by tapping the divided space recognized by the alarm sound. Can avoid dangers such as collision with obstacles. Therefore, a visually handicapped person who is walking can efficiently recognize an obstacle with only an alarm sound, and thus the visually handicapped person can be supported in a safe and efficient walking.

  According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, a risk is set in advance in each of the divided spaces, and obstacles on the path are interposed in the plurality of divided spaces. In this case, since the divided space with the highest degree of risk is identified from among the divided spaces, an alarm sound corresponding to the divided space with the high degree of risk can be transmitted to the visually impaired person. Therefore, if the danger level of the divided space corresponding to the height of the face of the visually impaired person is set high, obstacles that are difficult to recognize with a white cane can be recognized. It is possible to avoid hitting the part against an obstacle.

  According to the invention described in claim 3, in addition to the effects of the invention described in claim 1 or 2, the course division obtained by dividing the course by the step length of the visually impaired person and the height direction of the visually impaired person can be determined in advance. The space on the route is divided into divided spaces corresponding to the height divisions divided by the range, and the warning sound information is set so that the closer the route is to the visually impaired, the higher the warning sound is Since it did in this way, the approach of an obstruction can be transmitted with a warning sound with a high danger step by step as an obstruction approaches a visually handicapped person according to walking. Therefore, it is possible to recognize the approach of an obstacle while walking by changing it so that it becomes a high-risk alarm sound according to the walking of visually impaired people, thus supporting more safe and efficient walking can do.

  Hereinafter, the best mode of a walking support device according to the present invention will be described with reference to the drawings of FIGS.

  Here, FIG. 2 is a diagram showing a portable example of the walking assistance device of the present invention by a visually impaired person, FIG. 3 is a configuration diagram showing a schematic configuration of the walking assistance device of FIG. 2, and FIG. 4 is a visually impaired person. FIG. 5 is a diagram illustrating an example of a memory map of alarm sound information, and FIG. 6 is a diagram illustrating a walking support process executed by the CPU of FIG. 3. It is a flowchart which shows an example.

  As shown in FIG. 2, the walking support device 10 according to the present invention is a device that supports the walking of the visually handicapped person 1 in which the visually handicapped person 1 walks alone using the white cane 2 and is formed in a substantially box shape. The device main body is carried in a state suspended from the neck of the visually impaired person 1 by a hanging strap attached to the device main body. The walking support device 10 is operated by a built-in battery (not shown).

  As shown in FIG. 3, the walking support device 10 includes a microprocessor (MPU) 11 that operates according to a predetermined program. As is well known, the MPU 11 includes a central processing unit (CPU) 11a that performs various processes and controls according to a predetermined program, a ROM 11b that is a read-only memory storing a program for the CPU 11a, and various data. And a RAM 11c, which is a readable / writable memory having an area necessary for processing operations of the CPU 11a.

  The MPU 11 is connected to an electrically erasable / rewritable read-only memory (EEPROM) 12 that can retain stored contents even while the apparatus main body is in an off state. Various information such as divided space information indicating a plurality of divided spaces obtained by dividing the space on the path on which the person walks and alarm sound information indicating alarm sound set differently for each divided space is stored.

  The walking support device 10 further functions as an imaging unit 13a, a distance detection unit 13b, a human body detection unit 13c, which functions as a spatial state detection unit that detects spatial state data according to the spatial state on the path on which the visually handicapped person 1 walks. A geomagnetism detection unit 13d, a position detection unit 14 that detects the current position of the visually impaired person 1, and a transmission unit 15 that corresponds to a transmission unit that transmits an alarm sound to the visually impaired person 1 are provided.

  Each of the imaging unit 13a, the distance detection unit 13b, the human body detection unit 13c, the geomagnetism detection unit 13d, the position detection unit 14, and the transmission unit 15 is connected to the MPU 11 via the interface unit 16.

  The imaging unit 13a combines two cameras such as a CCD (Charge Coupled Device) camera and a video camera that capture the space on the path where the visually handicapped person 1 walks, and the image captured by these cameras to generate image data. And an image synthesis circuit that outputs as In consideration of the fact that the main body of the apparatus is shaken by walking of the visually handicapped person 1, the camera includes a shake correction mechanism.

  The distance detection unit 13b detects an object or measures a distance using an ultrasonic sensor or the like, and outputs distance data indicating the distance to the MPU 11. And the human body detection part 13c detects the presence or absence of a human body using a thermal infrared sensor etc., and outputs the detection result to MPU11 as human body detection data.

