JP2017218012A - Notification device, movable body, notification method, and notification program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a notification device which changes a notification method to provide an alert to surrounding people if a detected object exists in a surrounding area.SOLUTION: A notification device 20 includes: a detection part 21 which detects a position of a detected object 100 in a pre-set detection range; a notification part 22 which is attached to a housing 14 and provides notification to surrounding people; and a notification control part which controls the notification part 22. The notification control part changes a notification method of the notification part 22 according to a position of the detected object 100 which is detected by the detection part 21.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a notification device, a moving body, a notification method, and a notification program that notify the surroundings.

  In recent years, autonomously traveling mobile objects have been put into practical use, and operations have been controlled so as to avoid accidents by detecting obstacles with sensors or the like. In addition, the moving body is provided with a marker light or the like indicating the traveling direction, etc., and notifies the surroundings of the movement of the moving body. The notification method using a lamp or the like is used not only for a mobile body that travels autonomously but also for a vehicle operated by a driver (for example, see Patent Document 1 and Patent Document 2).

Japanese Utility Model Publication No. 60-124352 JP 2014-201298 A

  The left turn alarm device for a vehicle described in Patent Document 1 includes an infrared sensor that detects a person on the left side of the vehicle, and a person and a driver when the driver senses a person with the infrared sensor by operating the turn signal to the left. And an alarm means for issuing an alarm for.

  The warning device for a large vehicle described in Patent Document 2 includes a marker lamp on the side of the vehicle body, and lights up in conjunction with the marker lamp when a direction indicator that informs the vehicle of the right or left turn of the vehicle body is activated. Let

  However, Patent Document 1 and Patent Document 2 only issue an alarm with the same content regardless of the position of a person or the like, and cannot properly call attention in consideration of the position of a person or the like. There is.

  The present invention has been made in order to solve the above-described problem, and when there is an object to be detected around, a notification device that can call attention to the surroundings by changing the notification method, movement An object is to provide a body, a notification method, and a notification program.

  A notification device according to the present invention includes a detection unit that detects the position of a detection object within a preset detection range, a notification unit that is attached to a housing and notifies the surroundings, and notification control that controls the notification unit The notification control unit changes the notification method of the notification unit according to the position of the detected object detected by the detection unit.

  In the notification device according to the present invention, the notification control unit may be configured to change the output of the notification unit according to the distance to the detected object detected by the detection unit.

  In the notification device according to the present invention, the notification unit may include a light that lights or blinks.

  In the notification device according to the present invention, the notification control unit may change the color of the light in accordance with a distance to the detected object detected by the detection unit.

  In the notification device according to the present invention, the notification control unit may change the blinking speed of the light in accordance with a distance to the detected object detected by the detection unit.

  In the notification device according to the present invention, the light may have a structure in which a light emission region divided into a plurality of parts is provided.

  In the notification device according to the present invention, the notification unit is provided at a plurality of locations of the casing, and the detection unit is configured to identify a detection direction in which the detected object to be detected is positioned with respect to the casing. The notification control unit may be configured to notify a notification unit provided on the detection direction side.

  In the notification device according to the present invention, the notification control unit may be configured to notify a plurality of notification units in cooperation according to the detection direction.

  In the notification device according to the present invention, the notification unit may include a speaker that emits a sound.

  In the notification device according to the present invention, the speaker may be configured to emit a preset voice.

  The moving body according to the present invention includes the notification device according to the present invention, and travels on a road surface along an instructed traveling direction.

  In the mobile body according to the present invention, when the detection unit detects the detection object by the detection unit, the notification unit notifies the detection object instructed by the notification control unit while giving a notification indicating the traveling direction. It is good also as composition to do.

  A notification method according to the present invention is a notification method of a notification device including a detection unit that detects the position of an object to be detected within a preset detection range, and a notification unit that is attached to a housing and notifies the surroundings. And a step of causing the notification control unit to control the notification unit, wherein the notification control unit changes a notification method of the notification unit according to a position of the detected object detected by the detection unit. And

  The notification program according to the present invention causes a computer to execute each step of the notification method according to the present invention.

  According to the present invention, when there is an object to be detected around the notification device, the notification device can be alerted by changing the notification method.

