JP2022108093A - Approach avoidance system and galvanic vestibular stimulation device - Google Patents

Abstract

To provide a technique which allows a user to avoid approach to a moving body around him or her.SOLUTION: An approach avoidance system includes: an imaging unit which generates images of a peripheral environment surrounding an object at time intervals of dT; a moving body analysis unit which calculates distances L between the object and moving bodies existing in the peripheral environment and relative speed vectors V of the moving bodies relative to the object and uses the distances L and the relative speed vectors V to calculate times T required for the object and the moving bodies to approach each other within a prescribed distance; a speed calculation unit which extracts a moving body for which the calculated time T is equal to or shorter than a determination time Tj, and calculates a speed dV indicating an extent and direction of an action which the object should take so that a distance Lj between the object and the extracted moving body becomes a prescribed distance after the determination time Tj; an electrode unit for applying galvanic vestibular stimulation to the object; and a current control unit which causes a current with a prescribed current value to flow in the electrode unit to apply the galvanic vestibular stimulation to the object in order to prompt the object to take the action at the speed dV.SELECTED DRAWING: Figure 1

Description

The present technology relates to approach avoidance systems and vestibular electrical stimulation devices. More specifically, the present technology relates to an approach avoidance system capable of avoiding an approach between a target and a specific moving body, and a vestibular electrical stimulator that constitutes the approach avoidance system.

In recent years, various contents for smartphones using augmented reality (AR) technology have been provided. Examples of such content include smartphone-only music videos that allow you to enjoy immersive images while walking, and smartphone-only games that allow you to enjoy fusion with the real world by operating while walking. With the spread of such content, the number of users who operate smartphones while walking is increasing. Some users are so immersed in the screen of their smartphone that they collide with or come into contact with surrounding objects. Therefore, many people are aware of the dangers of using smartphones while walking, and this has become a social problem.

In recent years, the spread of the novel coronavirus infection (COVID-19) has become a social problem. As a measure to prevent the spread of infection, it is strongly recommended to avoid crowds and close contact, and it is required to maintain a physical distance from people around you.

As a countermeasure to these two social problems, it is considered that a technology capable of guiding people to automatically avoid approaching surrounding moving bodies is useful. Conventionally, several technologies have been proposed that are capable of guiding human motion. For example, there are techniques disclosed in Patent Documents 1 to 3 below. In Patent Document 1 below, electrical stimulation to the vestibular sensation can be used to guide a driver who drives a vehicle that changes direction by a balance operation. A driver assistance device that can be guided is disclosed. Patent Document 2 below discloses that electrical stimulation of the vestibular sensation can be used to induce human body movements. Disclosed is a body guidance device that can. Patent Literature 3 listed below discloses an animal guidance system that can guide an animal that has difficulty in verbal communication by stimulating the vestibular sensation.

JP 2006-298012 A JP-A-2004-254790 JP 2006-296221 A

However, the technique disclosed in Patent Document 1 is a collision avoidance technique for one moving object, and is intended for people who drive vehicles such as bicycles and motorcycles that change direction by balancing. . For this reason, the technology disclosed in Patent Document 1 makes it difficult to avoid a plurality of moving objects, and the target person is limited. With the technology disclosed in Patent Document 2, it is difficult to acquire information about surrounding moving bodies and guide body movements based on the information in real time. In the technique disclosed in Patent Document 3, the movement direction of the animal is visually determined by a person who is an instructor. Therefore, the technique disclosed in Patent Document 3 cannot be said to be a technique capable of guiding a person to automatically avoid approaching surrounding moving objects.

Therefore, the main object of the present technology is to provide a technology capable of avoiding approaching a moving object existing in the surroundings.

The inventors of the present invention have found that the above problems can be solved by an approach avoidance system having a specific configuration, and have completed the present technology.