  The geomagnetism detector 13d measures geomagnetism using a geomagnetic sensor or the like, detects the direction of the camera based on the measurement result, and outputs the detection result to the MPU 11 as geomagnetic data. By detecting the orientation of the camera in this way, the imaging space captured by the imaging unit 13a can be recognized.

  In addition, as a measurement range of each detection part mentioned above, the space on the predetermined course is made into object. In the best mode described above, the case where the imaging unit 13a, the distance detection unit 13b, the human body detection unit 13c, and the geomagnetism detection unit 13d realize the spatial state detection means in the claims will be described. However, the present invention is not limited to the above, and various embodiments can be realized depending on the specifications of the apparatus, such as being realized only by the imaging unit 13a, or realized only by the imaging unit 13a and the distance detection unit 13b.

  The position detector 14 includes a well-known GPS (global positioning system) receiver, receives radio waves emitted by a plurality of artificial satellites constituting the GPS, and The position information is obtained as position information indicating the current position of the visually impaired person 1, and this position information is output to the MPU 11. And in this best form, when an obstacle needs to be specified, an obstacle can also be specified based on position information and obstacle registration information registered in advance corresponding to the position.

  The transmission unit 15 includes an earphone that transmits an alarm sound when an obstacle is detected to the visually handicapped person 1, and an output circuit that causes the earphone to output an alarm sound designated by the MPU 11. In addition, about the transmission part 15, it can be set as various different embodiments, such as outputting an alarm sound from a speaker.

  Next, a plurality of divided spaces obtained by dividing the space on the path where the visually impaired person 1 walks will be described below with reference to the drawing of FIG.

  In FIG. 4, the course section divides the course 5 on the path 5 by the stride P of the visually impaired person 1, and the height section indicates the height of the visually impaired person 1 in the upper part corresponding to the head of the visually impaired person 1, It is divided into a predetermined range of a middle part corresponding to the upper body and a lower part corresponding to the lower body. Then, the divided spaces B11 to B13, B21 to 23, and B31 to 33 are set by dividing the space on the route 5 so as to correspond to each of the route section and the height section.

  Also, the shaded portion in FIG. 4 shows the detection range T of the white cane 2, and this detection range T is a part of the divided spaces B13 and B23 corresponding to the lower part of the course section and the height section up to two steps ahead. Corresponds to the area. The length L of the white cane 2 is (H-40) [cm] when the height of the visually handicapped person 1 is H [cm]. The visually handicapped person 1 places the white cane 2 slightly above the shoulder width. Widely swing around the wrist as a fulcrum to draw an even arc. Therefore, in this best mode, the space adjacent to the detection range T is monitored by setting the width of the target space on the route 5 to be slightly wider than the width of the detection range T. Yes.

  Next, an example of alarm sound information stored in the EEPROM 12 will be described below with reference to the drawing of FIG.

  As shown in FIG. 5, the alarm sound information includes divided space identification data for identifying a divided space and alarm sound data indicating an alarm sound corresponding to the divided space. A warning sound having a higher degree of danger is set as the course division is closer to the visually handicapped person 1.

  Specifically, the warning sound is set step by step so that the first step in the course section is an emergency sound, the second step is a minor chord indicating “Needs Attention”, and the third step is a major chord indicating “still safe” doing. And about the height division, it changes in steps so that an upper part may become the sound with the highest danger.

  In this best mode, the divided space B11 corresponding to one step ahead of the course section is set as emergency sound 3 (beep), the divided space B12 is set as emergency sound 2 (beep), and the divided space B13 is set as emergency sound 1 (beep). ing. The divided space B21 corresponding to the two steps ahead of the course section is set as a chord Am, the divided space B22 is set as a chord Em, and the divided space B23 is set as a chord Cm. The section space B31 corresponding to three steps ahead of the course section is set as a chord A, the divided space B32 is set as a chord E, and the divided space B33 is set as a chord C.

  Therefore, if the degree of danger is set in advance in each of the divided spaces B11 to 13, B21 to 23, and B31 to 33, and an obstacle on the route 5 is interposed in the plurality of divided spaces, Since the divided space with the highest degree of danger is identified from the inside, the alarm sound corresponding to the divided space with the highest degree of danger can be transmitted to the visually impaired person 1. Therefore, if the degree of danger of the divided space corresponding to the height of the face of the visually impaired person 1 is set high, obstacles that are difficult to recognize with the white cane 2 can be recognized. 1 can avoid hitting the head against an obstacle.