It is a schematic block diagram of the moving body which concerns on 1st Embodiment of this invention. It is a detailed block diagram of the moving body shown in FIG. It is a schematic top view of the moving body shown in FIG. It is a characteristic chart which shows the correspondence of a light and the instruction | indication from a notification control part. It is a characteristic chart which shows the correspondence of a sensor and the acquisition value from a sensor. It is a characteristic chart which shows the correspondence of a light and the control value of a light. It is a characteristic chart which shows the correspondence of the control value of a light, and a notification method. It is a flowchart which shows the processing flow of the notification method of a mobile body. It is a schematic top view which shows the moving body after the to-be-detected object passes. It is a schematic top view which shows the mobile body which is turning right. It is a schematic top view which shows the moving body which advanced from FIG. It is a schematic top view which shows the moving body which advanced from FIG. It is a schematic top view of the moving body which concerns on 2nd Embodiment of this invention. It is a schematic top view of the moving body which concerns on 3rd Embodiment of this invention. It is a schematic top view of the moving body which concerns on 4th Embodiment of this invention.

(First embodiment)
Hereinafter, a notification device and a moving body according to a first embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of a moving body according to the first embodiment of the present invention, FIG. 2 is a detailed configuration diagram of the moving body shown in FIG. 1, and FIG. 3 is a movement shown in FIG. It is a schematic top view of a body.

  The moving body 1 according to the first embodiment of the present invention is a four-wheeled vehicle that moves on a road surface along a preset route. The moving body 1 usually moves straight toward the front (upward in FIG. 3), and changes the direction in which it travels as appropriate. Hereinafter, for simplification of description, a direction in which the moving body 1 travels is referred to as a traveling direction, a direction in which the front surface of the housing 14 faces is omitted as a front direction, and a direction in which the rear surface of the housing 14 faces. (Lower in FIG. 3) may be abbreviated as rear. Of the directions in which the side surface of the housing 14 faces, one may be referred to as the left (left in FIG. 3) and the other may be referred to as the right (right in FIG. 3). In FIG. 3, the moving body 1 is moving forward as indicated by an arrow S1.

  As shown in FIG. 1, the moving body 1 includes a drive unit 11, a power source 12, a drive control unit 13, and a notification device 20.

  The drive unit 11 includes four wheels and a drive source such as a motor. The drive unit 11 is not limited to this, and the number of wheels may be changed or a belt or the like may be used. The drive unit 11 may be configured to travel the moving body 1 and adjust the traveling speed as appropriate. That's fine.

  The power source 12 is a rechargeable battery that supplies power to the drive unit 11. For example, a lithium ion battery, a nickel metal hydride battery, a Ni—Cd battery, a lead battery, a fuel cell, an air battery, or the like may be used. Supply power to perform functions, distance detection functions, and communication functions.

  The drive control unit 13 is a CPU, and appropriately controls the speed and the traveling direction of the moving body 1 by instructing the drive unit 11.

  The notification device 20 includes a detection unit 21 that detects the position of the detection object 100 within a preset detection range, a notification unit 22 that is attached to the housing 14 and notifies the surroundings, and a notification that controls the notification unit 22. And a control unit 23.

  The detection unit 21 is a distance measuring sensor that uses ultrasonic waves, irradiates ultrasonic waves that are detection waves over a wide range, and receives reflected waves from an object. Accordingly, the detection unit 21 detects the position and distance of the detection object 100 located in the vicinity, and when the detection object 100 is detected, detection that the detection object 100 is positioned with respect to the housing 14. Identify the direction. The detection unit 21 is not limited to ultrasonic waves, and may detect by emitting infrared rays, visible light, laser light, electromagnetic waves, or the like. In particular, when an optical sensor using LIDAR (Light Detection and Ranging) is applied as the detection unit 21, it is possible to determine whether it is a person or an object by detecting the shape of the detected object 100. The detection unit 21 may use an imaging device or the like, and may detect the shape of the detection object 100 by analyzing a captured image.