That is, this technology is
an imaging unit that generates images of the subject's surroundings at time intervals dT;
calculating a distance L between the target and a moving body existing in the surrounding environment and a relative velocity vector V of the moving body with respect to the target; and using the distance L and the relative velocity vector V, the target and the moving body A moving body analysis unit that calculates the time T required for the to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the distance Lj between the target and the extracted moving body after the determination time Tj is a predetermined distance. a speed calculator that calculates a speed dV representing the magnitude and direction of motion;
an electrode unit for providing vestibular electrical stimulation to the subject;
a current control unit that supplies the object with the vestibular electrical stimulation to induce the object to move at the speed dV by applying a current of a predetermined current value to the electrode unit. do.
The approach avoidance system searches a current value database that holds information on the speed dV of the motion induced when the current of the current value I flows through the electrode unit, and searches the current value database that holds the information on the speed dV of the movement induced when the current of the current value I flows through the electrode unit. It may further include a current value acquisition unit that acquires
The current control section may supply the current of the current value I to the electrode section.
The approach avoidance system may further include a result confirmation unit for confirming the distance Lr between the target and the extracted moving body after the current control unit has applied the vestibular electrical stimulation to the target,
The result confirmation unit may update the current value database when the distance Lr satisfies a predetermined condition.
The imaging unit may include a TOF image sensor and/or a millimeter wave image sensor.
The imaging unit may further include a visible light image sensor.
the access avoidance system may include a pair of vestibular electrical stimulators;
Each of the pair of vestibular electrical stimulation devices may include the imaging section, the moving body analysis section, the velocity calculation section, the electrode section, and the current control section.
The approach avoidance system may include a pair of vestibular electrical stimulators and a mobile terminal;
The pair of vestibular electrical stimulation devices and the mobile terminal may be communicably connected,
Each of the pair of vestibular electrical stimulation devices may include the imaging unit, the moving body analysis unit, the electrode unit, and the current control unit,
The mobile terminal may include the speed calculator.
The approach avoidance system may include a pair of vestibular electrical stimulators and an information processing device;
The pair of vestibular electrical stimulation devices and the information processing device may be communicably connected,
Each of the pair of vestibular electrical stimulation devices may include the imaging unit, the moving body analysis unit, the electrode unit, and the current control unit,
The information processing device may include the speed calculator.
The approach avoidance system may include a mobile terminal,
The mobile terminal may include the imaging unit.
The approach avoidance system may include a mobile terminal,
The mobile terminal may include the imaging unit, the moving object analysis unit, the velocity calculation unit, and the current value acquisition unit.
The approach avoidance system may further include an audio output unit that outputs audio.
The approach avoidance system may further include an image display unit that displays an image.
a location information acquisition unit for the approach avoidance system to acquire current location information of the target;
a route selection unit that selects a route for the target to reach the destination based on the map information and the position information, and acquires information about the route from the map information;
The speed calculator may use information about the route when calculating the speed dV.
a visibility information acquisition unit for acquiring visibility information that allows the approach avoidance system to specify the visibility of the target;
a visibility display unit that displays the visibility information;
A current value setting unit that sets a current value determined by a third party other than the target who monitors the field of view display unit as the predetermined current value.
The approach avoidance system may include a plurality of pairs of vestibular electrical stimulators,
The plurality of pairs of vestibular electrical stimulation devices may be communicatively connected to each other,
each of the plurality of subjects may wear the pair of vestibular electrical stimulation devices;
The pair of vestibular electrical stimulation devices includes a recognition signal generation unit that generates a recognition signal that causes another pair of vestibular electrical stimulation devices to recognize its own vestibular electrical stimulation device, and a transmission and reception unit that transmits and receives the recognition signal. well,
The speed calculation unit may calculate the speed dV based on the recognition signals from the other pair of vestibular electrical stimulation devices received by the transmission/reception unit.
The approach avoidance system
Based on the recognition signals from the other pair of vestibular electrical stimulation devices, the action history is retrieved from an action history database holding the behavior history information of another subject wearing the other pair of vestibular electrical stimulation devices. an information acquisition unit that acquires information;
a behavior prediction unit that predicts the behavior of the other target and calculates a predicted velocity vector Vp based on the acquired behavior history information;
The speed calculator may calculate the speed dV using the predicted speed vector Vp of the other target.
In the approach avoidance system, the object may be a person, and the moving object existing in the surrounding environment may also be a person. It may be used to avoid crowding and close contact.

In addition, this technology
A pair of vestibular electrical stimulators, comprising:
each of the pair of vestibular electrical stimulation devices comprising:
an imaging unit that generates images of the subject's surroundings at time intervals dT;
calculating a distance L between the target and a moving body existing in the surrounding environment and a relative velocity vector V of the moving body with respect to the target; and using the distance L and the relative velocity vector V, the target and the moving body A moving body analysis unit that calculates the time T required for the to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the distance Lj between the target and the extracted moving body after the determination time Tj is a predetermined distance. a speed calculator that calculates a speed dV representing the magnitude and direction of motion;
an electrode unit for providing vestibular electrical stimulation to the subject;
a current control unit that applies a current of a predetermined current value to the electrode unit and provides vestibular electrical stimulation to the subject to induce the subject to move at the speed dV. Equipment is also provided.
The pair of vestibular electrical stimulation devices may be a pair of ear-hung wearable devices,
Each of the pair of vestibular electrical stimulation devices may include the imaging section including one or more image sensors and the electrode section including three electrodes.

