JP2020014084A - Navigation device and navigation method - Google Patents

Abstract

To provide a navigation device and a navigation method that ensure the safety and convenience of a supportee and that provide guidance to the supportee in a sanitary manner while suppressing noise that spreads to the surroundings.SOLUTION: A navigation device includes a supportee determination unit that determines whether a supportee is present in a determination area, a supportee guiding unit that guides the supportee from the determination area to a sweet spot, and a guide sound presenting unit that presents a guide sound to the sweet spot, and the supportee determination unit includes a trigger sound presentation unit that presents a trigger sound in the determination area, and a reaction detection unit that detects a response of a trigger sound listener to a trigger sound, and the supportee guiding unit includes a guidance sound presentation unit that presents a guidance sound that guides the supportee to the sweet spot, a position detection unit that detects the position of the supportee, and a guidance completion determining unit that determines whether the guidance of the supportee is completed on the basis of the position of the supportee, and the guide sound presenting unit includes a parametric speaker that generates ultrasonic waves.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a navigation device and a navigation method.

DESCRIPTION OF RELATED ART Conventionally, the guide bell installed in the escalator of a station, the traffic light with an audio device, a voice guide, etc. are known. These are broadcasts from an object and are classified as “diffuse broadcast type”. A method of providing more detailed guidance than a guide bell, a traffic light with an audio device, a voice guide, or the like using a “diffusion broadcast type” navigation device can be considered.
By the way, in this method, the sound from the navigation device is diffused to a place other than the position where the person who seeks the navigation information (supported person) exists. Therefore, when detailed guidance is provided by this method, noise is given to a person who does not need navigation information.

In addition, there has been conventionally known a method in which a current position / posture of a supportee is acquired by various positioning methods, and navigation information is presented to the supportee by voice, vibration, or the like. In these, applications using a smartphone or the like are used, and these are categorized as “device mounted type”. A method of providing detailed guidance by a "device-mounted" navigation device is conceivable.
By the way, in this method, the person to be supported needs to prepare a smartphone or the like in advance. Also, the application must be compatible with the environment. That is, with this method, the versatility is lacking, so that the convenience of the supported person cannot be sufficiently improved.

In addition, a technique in which stereophonic sound is presented by a stereo headset or the like is conventionally known. In this method, a headset is used, and this method is classified as “immersive stereophonic sound”. A navigation device that provides sound presentation by “immersive stereophonic sound” is also conceivable.
By the way, in a navigation device that provides sound presentation using “immersive stereophonic sound”, sounds around the supportee are cut off and not transmitted to the supportee. Therefore, there is a possibility that the safety of the support recipient cannot be sufficiently ensured.
Further, in a navigation device in which sound presentation by “immersive stereophonic sound” is performed, a supported person needs to prepare a headset in advance and prepare for connection and the like. Therefore, the convenience of the support recipient cannot be sufficiently improved.

In addition, a method of presenting map information in combination with Braille has been conventionally known. In this method, a tactile map is used, and this method is classified as “tactile presentation”.
By the way, in this method, it is necessary to guide the supportee to the tactile map. If there is no means for guiding the supported person to the tactile map, the convenience of the supported person cannot be sufficiently improved.
Further, in this method, it is necessary to keep the tactile map actually touched by the supportee clean. If there is no means for keeping the tactile map clean, guidance to the supportee cannot be performed hygienically.

Patent Document 1 discloses an audio navigation device including a user position acquisition unit, an environment information acquisition unit, and an audio signal processing unit that generates stereophonic sound in which a virtual sound source is set at a preceding position preceding a user position in a route. Has been described. The voice navigation device described in Patent Literature 1 guides a user from an arbitrary point to a destination.
By the way, in the technology described in Patent Literature 1, it is necessary for a user to carry a portable terminal for obtaining a user position and an audio device such as an earphone for receiving guidance. For this reason, the technique described in Patent Document 1 cannot sufficiently improve the convenience for the user.

International Publication No. WO 2017/018298

  In view of the above-described problems, the present invention provides navigation that can provide guidance to a supportee in a sanitary manner while ensuring the safety and convenience of the supportee and suppressing noise spread to the surroundings. It is an object to provide an apparatus and a navigation method.

  One aspect of the present invention is a supported person determination unit that determines whether a supported person who is a person who requests guidance by a guidance sound is present in a determination area, and the supported person is determined from a position in the determination area The assisted person guiding unit that guides to a sweet spot that is a presentation position of a guiding sound, and a guiding sound presenting unit that presents a guiding sound to the sweet spot, wherein the supported person determining unit transmits a trigger sound to the determining area. A trigger sound presenting unit, and a reaction detecting unit that detects a response of the trigger sound listener to the trigger sound presented by the trigger sound presenting unit, and the supported person guiding unit detects the supported person. A guiding sound presenting unit that presents a guiding sound for guiding to the sweet spot, a position detecting unit that detects the position of the supported person, and a position of the supported person detected by the position detecting unit. A guidance completion determining unit that determines whether or not the guidance of the supported person is completed; the guidance sound presenting unit includes a parametric speaker that generates ultrasonic waves; and the supported person determining unit includes the reaction detection. It is determined whether or not the trigger sound listener is the supported person based on the response of the trigger sound listener detected by the unit. When the supporter determination unit determines, the trigger sound presentation unit stops presenting the trigger sound to the determination area, the guidance sound presentation unit starts presenting the guidance sound, and the guidance of the supported person is performed. Is a navigation device in which, when the guidance completion determination unit determines that the guidance sound has been completed, the guidance sound presentation unit stops presenting a guidance sound, and the guidance sound presentation unit starts presenting a guidance sound.