  In the present embodiment, sensors are provided as detection units 21 at six locations of the housing 14. Specifically, as shown in FIGS. 2 and 3, the left front sensor 21a provided at the left front end of the housing 14, the right front sensor 21b provided at the right front end of the housing 14, and the housing A left middle sensor 21c provided at the center of the left side of the body 14, a right middle sensor 21d provided at the center of the right side of the casing 14, and a left rear sensor 21e provided at the left rear end of the casing 14. And a rear right sensor 21f provided at the right rear end of the casing 14. In the following description, the left front sensor 21a, the right front sensor 21b, the left middle sensor 21c, the right middle sensor 21d, the left rear sensor 21e, and the right rear sensor 21f may be collectively referred to as sensors for explanation.

  The notification unit 22 is a light that is turned on or blinking, and is provided at four locations of the housing 14 in the present embodiment. Specifically, as shown in FIGS. 2 and 3, the left front light 22a provided at the left front end of the housing 14, the right front light 22b provided at the right front end of the housing 14, and the housing A left rear light 22c provided at the left rear end of the body 14 and a right rear light 22d provided at the right rear end of the housing 14 are provided. Hereinafter, for the sake of explanation, the front left light 22a, the front right light 22b, the rear left light 22c, and the rear right light 22d may be collectively referred to as a light.

  The notification control unit 23 is a CPU, and changes the notification method of the notification unit 22 according to the position of the detected object 100 detected by the detection unit 21. In addition, the notification control unit 23 controls the notification unit 22 to indicate the traveling direction of the moving body 1 in accordance with an instruction from the drive control unit 13 to the drive unit 11.

  Next, the notification method of the notification unit 22 will be described in detail. The notification unit 22 notifies the direction of travel, and as shown in FIG. 3, when traveling forward, the lights provided on the front side (the left front light 22a and the right front light 22b) are turned on. Let In addition, when the detection unit 21 detects the detection object 100 such as a person around the mobile body 1, the detection unit 21 notifies the detection object 100. In FIG. 3, the detected object 100 is located on the right front side of the moving body 1. For example, the brightness (output) of the right front light 22 b is made brighter than other lights or blinked. That is, in FIG. 3, it is specified that the detection direction is right front. A specific notification method when the moving body 1 moves will be described in detail in conjunction with FIG. 9 described later.

  FIG. 4 is a characteristic chart showing the correspondence between the light and the instruction from the notification control unit.

  Specifically, the notification device 20 instructs the notification control unit 23 whether or not to turn on the light. The notification instruction for the left front light 22a is “L1”, the notification instruction for the right front light 22b is “L2”, the notification instruction for the left rear light 22c is “L3”, and the notification instruction for the right rear light 22d is “L4”. "0 (off)" or "1 (on)" is input to each.

  FIG. 5 is a characteristic chart showing a correspondence relationship between a sensor and an acquired value from the sensor.

  In addition, the detection unit 21 transmits the detection result of the sensor to the notification control unit 23 as an acquired value (sensor acquired value). The acquired value of the left front sensor 21a is “S1”, the acquired value of the right front sensor 21b is “S2”, the acquired value of the left middle sensor 21c is “S3”, and the acquired value of the right middle sensor 21d is “S4”. ", The acquired value of the left rear sensor 21e is" S5 ", and the acquired value of the right rear sensor 21f is" S6 ", respectively" 1 (non-detection) "," 2 (long distance) " "," 3 (medium distance) ", or" 4 (short distance) "is input. In addition, what is necessary is just to set suitably whether the distance to the to-be-detected object 100 is set to a long distance, a middle distance, or a short distance. Further, even when the detection object 100 is detected by the sensor, “1 (non-detection)” may be input as the acquired value if it is far from a preset distance.

  FIG. 6 is a characteristic chart showing the correspondence between light and the control value of the light.

  The notification control unit 23 determines the light control value (light control value) based on the notification instruction to the light and the acquired value of the sensor. Specifically, the control value of the left front light 22a is “C1 = L1 × (S1 + S3 / 2)”, the control value of the right front light 22b is “C2 = L2 × (S2 + S4 / 2)”, and the left rear light 22c. Is set to “C3 = L3 × (S5 + S3 / 2)”, and the control value of the right rear light 22d is set to “C4 = L4 × (S6 + S4 / 2)”. From the above, “C1” to “C4” are values in the range of “0 to 6”.

  FIG. 7 is a characteristic chart showing the correspondence between the light control value and the notification method.