Note that the effects described in this specification are merely examples and are not limited, and other effects may be provided. In other words, the technology according to the present disclosure can produce other effects that are obvious to those skilled in the art from the description of this specification, in addition to or instead of the above effects.

It is a figure which shows an example of the whole structure of an approach avoidance system. It is a figure which shows an example of the whole structure of a GVS apparatus. FIG. 4 is a diagram showing another example of the overall configuration of the GVS device; It is a figure which shows an example of the hardware constitutions of a main-body part. FIG. 2 is a diagram showing an example of the functional configuration of a GVS device; FIG. 4 is a flowchart showing an example of processing executed by the GVS device; FIG. 3 is a schematic diagram for explaining an example of an image generated by an imaging unit; FIG. 4 is a schematic diagram showing distance L, relative velocity vector V, and time T; FIG. FIG. 5 is a schematic diagram for explaining an example of processing executed by a speed calculation unit; FIG. 3 is a schematic diagram showing an example of information on a current value I and a velocity dV held by a current value database; 3 is a schematic diagram showing three electrodes placed near the user's right ear and the user's direction; FIG. It is a figure which shows an example of the whole structure of the approach avoidance system of 2nd Embodiment. It is a figure showing an example of functional composition of an approach avoidance system concerning a 2nd embodiment. It is a figure which shows an example of the whole structure of the approach avoidance system of 3rd Embodiment. It is a figure showing an example of functional composition of an approach avoidance system of a 3rd embodiment. It is a figure which shows an example of the whole structure of the approach avoidance system of 6th Embodiment. It is a figure which shows an example of functional structure of the approach avoidance system of 6th Embodiment. 4 is a flowchart showing an example of processing executed by the GVS device; It is a figure which shows an example of the whole structure of the approach avoidance system of 7th Embodiment. It is a figure which shows an example of functional structure of the approach avoidance system of 7th Embodiment. 4 is a flow chart showing an example of processing executed by the GVS device and the operation terminal device; It is a figure which shows an example of the whole structure of the approach avoidance system of 8th Embodiment. It is a figure which shows an example of functional structure of the approach avoidance system of 8th Embodiment. It is a figure which shows an example of the whole structure of the approach avoidance system of 9th Embodiment. It is a figure for demonstrating the cause of car sickness. It is a schematic diagram for demonstrating an example of the car sickness suppression system of a modification.

Preferred embodiments for carrying out the present technology will be described below with reference to the drawings. The embodiments described below show representative embodiments of the present technology, and the scope of the present technology is not limited only to these embodiments. The present technology will be described in the following order.

1. Outline of this technology 2. First embodiment (example including vestibular electrical stimulation device)
3. Second embodiment (first example including vestibular electrical stimulation device and mobile terminal)
4. Third Embodiment (Second Example Including Vestibular Electrical Stimulator and Mobile Terminal)
5. Fourth Embodiment (Third Example Including Vestibular Electrical Stimulator and Mobile Terminal)
6. Fifth embodiment (example including vestibular electrical stimulation device and information processing device)
7. Sixth Embodiment (Example of using map information)
8. Seventh embodiment (example of remote control by a third party)
9. Eighth embodiment (example of mutual communication between vestibular electrical stimulation devices)
10. Ninth Embodiment (Example Using Action History)
11. Tenth embodiment (system for avoiding crowding and close contact of people)
12. Modified example (car sickness control system)

1. Overview of this technology

The approach avoidance system of this technology keeps the target of the system (for example, a person) at a predetermined distance from a moving body existing in the surrounding environment, and controls the movement of the target so that it can avoid approaching the moving body. It is an inducement. The approach avoidance system of the present technology uses Galvanic Vestibular Stimulation (hereinafter also referred to as GVS) to guide the movement of the object. GVS is a technology that induces body movement by stimulating the vestibule, an organ in the inner ear that receives acceleration, with electric current.

When a change occurs in the vestibular sensation, a person reflexively tries to control the balance of the center of gravity of the body and steps forward in a direction in which balance can be achieved. Therefore, for example, when the vestibule is stimulated by an electric current during walking, a movement to correct balance is induced, and a phenomenon occurs in which the direction of walking changes. Using this phenomenon, it is possible to induce walking in any direction by controlling the direction and amount of current applied to the vestibule. Therefore, by using the GVS technology, the approach avoidance system can guide the target to keep a predetermined distance from surrounding moving objects.

As used herein, "moving object" means something that is moving. Examples of the moving body include humans, animals other than humans, and vehicles such as automobiles, motorcycles, and bicycles. The number of moving objects whose approach can be avoided by the approach avoidance system of the present technology is one or more, particularly more than one.