  In the navigation device according to one aspect of the present invention, the guidance sound presentation unit may include a plurality of the parametric speakers, and the sound presented to the sweet spot by the guidance sound presentation unit may be stereophonic.

  In the navigation device according to one aspect of the present invention, the trigger sound presentation unit includes a first speaker having lower directivity than the parametric speaker, and the guidance sound presentation unit has lower directivity than the parametric speaker. A second speaker may be provided.

  In the navigation device according to one aspect of the present invention, the first speaker and the second speaker may be shared speakers.

  In the navigation device according to one aspect of the present invention, the trigger sound presented by the trigger sound presentation unit and the guidance sound presented by the guidance sound presentation unit may be different sounds.

  In the navigation device according to one aspect of the present invention, the amount of information per unit time included in the trigger sound presented by the trigger sound presentation unit and the amount of information per unit time included in the guidance sound presented by the guidance sound presentation unit May be less than the amount of information per unit time included in the guidance sound presented by the guidance sound presentation unit.

  In the navigation device according to one aspect of the present invention, the trigger sound presenting unit may change a pattern or a volume of a trigger sound to be presented based on a response of the trigger sound listener detected by the reaction detecting unit. .

  In the navigation device according to one aspect of the present invention, the guidance sound presenting unit may change a pattern or a volume of the guidance sound to be presented based on the position of the supported person detected by the position detection unit.

  One aspect of the present invention is a supported person determination step of determining whether or not a supported person who requests guidance by a guidance sound is present in a determination area; and A navigation method including a supported person guiding step of guiding to a sweet spot that is a presentation position, and a guiding sound presenting step of presenting a guiding sound to the sweet spot, wherein the supported person determining step includes a trigger sound. A trigger sound presenting step to be presented in the determination area, and a reaction detecting step of detecting a response of the trigger sound listener to the trigger sound presented in the trigger sound presenting step, and the supported person guiding step includes: A guiding sound presenting step of presenting a guiding sound for guiding the supported person to the sweet spot; and detecting a position of the supported person. A position detection step; and a guidance completion determining step of determining whether or not the guidance of the supported person is completed based on the position of the supported person detected in the position detecting step, wherein the guidance sound is provided. In the presenting step, the parametric speaker generates an ultrasonic wave, and in the supported person determination step, based on the response of the trigger sound listener detected in the reaction detecting step, the trigger sound listener is set to the supported person. Or not, and when it is determined in the supported person determining step that the trigger sound listener is the supported person, presentation of a trigger sound to the determination area in the trigger sound presenting step Is stopped, presentation of the guidance sound in the guidance sound presentation step is started, and the completion of the guidance of the guidance If it is determined in up, presentation of guidance sound in the guidance sound presenting step is stopped, the presentation of guidance sound in the guide sound presenting step is started, a navigation method.

  According to the present invention, there is provided a navigation device and a navigation method that can provide guidance to a supportee in a sanitary manner while ensuring the safety and convenience of the supportee and suppressing noise spread to the surroundings. Can be provided.

It is a figure showing the schematic structure etc. of an example of the navigation device of a 1st embodiment. 5 is a flowchart illustrating an example of a process performed in the navigation device according to the first embodiment. It is a figure showing the schematic structure of an example of the navigation device of a 2nd embodiment.

  Hereinafter, embodiments of a navigation device and a navigation method of the present invention will be described with reference to the accompanying drawings.

<First embodiment>
FIG. 1 is a diagram illustrating a schematic configuration and the like of an example of a navigation device 1 according to the first embodiment. Specifically, FIG. 1A is a diagram illustrating a schematic configuration of an example of the navigation device 1 according to the first embodiment. FIG. 1B is a diagram illustrating an example of an arrangement of each component of the navigation device 1 according to the first embodiment.
In the example illustrated in FIG. 1, the navigation device 1 includes a supported person determination unit 11, a supported person guiding unit 12, and a guidance sound presentation unit 13.
The supported person determination unit 11 determines whether or not the supported person who requests guidance by the guidance sound exists in the determination area 11A (see FIG. 1B). The supported person determination unit 11 includes a trigger sound presentation unit 11B and a reaction detection unit 11C. The trigger sound presenting section 11B presents a trigger sound in the determination area 11A. The trigger sound presentation unit 11B includes a speaker 11B1. The speaker 11B1 converts an electric signal supplied from an electric signal supply unit (not shown) of the trigger sound presentation unit 11B into vibration of air, and outputs a trigger sound that can be heard by a person to be supported in the determination area 11A. I do.