  The notification method is determined by the control value, and the blinking speed is changed when the light is blinked. For example, when the control value of the light is “0”, the light is turned off, when it is “1-2”, the light blinks slowly, when it is “3-4”, the light blinks normally, and when it is “5-6” It is blinking quickly. That is, the blinking speed is increased as the control value increases. Further, when changing the brightness of the light, the amount of light may be increased as the control value increases.

  The light is not limited to the above-described configuration, and the light may be configured to emit light in a plurality of colors, and the color of the light may be changed according to the distance to the detection object 100. For example, when the light is normally emitted in yellow, the color is changed from yellow to red as the control value increases.

  As described above, when the detected object 100 exists around the notification device 20, the notification device 20 can be alerted to the surroundings by changing the notification method. Moreover, the notification apparatus 20 can be made more conspicuous by changing the output of the notification unit 22, changing the blinking speed, or changing the color.

  Next, the notification method of the moving body 1 according to the first embodiment of the present invention will be described in detail with reference to the drawings. In the processing flow shown below, the outline of the control of the notification device 20 is described, and the control according to the specific position of the moving body 1 is based on the drawings shown together with the detected object 100. explain.

  FIG. 8 is a flowchart showing the processing flow of the moving object notification method.

  Although FIG. 8 shows a case where notification is performed by blinking the light to the detected object 100, as described above, a configuration may be adopted in which notification is made by a different method.

  In step S01, the notification unit 22 notifies the traveling direction of the moving body 1. For example, a light corresponding to the traveling direction of the moving body 1 is turned on.

  In step S02, the drive control unit 13 determines whether the traveling direction of the moving body 1 has changed. That is, it is determined whether or not it is instructed to move in a direction different from the traveling direction shown in step S01. As a result, when the traveling direction of the moving body 1 changes (step S02: Yes), the process returns to step S01. On the other hand, if the traveling direction of the moving body 1 has not changed (step S02: No), the process proceeds to step S03.

  In step S03, the detection unit 21 determines whether the detected object 100 has been detected. As a result, when the detected object 100 is detected (step S03: Yes), the process proceeds to step S04. On the other hand, when the detected object 100 is not detected (step S03: No), the process returns to step S01.

  In step S04, the notification control unit 23 causes the light corresponding to the detected object 100 to blink. That is, the light provided on the side corresponding to the detected object 100 is blinked. At this time, the blinking speed of the light may be determined according to the distance from the object to be detected 100, and may be set according to FIG.

  In step S05, the detection unit 21 determines whether the relative position with respect to the detected object 100 has changed. That is, it is grasped that the distance from the moving body 1 to the detected object 100 has changed according to the change in the sensor acquisition value. As a result, when the relative position with respect to the detected object 100 has changed (step S05: Yes), the process proceeds to step S06. On the other hand, when the relative position with respect to the detected object 100 has not changed (step S05: No), the apparatus stands by while maintaining the light state.

  In step S06, the notification control unit 23 changes the blinking speed of the light according to the relative position with respect to the detected object 100. That is, the notification method is determined according to the newly acquired write control value.

  In step S07, the detection unit 21 determines whether the distance to the detected object 100 is outside the notification range. That is, when the moving object 1 moves away from the detected object 100 and “0” is input as the light control value, it is determined that it is out of the notification range. As a result, when the distance to the detected object 100 is out of the notification range (step S07: Yes), the process proceeds to step S08. On the other hand, when the distance to the detected object 100 is not out of the notification range (step S07: No), the process returns to step S05.

  In step S08, the notification controller 23 stops the blinking of the light, and the process returns to step S01. That is, the notification to the detected object 100 is stopped and the process is repeated.

  FIG. 9 is a schematic top view showing the moving body after passing the object to be detected.

  In FIG. 9, the positional relationship between the moving body 1 and the detected object 100 is changed by the movement of the moving body 1 or the detected object 100 with respect to FIG. 3. The traveling direction of the moving body 1 is set to the front (the direction of the arrow S1), and the detected object 100 is located at the right rear of the moving body 1. That is, in FIG. 9, it is specified that the detection direction is right rear.

  Since the mobile body 1 according to the present embodiment is configured to go straight and turn, a notification method will be described for each case.

  First, when the moving body 1 goes straight forward, the state shown in FIGS. 3 and 9 will be described as a specific example. As shown in FIG. 3, the traveling direction of the moving body 1 is forward, and the light is not turned on (step S01). Note that the left front light 22a and the right front light 22b may be turned on to indicate that the traveling direction of the moving body 1 is the front.