  In addition, the EEPROM 12 stores divided space information indicating a plurality of divided spaces B11 to 13, B21 to 23, and B31 to 33 obtained by dividing the space on the course 5 where the visually handicapped person 1 walks. For example, the image data includes coordinate data necessary for specifying the divided space from the image data output by the imaging unit 13a, distance data to the divided space, risk data indicating the risk set for the divided space, and the like.

  Therefore, in the best mode, the EEPROM 12 functions as the divided space information storage means and the alarm sound information storage means described in the claims. The divided space information and the alarm sound information are stored in the ROM 11b in advance or stored in a detachable storage medium, and the storage medium is mounted on the apparatus body as necessary. be able to.

  Next, an example of walking support processing executed by the CPU 11a of the walking support device 10 will be described with reference to a flowchart shown in FIG.

  When the walking support process stored in the ROM 11b is executed, the image data is read from the imaging unit 13a and stored in the RAM 11c in step S11, and the distance data is read from the distance detection unit 13b in step S12. In step S13, human body detection data is read from the human body detection unit 13c and stored in the RAM 11c. In step S14, geomagnetic data is read from the geomagnetism detection unit 13d and stored in the RAM 11c, and then the process proceeds to step S15. .

  In step S15, 3D image processing is performed on the image data stored in the RAM 11c in consideration of distance data, human body detection data, and geomagnetic data, and the 3D image data as the execution result is stored in the RAM 11c. Thereafter, the process proceeds to step S16.

  In step S16 (obstacle detection means), an obstacle detection process is executed, whereby pattern matching based on the three-dimensional image data in the RAM 11c and obstacle registration information in which obstacles stored in advance in the EEPROM 12 are registered. By the processing, an obstacle in the three-dimensional image data is searched, and the search result is stored in the RAM 11c. When an obstacle is detected, the detected position data is stored in the RAM 11c, and the process proceeds to step S17.

  In step S17, it is determined whether an obstacle has been detected based on the search result of the RAM 11c. If it is determined that no obstacle has been detected (N in S17), the process proceeds to step S21. On the other hand, if it is determined that an obstacle has been detected (Y in S17), the process proceeds to step S18.

  In step S18 (division space specifying means), the division space where the obstacle exists is specified based on the three-dimensional image data and detection position data of the RAM 11c and the division space information of the EEPROM 12, and the division space identification indicating the division space is performed. The data is stored in the RAM 11c, and the process proceeds to step S19. When an obstacle is present in a plurality of divided spaces, the risk data of the divided space information corresponding to the divided spaces are compared, and the divided space with the highest risk is identified, and this divided space is identified. Is stored in the RAM 11c.

  In step S19 (alarm sound information extracting means), alarm sound information having identification data corresponding to the divided space identification data in the RAM 11c corresponding to the specified divided space is extracted from the EEPROM 12 and stored in the RAM 11c, and then in step S20. move on.

  In step S20, the alarm sound data of the alarm sound information extracted in the RAM 11c is output to the transmission unit 15, so that the transmission unit 15 visually recognizes the alarm sound indicated by the alarm sound data in a pattern such as 400 ms ringing or 100 ms pause. The information is transmitted to the handicapped person 1 and then proceeds to step S21.

  In step S21, it is determined whether an end request has been received. If it is determined that an end request has not been received (N in S21), the process returns to step S11 and a series of processes are repeated. On the other hand, if it is determined that an end request has been received (Y in S21), the process ends.

  Therefore, in the present embodiment described above, the CPU 11a of the walking assistance device 10 functions as an obstacle detection unit, a divided space identification unit, and an alarm sound information extraction unit described in the claims.

  Next, an example of the operation (action) of the walking support device 10 having the above-described configuration will be described.

  If there is an obstacle with the possibility of hitting the head three steps ahead on the path 5 where the visually handicapped person 1 walks, the obstacle is detected in the divided space B31 when the walking support device 10 detects the obstacle. The chord A corresponding to the divided space B31 is identified as being present and transmitted to the visually impaired person 1 as an alarm sound.

  When the visually handicapped person 1 moves forward one step, the walking support device 10 detects the obstacle as two steps ahead of the course division, and the obstacle is specified to exist in the divided space B21, and corresponds to the divided space B21. The chord Am is transmitted to the visually impaired person 1 as an alarm sound. The visually handicapped person 1 to whom the alarm sound is transmitted recognizes that the obstacle is approaching two steps ahead, and confirms the obstacle with the white cane 2 or corrects the course 5 to obstruct the obstacle. Can be avoided.