The response detection unit 11C detects a response of the trigger sound listener to the trigger sound presented by the trigger sound presentation unit 11B. The trigger sound listener includes a supported person and a person other than the supported person. A part of the reaction detection unit 11C is a sensor that detects a response such as a gesture of the listener of the trigger sound to the trigger sound. Examples of a sensor that forms a part of the reaction detection unit 11C include, for example, a camera, an angular velocity sensor, an acceleration sensor, a magnetic sensor, and the like.
In the example illustrated in FIG. 1, the trigger sound listener (the supportee who requests guidance by the guidance sound) does not need to wear the marker. In this example, the reaction detection unit 11C includes a camera capable of detecting the depth. The reaction detection unit 11C detects parts such as the head, hands, arms, and legs of the listener of the trigger sound from the image captured by the camera. The reaction detection unit 11C estimates the posture of the trigger sound listener based on how parts such as the head, hands, arms, and legs of the trigger sound listener are moving. The reaction detection unit 11C can determine, by machine learning, an operation such as “raising both hands” or “waving a hand” regardless of who stands in front of the camera.
In another example, the supported person who requests guidance by the guidance sound may wear the marker in advance. In this example, the reaction detection unit 11C includes a plurality of cameras. The reaction detection unit 11C records the position and orientation of the supported person wearing the marker by using an optical motion capture technique. Based on the response of the supported person (supported person wearing the marker) to the trigger sound detected by the reaction detection unit 11C, the supported person determination unit 11 requests the supported person to provide guidance using the guidance sound. Is determined.
In yet another example, the supportee who requests guidance by the guidance sound may wear an angular velocity sensor, an acceleration sensor, or the like in advance. In this example, the reaction detection unit 11C acquires a detection result obtained by an angular velocity sensor, an acceleration sensor, or the like. The reaction detection unit 11C records the position and orientation of the support recipient wearing an angular velocity sensor, an acceleration sensor, and the like by using a mechanical motion capture technique. Based on the response of the supported person (supported person wearing an angular velocity sensor, an acceleration sensor, or the like) to the trigger sound detected by the reaction detection unit 11C, the supported person determination unit 11 provides guidance to the supported person. It is determined whether guidance by sound is required.
In still another example, the supportee who requests guidance by the guidance sound may mount the magnetic coil in advance. In this example, the reaction detection unit 11C generates a magnetic field in the determination area 11A (see FIG. 1B). The reaction detection unit 11C acquires a distortion caused by the magnetic coil mounted on the supportee moving in the magnetic field. The reaction detection unit 11C records the position and orientation of the support recipient wearing the magnetic coil by using a magnetic motion capture technology. Based on the response of the supported person (supported person wearing a magnetic coil) to the trigger sound detected by the reaction detection unit 11C, the supported person determination unit 11 provides guidance by the guided sound. Determine if you are seeking.

In the example illustrated in FIG. 1, the supported person determination unit 11 determines whether the trigger sound listener is a supported person based on the response of the trigger sound listener detected by the reaction detection unit 11C. .
When the supported person determination unit 11 determines that the trigger sound listener is the supported person, the supported person guiding unit 12 is located in the determination area 11A as indicated by a solid arrow in FIG. The supported person is guided to the sweet spot 13A where the guidance sound is presented.
In the example shown in FIG. 1, the sweet spot 13A exists in the determination area 11A, but in another example, the sweet spot 13A may exist outside the determination area 11A.

In the example illustrated in FIG. 1, the supported person guidance unit 12 includes a guidance sound presentation unit 12A, a position detection unit 12B, and a guidance completion determination unit 12C.
The guide sound presenting unit 12A presents a guide sound that guides the supported person located in the determination area 11A to the sweet spot 13A. The guidance sound presentation unit 12A includes a speaker 12A1. The speaker 12A1 converts an electric signal supplied from an electric signal supply unit (not shown) of the guidance sound presentation unit 12A into vibration of air, and outputs a guidance sound that can be heard by the supportee.
More specifically, when the supported person determining unit 11 determines that the trigger sound listener is a supported person, the triggered sound presenting unit 11B stops presenting the trigger sound to the determination area 11A, and presents the guidance sound. The unit 12A starts presentation of the guidance sound.
In the example shown in FIG. 1B, the speaker 11B1 that outputs a trigger sound and the speaker 12A1 that outputs an induction sound are shared speakers. Therefore, the cost of the navigation device 1 as a whole can be reduced as compared with the case where the speaker 11B1 that outputs the trigger sound and the speaker 12A1 that outputs the guidance sound are separately provided.
In another example, the speaker 11B1 that outputs the trigger sound and the speaker 12A1 that outputs the guidance sound may be separately provided.

In the example illustrated in FIG. 1, the position detection unit 12B detects the position of the supported person guided by the guidance sound. The position detection unit 12B includes a camera. The position detection unit 12B detects the position of the supported person from the image captured by the camera.
In the example shown in FIG. 1B, the camera of the reaction detection unit 11C and the camera of the position detection unit 12B are shared cameras. Therefore, the cost of the navigation device 1 as a whole can be reduced as compared with the case where the camera of the reaction detection unit 11C and the camera of the position detection unit 12B are separately provided.
In another example, the camera of the reaction detection unit 11C and the camera of the position detection unit 12B may be provided separately.

In the example illustrated in FIG. 1, the guidance completion determination unit 12C determines whether the guidance of the supported person to the sweet spot 13A (see FIG. 1B) is performed based on the position of the supported person detected by the position detection unit 12B. It is determined whether the process has been completed.
The guide sound presenting unit 13 presents a guide sound to a support recipient located at the sweet spot 13A. The guide sound presentation unit 13 includes a parametric speaker 13B that generates ultrasonic waves.
Specifically, when the guidance completion determination unit 12C determines that the guidance of the supported person to the sweet spot 13A is completed, the guidance sound presentation unit 12A stops presenting the guidance sound, and the guidance sound presentation unit 13 The presentation of the guidance sound starts.
In the example shown in FIG. 1B, the guide sound presentation unit 13 includes a plurality of (for example, two) parametric speakers 13B, and forms a stereo parametric speaker. As shown by the dashed arrows in FIG. 1B, each of the two parametric speakers 13B of the guide sound presentation unit 13 presents a guide sound to the supported person located at the sweet spot 13A. In other words, the sound presented by the guidance sound presenting unit 13 to the support recipient located at the sweet spot 13A is stereophonic sound (sound reproduced with depth and width). Therefore, it is possible to present detailed information to the supported person located at the sweet spot 13A while suppressing noise given to a person other than the supported person located in the determination area 11A.