  When the moving body 1 moves forward and detects the detection object 100, the left front light 22a and the right front light 22b are blinked (step S04).

  Then, when the moving body 1 moves forward and approaches the detection object 100, the blinking speed of the light is increased (step S06).

  Further, when the moving body 1 moves forward and passes by the detected object 100 and the detected object 100 is positioned on the rear side of the moving object 1 as shown in FIG. To do. That is, here, the processing from step S05 to step S07 is repeated.

  When the moving body 1 passes through the detected object 100 and is sufficiently separated from the detected object 100, the blinking of the light is stopped (step S08). At this time, since the moving body 1 goes straight forward, the light is not turned on.

  Next, the case where the mobile body 1 turns will be described with reference to the states shown in FIGS. 10 to 12 as specific examples.

  FIG. 10 is a schematic top view showing the moving body turning right.

  In FIG. 10, the traveling direction of the moving body 1 is set to the right front indicated by the arrow S <b> 2, and the detected object 100 is located in the right front of the moving body 1. As shown in FIG. 10, when the moving body 1 starts turning right, if the vehicle 1 is sufficiently away from the detected object 100, the right front light 22b is blinked (step S01). When other lights are turned off, only the right front light 22b may be turned on to notify the traveling direction.

  When the moving body 1 turns right and detects the detection object 100 forward, the right front light 22b blinks quickly (step S04). At this time, the right rear light 22d may blink at a slower speed than the right front light 22b.

  FIG. 11 is a schematic top view showing the moving body that has advanced from FIG.

  In FIG. 11, the positional relationship between the moving body 1 and the detected object 100 changes as the moving body 1 or the detected object 100 moves relative to FIG. 10. Specifically, the detection object 100 is located on the right side of the moving body 1. When the mobile body 1 turns right and shifts from the state shown in FIG. 10 to the state shown in FIG. 11, the blinking of the right front light 22b is delayed and the blinking of the right rear light 22d is accelerated (step S06). For example, the blinking speed may be the same for the right front light 22b and the right rear light 22d.

  FIG. 12 is a schematic top view showing the moving body proceeding from FIG.

  In FIG. 12, the positional relationship between the moving body 1 and the detected object 100 is further changed by moving the moving body 1 or the detected object 100 relative to FIG. 11. Specifically, the detected object 100 is located on the right rear side of the moving body 1. As shown in FIG. 12, when the moving body 1 passes by the detected object 100, the blinking speed of the light is changed again. Then, the right rear light 22b blinks earlier than the right front light 22b by slowing the blinking of the right front light 22b and speeding up the blinking of the right rear light 22d. That is, the processing from step S05 to step S07 is repeated.

  When the moving body 1 passes through the detected object 100 and is sufficiently separated from the detected object 100, the blinking speed of the light is returned to the state before detecting the detected object 100 (step S08).

  When the right turn of the moving body 1 is finished and the traveling direction is changed to the front, the right front light 22b and the right rear light 22d stop blinking.

  When the mobile body 1 turns to the left, the left front light 22a and the left rear light 22c may be blinked to indicate the traveling direction. Further, when the detected object 100 is located on the left side of the moving body 1, the left front light 22a and the left rear light 22c may be blinked to notify the detected object 100.

  Further, as a notification indicating the traveling direction of the moving body 1, the light is turned on. However, the present invention is not limited to this, and when the moving body 1 goes straight, the moving body 1 turns without turning on the light. At this time, the corresponding light may be blinked.

  As described above, the notification unit 22 that notifies the traveling direction of the moving body 1 is notified to the detected object 100, thereby detecting the detected object 100 and calling attention without adding a light emitting device or the like. It can be configured.

  Moreover, in this Embodiment, when the mobile body 1 turns, according to the detection direction of the to-be-detected object 100, the strength of the front side light and the rear side light is changed in cooperation. Thereby, the change in the relative position between the moving body 1 and the detected object 100 can be notified in an easy-to-understand manner. Note that the intensity of the light is not limited to the blinking speed, but may be different depending on the light amount (output), the color, and the like.