  If the visually handicapped person 1 still approaches the obstacle, the walking support device 10 detects the obstacle as one step ahead of the course division, and the obstacle is specified to exist in the divided space B11. The emergency sound 3 corresponding to the space B11 is transmitted to the visually handicapped person 1 as an alarm sound. Then, the visually handicapped person 1 to whom the warning sound that informs the danger is transmitted senses the danger and stops walking or takes a further avoidance action, thereby avoiding a collision with the obstacle.

  As described above, the space on the path 5 where the visually handicapped person 1 walks is divided into a plurality of divided spaces B11 to 13, B21 to 23, and B31 to 33, and different alarm sounds are set in each divided space in advance. Further, when an obstacle on the path 5 is detected, the divided space where the obstacle exists is specified, and an alarm sound corresponding to the divided space is transmitted to the visually impaired person 1. When the person 1 remembers the alarm sound corresponding to the divided space in advance, it is possible to recognize where the obstacle is present on the route 5 only by the alarm sound. Moreover, since an alarm sound is transmitted only when an obstacle is detected, the visually impaired person 1 is not prevented from walking. Furthermore, by setting the divided space corresponding to the perceived range of the white cane 2 carried by the visually handicapped person 1, the obstacle can be confirmed by tapping the divided space recognized by the alarm sound. The disabled person 1 can avoid dangers such as a collision with an obstacle. Therefore, since the visually handicapped person 1 who is walking can recognize the obstacle efficiently only by the alarm sound, the visually handicapped person 1 can be supported in a safe and efficient walking.

  In addition, when the degree of danger is set in advance in each of the divided spaces B11 to 13, B21 to 23, and B31 to 33, and obstacles on the route 5 are interposed in the plurality of divided spaces, Since the divided space with the highest degree of danger is identified from the inside, the alarm sound corresponding to the divided space with the highest degree of danger can be transmitted to the visually impaired person 1. Therefore, if the danger level of the divided space corresponding to the height of the face of the visually handicapped person is set high, an obstacle that is difficult to recognize with the white cane 2 can be recognized. Can avoid hitting the head against an obstacle.

It is a figure which shows the basic composition of the walk assistance apparatus of this invention. It is a figure which shows the portable example of the walking assistance apparatus of this invention by a visually impaired person. It is a block diagram which shows schematic structure of the walk assistance apparatus of FIG. It is a figure for demonstrating an example of the division space on the course where a visually handicapped person walks. It is a figure which shows an example of the memory map of warning sound information. It is a flowchart which shows an example of the walk assistance process which CPU of FIG. 3 performs.

Explanation of symbols

11a1 Obstacle detection means (CPU)
11a2 Partition space specifying means (CPU)
11a3 Alarm sound information extraction means (CPU)
12a Divided space information storage means (EEPROM)
12b Alarm sound information storage means (EEPROM)
13 Spatial state detection means (imaging unit, distance detection unit, human body detection unit, geomagnetism detection unit)
15 Transmission means (transmission part)

Claims (3)

A walking support device that is carried by a visually impaired person and supports walking of the visually impaired person,
Divided space information storage means for storing divided space information indicating a plurality of divided spaces obtained by dividing the space on the path where the visually impaired person walks;
Alarm sound information storage means for storing alarm sound information indicating the alarm sound set differently for each of the divided spaces;
Spatial state detection means for detecting spatial state data corresponding to the spatial state on the path;
Obstacle detection means for detecting an obstacle on the path based on the spatial state data detected by the spatial state detection means;
A divided space specifying means for specifying in which divided space the obstacle detected by the obstacle detecting means exists based on the divided space information stored in the divided space information storage means;
Alarm sound information extracting means for extracting the alarm sound information corresponding to the divided space specified by the divided space specifying means from the alarm sound information storage means;
Transmitting means for transmitting the alarm sound indicated by the alarm sound information extracted by the alarm sound information extracting means to the visually impaired person;
A walking support device comprising: The divided space information includes risk data indicating a risk set in advance in each of the divided spaces,
When the obstacle is interposed in a plurality of divided spaces, the divided space specifying means determines the divided space having the highest risk based on the risk data of the divided space information corresponding to the divided spaces. The walking support device according to claim 1, wherein the walking support device is specified. The divided space is divided in accordance with a course division obtained by dividing the course by the stride of the visually impaired person and a height division obtained by dividing the height direction of the visually impaired person into a predetermined range. ,
The walking support device according to claim 1 or 2, wherein the warning sound information indicates a warning sound having a higher degree of danger as the course division is closer to the visually impaired person.

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