As described above, in an example in which the supportee does not previously mount any of the marker, the angular velocity sensor, the acceleration sensor, the magnetic coil, and the like, the supportee carries the terminal device as in the technique described in Patent Literature 1. The support recipient can be guided to the sweet spot 13A (see FIG. 1B) without the need for advance preparation. That is, the convenience of the supportee can be improved as compared with the case where advance preparation is necessary.
Further, as described above, in the example in which the guide sound presentation unit 13 includes the parametric speaker 13B, the supportee does not need to carry an audio device such as an earphone as in the technique described in Patent Literature 1, and provides the guide sound presentation. The guidance by the guidance sound presented by the unit 13 can be received. That is, the convenience of the supportee can be improved as compared with a case where an audio device such as an earphone is required to be carried.
Further, as described above, in the example in which the parametric speaker 13B presents the guidance sound, it is possible to suppress the possibility that the guidance sound presented to the supported person becomes noise for a person who does not request guidance. That is, it is possible to suppress noise diffused around the supportee.
Further, in the example in which the parametric speaker 13B presents the guidance sound, the guidance sound is not presented to the supported person by the immersive stereophonic sound, so that the sound around the supported person is not interrupted. As a result, the safety of the supportee can be improved as compared with the case where the surrounding sound to the supportee is cut off.
Further, in the example in which the parametric speaker 13B presents the guide sound, the supportee can receive the guide without having to touch the tactile map or the like. Therefore, guidance to the supportee can be performed in a sanitary manner.
That is, in the above-described example, information having the same level of intuition as information that a sighted person can see and understand on a map or the like can be presented to the supportee by the parametric speaker 13B. Examples of information presented by the parametric speaker 13B as a guide sound include, for example, map information indicating the positional relationship around the determination area 11A.

FIG. 2 is a flowchart illustrating an example of a process executed in the navigation device 1 according to the first embodiment.
In the example illustrated in FIG. 2, in step S11, the supported person determination unit 11 determines whether the supported person is in the determination area 11A (see FIG. 1B).
Next, in step S12, the supported person guiding unit 12 guides the supported person to the sweet spot 13A (see FIG. 1B).
Next, in step S13, the guide sound presenting unit 13 presents a guide sound to the sweet spot 13A.

Specifically, in the example illustrated in FIG. 2, in step S11A included in step S11, the trigger sound presentation unit 11B presents a trigger sound to the determination area 11A.
Next, in step S11B included in step S11, the reaction detection unit 11C detects a response of the trigger sound listener to the trigger sound presented in step S11A.
Next, in step S11C included in step S11, the supported person determination unit 11 determines whether the supported person is present in the determination area 11A. Specifically, in step S11C, the supported person determination unit 11 determines whether or not the trigger sound listener is a supported person based on the response of the trigger sound listener detected in step S11B.
When the supported person determining unit 11 determines that the supported person is present in the determination area 11A (the listener of the trigger sound is the supported person), the process proceeds to step S11D included in step S11. On the other hand, when the supported person determining unit 11 determines that the supported person does not exist in the determination area 11A (the listener of the trigger sound is not the supported person), the process returns to step S11A.
In step S11D included in step S11, the trigger sound presentation unit 11B stops presenting the trigger sound to the determination area 11A.

Next, in step S12A included in step S12, the guidance sound presenting unit 12A presents a guidance sound that guides the supported person to the sweet spot 13A (starts presentation of the guidance sound).
Next, in step S12B included in step S12, the position detection unit 12B detects the position of the supported person.
Next, in step S12C included in step S12, the guidance completion determination unit 12C determines whether the guidance of the supported person to the sweet spot 13A has been completed based on the position of the supported person detected in step S12B. judge. When the guidance completion determining unit 12C determines that the guidance of the supported person to the sweet spot 13A has been completed, the process proceeds to step S12D included in step S12. On the other hand, when the guidance completion determining unit 12C determines that the guidance of the supported person to the sweet spot 13A has not been completed, the process returns to step S12A.
In step S12D included in step S12, the guidance sound presentation unit 12A stops presenting the guidance sound.

  Next, in step S13, the guide sound presenting unit 13 presents a guide sound to the supportee of the sweet spot 13A (starts presentation of the guide sound). Specifically, in step S13, the parametric speaker 13B of the guide sound presentation unit 13 generates an ultrasonic wave.

In the example shown in FIG. 1B, the speaker 11B1 of the trigger sound presentation unit 11B has a lower directivity than the parametric speaker 13B of the guide sound presentation unit 13. Therefore, the speaker 11B1 of the trigger sound presentation unit 11B can present the trigger sound to the entire determination area 11A wider than the sweet spot 13A.
In the example shown in FIG. 1B, since the speaker 11B1 of the trigger sound presentation unit 11B and the speaker 12A1 of the guidance sound presentation unit 12A are shared speakers, the speaker 12A1 of the guidance sound presentation unit 12A is also used as the guidance sound presentation unit 13 Has lower directivity than the parametric speaker 13B. As a result, the speaker 12A1 of the guidance sound presentation unit 12A can present the guidance sound over the entire determination area 11A wider than the sweet spot 13A.
That is, in the example shown in FIG. 1B, the support recipient can be guided to the sweet spot 13A from an arbitrary position in the determination area 11A that is wider than the sweet spot 13A.
In an example in which the speaker 11B1 of the trigger sound presentation unit 11B and the speaker 12A1 of the guidance sound presentation unit 12A are separate speakers, the speaker 11B1 of the trigger sound presentation unit 11B has a lower directivity than the parametric speaker 13B of the guide sound presentation unit 13. The speaker 12A1 of the guidance sound presentation unit 12A may have lower directivity than the parametric speaker 13B of the guidance sound presentation unit 13.