(Second Embodiment)
FIG. 13 is a schematic top view of a moving body according to the second embodiment of the present invention. In addition, about the component which a function is substantially equal to 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The second embodiment is different from the first embodiment in the configuration of the notification unit 22. Specifically, the notification unit 22 includes a single marker light 22e provided at the center of the housing 14. In addition, since the detailed structure of the moving body 1 which concerns on this Embodiment is substantially the same as FIG. 2, drawing is abbreviate | omitted. The marker light 22e is configured to change the output or the like as appropriate according to the distance to the detected object 100. In addition, the marker light 22e may be configured to irradiate light uniformly over the entire circumference, or may be configured to irradiate light with high directivity toward a specific direction. In the case of emitting light with high directivity, the direction may be appropriately changed, and the irradiation direction may be set toward the traveling direction or the object 100 to be detected.

  In the second embodiment, four direction indicators are provided as lights indicating the traveling direction of the moving body 1, and are provided at four locations of the housing 14. Specifically, the front left indicator 32a provided at the left front end of the housing 14 and the front right provided at the right front end of the housing 14 are provided at the same position as the light of the first embodiment. An indicator 32b, a left rear indicator 32c provided at the left rear end of the casing 14, and a right rear indicator 32d provided at the right rear end of the casing 14 are provided.

  Below, the notification method in this Embodiment is demonstrated. First, when the moving body 1 goes straight forward, the left front indicator 32a and the right front indicator 32b are turned on according to the traveling direction of the moving body 1 (step S01). In addition, it is good also as a structure which does not light when the mobile body 1 advances, but blinks a direction indicator only when turning.

  When the moving body 1 moves forward and detects the detected object 100, the marker light 22e is blinked (step S04), and the blinking speed is increased as the moving body 1 approaches the detected object 100 (step S06).

  Further, when the moving body 1 moves forward and passes by the detected object 100, the blinking speed of the marker light 22e is decreased, and when sufficiently separated from the detected object 100, the blinking of the marker light 22e is stopped (step S08). ).

  Next, as a case where the mobile body 1 turns, a case where the mobile body 1 turns right as indicated by an arrow S2 in FIG. 10 will be described. Further, as shown in FIG. 10 to FIG. 12, a case where the detected object 100 is located on the right side of the moving body 1 is shown as a specific example. When the moving body 1 starts turning right, if the mobile body 1 is sufficiently away from the detected object 100, the right front indicator 32b is blinked (step S01).

  Similarly to the case where the moving body 1 moves forward, the marker light 22e blinks when the detected object 100 is detected (step S04), and the blinking speed is changed according to the distance between the moving body 1 and the detected object 100. What is necessary is just (step S06).

  And if the right turn of the mobile body 1 is complete | finished and the advancing direction is changed ahead, blinking of a direction indicator will be stopped.

  In the present embodiment, by notifying the detected object 100 together with the notification indicating the traveling direction, it is possible to reliably urge the moving body 1 to pay attention to the surroundings.

(Third embodiment)
FIG. 14 is a schematic top view of a moving body according to the third embodiment of the present invention. In addition, about the component which a function is substantially equal to 1st Embodiment and 2nd Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  3rd Embodiment differs in the structure of the notification part 22 with respect to 2nd Embodiment. Specifically, the notification unit 22 includes a single divided light 22f provided at the center of the housing 14. The divided light 22f is composed of, for example, an LED or a plurality of lamps, and is provided with a plurality of light emitting regions. The split light 22f is configured to emit light in an area corresponding to the detected object 100.

  In the present embodiment, the divided light 22f is provided with four areas of left front, right front, left rear, and right rear, and the left front light 22a, right front light 22b, and left rear light 22c in the first embodiment. , And the right rear light 22d.

  In the third embodiment, as in the second embodiment, the direction of travel of the moving body 1 is notified using a direction indicator. Further, when the detection object 100 is detected, an area corresponding to the detection direction in the divided light 22f may be blinked. That is, when the vehicle is moving forward, the left front and right front regions are blinked, and as shown in FIGS. And the area on the right rear may be blinked.

  As described above, by using the divided light 22f divided into a plurality of areas, the area corresponding to the position of the detected object 100 can be caused to emit light, and a noticeable notice can be given to the detected object. it can.