In the example shown in FIGS. 1 and 2, the trigger sound presented by the trigger sound presentation unit 11B is different from the guidance sound presented by the guidance sound presentation unit 12A. Therefore, when the trigger sound presentation unit 11B stops presenting the trigger sound to the determination area 11A in step S11D of FIG. 2, and then, in step S12A, the guidance sound presentation unit 12A starts presenting the guidance sound. In addition, the supported person can easily grasp that the process has shifted from the step of searching for the supported person (step S11D) to the step of guiding the supported person to the sweet spot 13A (step S12A).
In another example, the trigger sound presented by the trigger sound presentation unit 11B and the guidance sound presented by the guidance sound presentation unit 12A may not be different.

In the example shown in FIGS. 1 and 2, the amount of information per unit time included in the trigger sound presented by the trigger sound presentation unit 11B in step S11A of FIG. 2 and the guidance sound presented by the guidance sound presentation unit 12A in step S12A Is smaller than the information amount per unit time included in the guide sound presented by the guide sound presenting unit 13 in step S13. For this reason, the trigger sound output from the speaker 11B1 of the trigger sound presentation unit 11B having low directivity and the guidance sound output from the speaker 12A1 of the guidance sound presentation unit 12A having low directivity cause noises to persons other than the supported person. The detailed information can be presented to the supportee by the guidance sound output from the parametric speaker 13B of the guidance sound presentation unit 13 having high directivity while suppressing the possibility of giving the information.
In another example, the information amount per unit time included in the trigger sound and / or the information amount per unit time included in the guidance sound may be equal to the information amount per unit time included in the guide sound. .

In the example illustrated in FIG. 1, the trigger sound presenting unit 11B is configured to present a trigger sound pattern (“pattern” includes a sound per unit time) based on the response of the trigger sound listener detected by the reaction detecting unit 11C. And the volume is changed.
For example, when any of the plurality of trigger sound listeners in the determination area 11A does not respond to the trigger sound presented by the trigger sound presenting unit 11B, the trigger sound presenting unit 11B outputs the trigger sound to be presented. Change the pattern.
By doing in this way, even though the supportee who actually seeks guidance by the guidance sound exists in the determination area 11A, the supportee determination unit 11 incorrectly indicates that the supportee does not exist in the determination area 11A. Can be suppressed.
For example, when a trigger detection unit 11C detects a trigger sound listener who has responded to closing of the ear to the trigger sound presented by the trigger sound presentation unit 11B, the trigger sound presentation unit 11B presents a trigger sound to be presented. Decrease the volume.
By doing so, it is possible to suppress the possibility that the trigger sound presented by the trigger sound presentation unit 11B becomes noise for a person other than the support recipient located in the determination area 11A.
In another example, the trigger sound presentation unit 11B may not change the pattern or volume of the trigger sound to be presented based on the response of the trigger sound listener detected by the reaction detection unit 11C.

In the example illustrated in FIG. 1, the guidance sound presenting unit 12A changes the pattern or volume of the guidance sound to be presented based on the position of the supported person detected by the position detection unit 12B.
For example, if the supportee does not respond to the guidance sound presented by the guidance sound presentation unit 12A, the supportee may not be able to understand the meaning of the information presented by the guidance sound. Therefore, in such a case, the guidance sound presenting unit 12A changes the pattern of the guidance sound to be presented.
Further, when the supportee does not respond to the guidance sound presented by the guidance sound presentation unit 12A, the supportee may not be able to hear the guidance sound. Therefore, the guidance sound presentation unit 12A increases the volume of the guidance sound to be presented before or after changing the pattern of the guidance sound to be presented.
By doing so, it is possible to suppress the possibility that the person to be supported cannot be guided to the sweet spot 13A.
In addition, by changing the pattern or volume of the guidance sound presented by the guidance sound presentation unit 12A according to the position of the supportee, the supportee can easily determine whether or not he or she is approaching the sweet spot 13A. You can figure out. Specifically, the guidance sound pattern or volume presented by the guidance sound presentation unit 12A when the supported person is approaching the sweet spot 13A, and the guidance sound presentation when the supported person is not approaching the sweet spot 13A. By making the pattern or volume of the guidance sound presented by the unit 12A different, the supported person can easily grasp whether or not he or she is approaching the sweet spot 13A.

  As described above, in the navigation device 1 according to the first embodiment, the position of the supported person is detected by the position detection unit 12B. In addition, the supportee is guided to the sweet spot 13A by the guidance sound presented by the guidance sound presentation unit 12A. In the example shown in FIG. 1, the plurality of parametric speakers 13B present a stereophonic signal having a sense of localization to the sweet spot 13A (that is, pinpoint). Further, the position where the parametric speaker 13B is actually arranged is different from the obtained sense of localization. In other words, the guide sound presenting unit 13 reproduces a stereophonic sound signal for both ears of the supportee located at the sweet spot 13A where stereophonic sound can be presented. A specific gesture of the supported person may be used as a trigger for the guide sound presentation unit 13 to reproduce the stereoscopic sound signal.

According to the navigation device 1 of the first embodiment, a guide sound (stereophonic sound) is output from a plurality of parametric speakers 13B to a visually handicapped person or a foreign traveler who cannot understand Japanese who wants to intuitively grasp the information. Can be presented by The information presented by the navigation device 1 includes, for example, map information around the sweet spot 13A.
Further, according to the navigation device 1 of the first embodiment, since the information is reproduced in a pinpoint manner for the supported person, it is possible to suppress the noise spreading to the surroundings.

<Application Example of Navigation Device 1 of First Embodiment>
The navigation device 1 according to the first embodiment is incorporated in a map signboard installed in, for example, a town or a station. In this application example, the map signboard is arranged in the determination area 11A shown in FIG. A visually impaired person, a foreign traveler, or the like who tries to understand the information described on the map signboard corresponds to the supported person supported by the navigation device 1 of the first embodiment. The supported person determination unit 11 determines whether a visually impaired person, a foreign traveler, or the like is requesting guidance by a guidance sound. When a visually impaired person, a foreign traveler, or the like seeks guidance using a guide sound, the visually impaired person, a foreign traveler, or the like uses the assisted person guiding unit 12 to provide a sweet spot 13A (see FIG. 1B). ). Next, the map information presented by the guidance sound presentation unit 13 is audible to visually impaired persons, foreign travelers, and the like as stereophonic sound.
In another application example, the navigation device 1 of the first embodiment may be used for guiding a supportee to an entrance, a toilet, or the like.
In still another application example, in an environment where a plurality of users exist, such as a game center or an exhibition, media presentation is performed for each user by the navigation device 1 of the first embodiment in order to reduce noise comprehensively.

<Second embodiment>
Hereinafter, a second embodiment of the navigation device and the navigation method of the present invention will be described with reference to the accompanying drawings.
The navigation device 1 according to the second embodiment has the same configuration as the navigation device 1 according to the first embodiment described above, except for the points described below. Therefore, according to the navigation device 1 of the second embodiment, the same effects as those of the navigation device 1 of the above-described first embodiment can be obtained except for the points described below.

FIG. 3 is a diagram illustrating a schematic configuration of an example of the navigation device 1 according to the second embodiment. Specifically, FIG. 3 shows an example of the navigation device 1 applied when the amount of information required by the supportee is smaller than the example shown in FIG.
In the example illustrated in FIG. 3, the navigation device 1 includes a supported person determination unit 11, a supported person guidance unit 12, and a guidance sound presentation unit 13, as in the example illustrated in FIG. 1. The supported person determination unit 11 determines whether or not the supported person who requests guidance by the guidance sound exists in the determination area 11A (see FIG. 1B). Further, the supported person determination unit 11 includes a trigger sound presentation unit 11B and a reaction detection unit 11C. The trigger sound presenting section 11B presents a trigger sound in the determination area 11A. The trigger sound presentation unit 11B includes a speaker 11B1. The speaker 11B1 outputs a trigger sound that can be listened to by a support recipient or the like in the determination area 11A. The response detection unit 11C detects a response of the trigger sound listener to the trigger sound presented by the trigger sound presentation unit 11B.

In the example illustrated in FIG. 3, similarly to the example illustrated in FIG. 1, there is no need for the supported person who requests guidance by the guidance sound to wear the marker. The reaction detection unit 11C includes a camera capable of detecting a depth. In addition, the reaction detection unit 11C detects a response of a trigger sound listener (a supported person or the like) to the trigger sound presented by the trigger sound presentation unit 11B based on an image captured by the camera. The supported person determination unit 11 determines whether or not the trigger sound listener is a supported person based on the response of the trigger sound listener detected by the reaction detection unit 11C.
In another example to which the navigation device 1 of the second embodiment is applied, a supported person who requests guidance by a guidance sound may wear a marker in advance. In this example, the reaction detection unit 11C includes a plurality of cameras. The reaction detection unit 11C records the position and orientation of the supported person wearing the marker by using an optical motion capture technique. Based on the response of the supported person (supported person wearing the marker) to the trigger sound detected by the reaction detection unit 11C, the supported person determination unit 11 requests the supported person to provide guidance using the guidance sound. Is determined.
In still another example to which the navigation device 1 of the second embodiment is applied, a supportee who requests guidance by a guidance sound may be equipped with an angular velocity sensor, an acceleration sensor, or the like in advance. In this example, the reaction detection unit 11C acquires a detection result obtained by an angular velocity sensor, an acceleration sensor, or the like. The reaction detection unit 11C records the position and orientation of the support recipient wearing an angular velocity sensor, an acceleration sensor, and the like by using a mechanical motion capture technique. Based on the response of the supported person (supported person wearing an angular velocity sensor, an acceleration sensor, or the like) to the trigger sound detected by the reaction detection unit 11C, the supported person determination unit 11 provides guidance to the supported person. It is determined whether guidance by sound is required.
In still another example to which the navigation device 1 according to the second embodiment is applied, a supported person who requests guidance by a guidance sound may mount a magnetic coil in advance. In this example, the reaction detection unit 11C generates a magnetic field in the determination area 11A (see FIG. 1B). The reaction detection unit 11C acquires a distortion caused by the magnetic coil mounted on the supportee moving in the magnetic field. The reaction detection unit 11C records the position and orientation of the support recipient wearing the magnetic coil by using a magnetic motion capture technology. Based on the response of the supported person (supported person wearing a magnetic coil) to the trigger sound detected by the reaction detection unit 11C, the supported person determination unit 11 provides guidance by the guided sound. Determine if you are seeking.