(Fourth embodiment)
FIG. 15 is a schematic top view of a moving body according to the fourth embodiment of the present invention. In addition, about the component which a function is substantially equal to 1st Embodiment thru | or 3rd Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The fourth embodiment is different from the first embodiment in the configuration of the notification unit 22. Specifically, the notification units 22 are provided at four locations of the housing 14, but each is divided into two regions. Specifically, the front left front surface portion 22a1 and the front left side surface portion 22a2 corresponding to the front left light 22a provided at the front left end portion of the housing 14 and the front right light 22b provided at the front right end portion of the housing 14 Corresponding front right front surface portion 22b1 and front right side surface portion 22b2, left rear rear surface portion 22c1 and left rear side surface portion 22c2 corresponding to the rear left light 22c provided at the left rear end of the housing 14, and the right side of the housing 14 A right rear rear surface portion 22d1 and a right rear side surface portion 22d2 corresponding to the right rear light 22d provided at the rear end portion are provided.

  That is, each light is arranged so as to spread from the front or rear surface to the side surface, and is divided into a front surface side or rear surface side and a side surface side. Accordingly, the left front front surface portion 22a1 and the right front front surface portion 22b1 face frontward, the left rear rear surface portion 22c1 and right rear rear surface portion 22d1 face rearward, and the left front side surface portion 22a2 and left rear side surface portion 22c2 face leftward. The right front side surface portion 22b2 and the right rear side surface portion 22d2 face the right side.

  Below, the notification method in this Embodiment is demonstrated. In the case where the moving body 1 goes straight forward, when the detected object 100 is detected, the front left front portion 22a1 and the front right front portion 22b1 are blinked (step S04), and the blinking speed is increased as the movable body 1 approaches the detected object 100. (Step S06).

  Further, when the moving body 1 moves forward and passes the right side of the detected object 100, the right front side surface portion 22b2 is blinked, and the blinking speed of the right front front surface portion 22b1 is decreased. When the moving body 1 is sufficiently separated from the detected object 100, the blinking of the light is stopped (step S08).

  Next, as a case where the mobile body 1 turns, a case where the mobile body 1 turns right as indicated by an arrow S2 in FIG. 10 will be described. When the moving body 1 starts turning right, the front right front portion 22b1 is blinked (step S01).

  When the detected object 100 is detected at the front right of the moving body 1, the blinking speed of the front right front portion 22b1 is increased (step S04). When the moving body 1 moves forward and passes the right side of the detected object 100, the right front side surface portion 22b2 and the right rear side surface portion 22d2 are blinked, and the blinking speed of the right front front surface portion 22b1 is slowed or stopped. (Step S06).

  When the moving body 1 moves and the detected object 100 is positioned at the right rear as shown in FIG. 12, the blinking speed of the right front side surface portion 22b2 and the right rear side surface portion 22d2 is gradually decreased. When the object is sufficiently separated from the object to be detected 100, the blinking of the light is stopped (step S08).

  And if the right turn of the mobile body 1 is complete | finished and the advancing direction is changed ahead, blinking of the front right front part 22b1 will be stopped.

  In the present embodiment, the traveling direction of the moving body 1 is notified using the left front front surface portion 22a1, the right front front surface portion 22b1, the left rear rear surface portion 22c1, and the right rear rear surface portion 22d1. Further, when the detected object 100 is detected, a portion corresponding to the detection direction is blinked among the left front side surface portion 22a2, the left rear side surface portion 22c2, the right front side surface portion 22b2, and the right rear side surface portion 22d2.

  As described above, by providing the divided light at the end of the housing 14, the notification indicating the traveling direction and the notification to the detected object 100 can be collectively performed with one light, and the moving object 1 can have a simple configuration. In addition, since the light is provided from the front surface or the rear surface to the side surface, the light can be easily visually recognized regardless of whether there is a person in the front or the side. Further, by partially blinking the light, energy saving can be achieved as compared with the case where the whole is blinked.

(Fifth embodiment)
In the embodiment described above, the notification unit 22 is a light that emits light, but in the fifth embodiment, the notification unit 22 is a speaker that emits sound. In addition, this Embodiment is good also as a structure provided with a direction indicator similarly to 2nd Embodiment and 3rd Embodiment. When the notification unit 22 is a speaker, the notification method may be changed by increasing the volume, speeding up the sound generation cycle, or changing the type of sound. For example, in the case of changing the period of sound generation, as the light blinks, the sound is emitted with a short period as it approaches the object to be detected 100, and when it leaves the object to be detected 100, the sound is emitted with a long period. The fifth embodiment has substantially the same structure as the first to fourth embodiments, and the drawings are omitted.