  In the example illustrated in FIG. 3, similarly to the example illustrated in FIG. 1, when the supported person determination unit 11 determines that the trigger sound listener is the supported person, the supported person guiding unit 12 determines the determination area 11A. The supported person located in (see FIG. 1 (B)) is guided to the sweet spot 13A (see FIG. 1 (B)) which is the presentation position of the guide sound. The supported person guidance unit 12 includes a guidance sound presentation unit 12A, a position detection unit 12B, and a guidance completion determination unit 12C. The guide sound presenting unit 12A presents a guide sound that guides the supported person located in the determination area 11A to the sweet spot 13A. The guidance sound presentation unit 12A includes a speaker 12A1. The speaker 12A1 outputs a guidance sound that can be heard by the supportee. More specifically, when the supported person determination unit 11 determines that the listener of the trigger sound is a supported person, the triggered sound presenting unit 11B stops presenting the trigger sound to the determination area 11A and presents the guidance sound. The unit 12A starts presentation of the guidance sound. The position detection unit 12B detects the position of the supported person guided by the guidance sound. The position detection unit 12B includes a camera. The position detection unit 12B detects the position of the supported person from the image captured by the camera. The guidance completion determination unit 12C determines whether the guidance of the supported person to the sweet spot 13A has been completed based on the position of the supported person detected by the position detection unit 12B.

In the example illustrated in FIG. 3, similarly to the example illustrated in FIG. 1, the guide sound presenting unit 13 presents a guide sound to a supported person located at the sweet spot 13A (see FIG. 1B). Specifically, when the guidance completion determination unit 12C determines that the guidance of the supported person to the sweet spot 13A is completed, the guidance sound presentation unit 12A stops presenting the guidance sound, and the guidance sound presentation unit 13 The presentation of the guidance sound starts.
In the example illustrated in FIG. 1, the guide sound presentation unit 13 includes two parametric speakers 13B that generate ultrasonic waves. In the example illustrated in FIG. 3, the guide sound presentation unit 13 generates ultrasonic waves. It is provided with one parametric speaker 13B. That is, one parametric speaker 13B of the guide sound presenting unit 13 presents the guide sound to the supported person located at the sweet spot 13A. Therefore, the cost of the navigation device 1 as a whole can be suppressed as compared with the case where the guide sound presentation unit 13 includes two parametric speakers 13B. On the other hand, in the example shown in FIG. 3, since the amount of information required by the supported person is smaller than that in the example shown in FIG. 1, one parametric speaker 13B can sufficiently satisfy the request of the supported person.
That is, in the example illustrated in FIG. 3, while suppressing the noise given to the person other than the support recipient located in the determination area 11A and suppressing the cost of the navigation device 1 as a whole, the support recipient located at the sweet spot 13A can receive the noise. For this, necessary and sufficient information can be presented.

<Modification of Navigation Device 1 of First or Second Embodiment>
In the examples shown in FIGS. 1 to 3, the sensors constituting a part of the reaction detection unit 11 </ b> C do not include LIDAR (Light Detection And Ranging), RADAR (Radio Detecting and Ranging), but the first or second sensor. In a modified example of the navigation device 1 of the embodiment, a sensor constituting a part of the reaction detection unit 11C may include LIDAR, RADAR, and the like in addition to the various sensors described above.

  In the example illustrated in FIGS. 1 to 3, the reaction detection unit 11 </ b> C does not detect the white stick carried by the supported person. However, in the modification of the navigation device 1 according to the first or second embodiment, the reaction detection unit 11 </ b> C does not. 11C may detect the white stick carried by the supported person. In this example, when the reaction detection unit 11C detects the white cane, the supported person determination unit 11 determines that the trigger sound listener having the white cane is the supported person.

In the example illustrated in FIGS. 1 to 3, the reaction detection unit 11 </ b> C does not detect the identification information (identification information indicating that the person is a supported person) possessed by the supported person, but in the first or second embodiment. In a modification of the navigation device 1, the reaction detection unit 11C may detect identification information possessed by the supported person.
In an example in which the identification information is an RF (Radio Frequency) tag, the reaction detection unit 11C has a reader function of reading the identification information. The supported person determination unit 11 determines that the trigger sound listener having the identification information is the supported person based on the identification information read by the reaction detection unit 11C.

  In the example shown in FIGS. 1 to 3, the position detection unit 12B includes a camera. However, in a modified example of the navigation device 1 according to the first or second embodiment, the position detection unit 12B includes a LIDAR, a RADAR, or the like in addition to the camera. May be provided. In this example, when the position detection unit 12B cannot detect the position of the supported person from the image captured by the camera, the position detection unit 12B detects the position of the supported person by using a function such as LIDAR or RADAR.

  In the example shown in FIGS. 1 to 3, the supportee does not have a self-position information transmitting unit such as a mobile phone. However, in the modification of the navigation device 1 according to the first or second embodiment, the position detection is performed. When the position of the supported person cannot be detected from the image captured by the camera, the unit 12B may detect the position of the supported person by using the self-position information described above.

  In the example shown in FIGS. 1 to 3, the information included in the guide sound presented by the parametric speaker 13B is, for example, map information. However, in the modification of the navigation device 1 according to the first or second embodiment, the parametric speaker 13B is used. May function as part of an AR (Augmented Reality) device.

  As described above, the embodiments for carrying out the present invention have been described using the embodiments. However, the present invention is not limited to these embodiments at all, and various modifications and substitutions may be made without departing from the gist of the present invention. Can be added. The configurations described in the above embodiments and examples may be appropriately combined.

In addition, all or a part of the functions of each unit included in the navigation device 1 in the above-described embodiment is obtained by recording a program for implementing these functions on a computer-readable recording medium and recording the program on the recording medium. The program may be implemented by causing a computer system to read and execute the program. Here, the “computer system” includes an OS and hardware such as peripheral devices.
The “computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, and a CD-ROM, and a storage unit such as a hard disk built in a computer system. Further, a "computer-readable recording medium" refers to a communication line for transmitting a program via a network such as the Internet or a communication line such as a telephone line, and dynamically holds the program for a short time. Such a program may include a program that holds a program for a certain period of time, such as a volatile memory in a computer system serving as a server or a client in that case. Further, the above-mentioned program may be for realizing a part of the above-mentioned functions, or may be for realizing the above-mentioned functions in combination with a program already recorded in a computer system.

DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus, 11 ... Supportee determination part, 11A ... Determination area, 11B ... Trigger sound presentation part, 11B1 ... Speaker, 11C ... Reaction detection part, 12 ... Supportee guidance part, 12A ... Guide sound presentation part, 12A1: speaker, 12B: position detecting unit, 12C: guidance completion determining unit, 13: guide sound presenting unit, 13A: sweet spot, 13B: parametric speaker

Claims (9)

A supported person determination unit that determines whether a supported person who is a person who requests guidance by the guidance sound is present in the determination area,
A supported person guiding unit that guides the supported person from a position in the determination area to a sweet spot that is a presentation position of a guidance sound,
A guide sound presenting unit for presenting a guide sound to the sweet spot,
The supportee determination unit,
A trigger sound presentation unit for presenting a trigger sound in the determination area,
A reaction detection unit that detects a response of the trigger sound listener to the trigger sound presented by the trigger sound presentation unit,
The supportee guiding unit,
A guidance sound presentation unit that presents a guidance sound for guiding the supported person to the sweet spot,
A position detection unit that detects the position of the supported person,
A guidance completion determining unit that determines whether or not the guidance of the supported person has been completed based on the position of the supported person detected by the position detection unit,
The guidance sound presenting unit,
With a parametric speaker that generates ultrasonic waves,
The supported person determination unit is configured to determine whether the trigger sound listener is the supported person based on a response of the trigger sound listener detected by the reaction detection unit,
When the supported person determining unit determines that the trigger sound listener is the supported person, the trigger sound presenting unit stops presenting the trigger sound to the determination area, and the guidance sound presenting unit Starts showing the guidance sound,
When the guidance completion determination unit determines that the guidance of the supported person has been completed, the guidance sound presentation unit stops presenting the guidance sound, and the guidance sound presentation unit starts presenting a guidance sound,
Navigation device. The guidance sound presentation unit includes a plurality of the parametric speakers,
The sound presented to the sweet spot by the guide sound presentation unit is a three-dimensional sound,
The navigation device according to claim 1. The trigger sound presentation unit includes a first speaker having a lower directivity than the parametric speaker,
The guidance sound presentation unit includes a second speaker having lower directivity than the parametric speaker,
The navigation device according to claim 1 or 2. The first speaker and the second speaker are shared speakers,
The navigation device according to claim 3. The trigger sound presented by the trigger sound presentation unit and the guidance sound presented by the guidance sound presentation unit are different sounds,
The navigation device according to claim 1 or 2. The amount of information per unit time included in the trigger sound presented by the trigger sound presentation unit and the amount of information per unit time included in the guidance sound presented by the guidance sound presentation unit are presented by the guidance sound presentation unit. Less than the amount of information per unit time included in the guide sound
The navigation device according to claim 1 or 2. The trigger sound presentation unit, based on the response of the trigger sound listener detected by the reaction detection unit, to change the pattern or volume of the trigger sound to be presented,
The navigation device according to claim 1 or 2. The guidance sound presenting unit, based on the position of the supported person detected by the position detection unit, to change the pattern or volume of the guidance sound to be presented,
The navigation device according to claim 1 or 2. A supported person determination step of determining whether a supported person who is a person who requests guidance by the guidance sound is present in the determination area,
A supported person guiding step of guiding the supported person from a position in the determination area to a sweet spot that is a presentation position of a guidance sound,
A guidance sound presentation step of presenting a guidance sound to the sweet spot,
In the supported person determination step,
A trigger sound presentation step of presenting a trigger sound in the determination area;
A reaction detection step of detecting a response of the trigger sound listener to the trigger sound presented in the trigger sound presentation step,
In the supportee guiding step,
A guidance sound presentation step of presenting a guidance sound for guiding the supported person to the sweet spot,
A position detection step of detecting the position of the supported person,
Based on the position of the supported person detected in the position detection step, a guidance completion determining step of determining whether or not the guidance of the supported person has been completed,
In the guiding sound presentation step, a parametric speaker generates ultrasonic waves,
In the supported person determination step, based on the response of the trigger sound listener detected in the reaction detection step, it is determined whether the trigger sound listener is the supported person,
When it is determined in the supported person determining step that the trigger sound listener is the supported person, presentation of the trigger sound to the determination area in the trigger sound presenting step is stopped, and the guiding sound presenting step is performed. The presentation of the guidance sound at is started,
When it is determined in the guidance completion determination step that the guidance of the supported person is completed, the presentation of the guidance sound in the guidance sound presentation step is stopped, and the presentation of the guidance sound in the guidance sound presentation step is started. ,
Navigation method.

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