  The position where the speaker is provided may be set as appropriate, and may be provided at one central position of the housing 14 like the marker light 22e, the left front light 22a, the right front light 22b, the left rear light 22c, and the right rear Like the light 22d, it may be provided at a plurality of dispersed locations.

  The sound emitted from the speaker is not limited to a single sound such as a beep sound, but may be a message such as a voice. A plurality of messages to be emitted from the speaker are set in advance, and the message may be appropriately selected according to the distance from the object 100 to be detected.

  In this way, by using the notification unit 22 as a speaker, it is possible to cause the detected object 100 to grasp the presence of the moving body 1 not only visually but also auditorily.

  The notification method according to the embodiment of the present invention includes a detection unit 21 that detects the position of the detection object 100 within a preset detection range, and a notification unit 22 that is attached to the housing 14 and notifies the surroundings. The notification method of the notification device 20 provided includes a step of causing the notification control unit 23 to control the notification unit 22, and the notification control unit 23 is configured according to the position of the detected object 100 detected by the detection unit 21. The notification method of the notification unit 22 is changed.

  It should be noted that the embodiment disclosed herein is illustrative in all respects and does not serve as a basis for limited interpretation. Therefore, the technical scope of the present invention is not interpreted only by the above-described embodiment, but is defined based on the description of the scope of claims. Moreover, all the changes within the meaning and range equivalent to a claim are included.

DESCRIPTION OF SYMBOLS 1 Mobile body 11 Drive part 12 Power supply 13 Drive control part 14 Housing | casing 20 Notification apparatus 21 Detection part 21a Left front sensor 21b Right front sensor 21c Left middle sensor 21d Right middle sensor 21e Left rear sensor 21f Right rear sensor 22 Notification part 22a Left front light 22b Right front light 22c Left rear light 22d Right rear light 23 Notification control unit 100 Object to be detected

Claims (14)

A detection unit for detecting the position of an object to be detected within a preset detection range;
A notification unit attached to the housing and notifying the surroundings;
A notification device comprising a notification control unit for controlling the notification unit,
The notification device, wherein the notification control unit changes a notification method of the notification unit according to a position of an object detected by the detection unit. The notification device according to claim 1,
The notification control unit changes the output of the notification unit according to the distance to the detected object detected by the detection unit. The notification device according to claim 1 or 2,
The notification unit is configured to include a light that lights or blinks. The notification device according to claim 3,
The notification device, wherein the notification control unit changes the color of the light in accordance with a distance to an object detected by the detection unit. The notification device according to claim 3 or 4, wherein:
The notification control unit changes a blinking speed of the light according to a distance to an object detected by the detection unit. A notification device according to any one of claims 3 to 5,
The notification device according to claim 1, wherein the light has a light emitting area divided into a plurality of parts. A notification device according to any one of claims 1 to 6,
The notification unit is provided in a plurality of locations of the housing,
The detection unit is configured to identify a detection direction in which the detected object to be detected is positioned with respect to the housing.
The notification device, wherein the notification control unit causes a notification unit provided on the detection direction side to notify. The notification device according to claim 7,
The notification control unit causes a plurality of notification units to be notified in cooperation with each other according to the detection direction. A notification device according to any one of claims 1 to 8,
The notification unit is configured to include a speaker that emits sound. The notification device according to claim 9,
The notification device, wherein the speaker emits a preset voice. A notification device according to any one of claims 1 to 10, comprising:
A moving body that travels on a road surface in accordance with an instructed traveling direction. The moving body according to claim 11,
The notification unit, when detecting the detection object by the detection unit, notifies the detection object instructed by the notification control unit while giving a notification indicating the traveling direction. . A notification method of a notification device including a detection unit that detects a position of an object to be detected within a preset detection range, and a notification unit that is attached to a housing and notifies the surroundings,
Including a step of causing the notification control unit to control the notification unit,
The notification control unit changes the notification method of the notification unit according to the position of the detected object detected by the detection unit.   The notification program for making a computer perform each step of Claim 13.

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