In this specification, "approaching" is a concept that includes contact and collision in addition to approaching.

2. First embodiment (example including vestibular electrical stimulation device)

(1) Configuration of approach avoidance system An approach avoidance system according to the first embodiment of the present technology includes a vestibular electrical stimulation device (hereinafter also referred to as a GVS device). In the present technology, GVS devices are used in pairs. The GVS device is worn near the ear of the target of the approach avoidance system, and is preferably an ear-hung wearable device.

An overall configuration of an approach avoidance system 1 according to the first embodiment will be described with reference to FIG. FIG. 1 is a diagram showing an example of the overall configuration of an approach avoidance system 1. As shown in FIG. The approach avoidance system 1 shown in FIG. 1 is composed of a right ear GVS device 100 worn on the right ear of a user U and a left ear GVS device (not shown) worn on the left ear. , including a pair of left and right GVS devices

The user U is an example of a target in the approach avoidance system of the present technology. The subject is not limited to humans, and may be, for example, non-human animals to which GVS technology can be applied.

(2) Configuration and operation of vestibular electrical stimulation device

(2-1) Overall configuration of vestibular electrical stimulation device

Continuing to refer to FIG. 1, the overall configuration of the GVS device 100 will be described. Although the GVS device 100 shown in FIG. 1 is for the right ear, since the GVS device for the left ear may have a similar configuration, the following description omits terms such as right ear, right ear side, and right side. sometimes.

The GVS device 100 shown in FIG. 1 includes a main body portion 110 placed behind the ear, a first wearing portion 141 placed from the temple to the upper part of the ear, and a portion placed from the back of the ear to the nape of the neck. and a second mounting portion 142 .

The GVS device 100 further comprises an imaging unit 120 for imaging the user's U surrounding environment. The imaging unit 120 includes one or more imaging sensors for each ear, and generates an image of the surrounding environment of the user U, preferably an omnidirectional image of the surrounding environment.

The number of image sensors included in the imaging unit 120 is one or more per ear. That is, each of the pair of GVS devices used in this embodiment comprises an imaging unit 120 including one or more image sensors. The number of image sensors is preferably two or more per ear, more preferably three or more per ear, in order to expand the imaging range of the surrounding environment. For example, the number of image sensors can be three per ear, because too many image sensors are expensive to manufacture. The image sensors on the right ear side and the image sensors on the left ear side preferably have the same number in order to generate an image of the surrounding environment evenly to the left and right.

The arrangement of the image sensors in the imaging unit 120 may be appropriately selected by those skilled in the art so that the surrounding environment can be captured, preferably so that the surrounding environment can be captured in all directions. As an example, the imaging unit 120 may consist of three image sensors 121, 122, 123 as shown in FIG. The image sensor 121 is arranged near the right temple of the user U when the GVS device 100 is worn on the right ear, and generates an image of the right front environment of the user U's surrounding environment. The image sensor 122 is arranged near the upper ear of the user U when the GVS device 100 is worn on the right ear, and generates an image of the right side environment of the user U's surrounding environment. The image sensor 123 is arranged near the back of the ear of the user U when the GVS device 100 is worn on the right ear, and generates an image of the right rear environment of the user U's surrounding environment. A left ear GVS device (not shown) similarly produces images of the left front environment, the left lateral environment, and the left rear environment. With such left and right GVS devices, an omnidirectional image of the user's U surrounding environment can be generated.

The image sensor that constitutes the imaging unit 120 preferably includes an image sensor that can measure the distance between the user U and a moving object that exists in the surrounding environment. More preferably, it includes a wave image sensor. A TOF image sensor is a TOF-type distance image sensor, and can measure the distance to an object by using the time difference between irradiating the object with light and detecting the reflected light by the sensor. A millimeter wave image sensor is a sensor that visualizes the power intensity of millimeter waves by recording the magnitude of the detected millimeter wave energy as the density of the image. Thus, the distance to the object can be measured. Millimeter waves have a higher transmittance than visible light, so millimeter wave image sensors can be used in environments where there are obstacles between the object and the image sensor, and in bad weather such as rain, snow, and fog. Suitable for image generation in environments with reduced visibility. Therefore, by using a millimeter wave image sensor, it is possible to improve the distance measurement accuracy under these environments.

Preferably, the image sensor further includes a visible light image sensor. By imaging the surrounding environment with a visible light image sensor, it is possible to acquire more detailed information about the surrounding environment, and thus the detection accuracy of moving objects existing in the surrounding environment can be improved.

If the imaging unit 120 has two or more image sensors per ear, some or all of these image sensors may be of the same type, or may be of different types. .

The GVS device 100 further comprises an electrode unit 130 for providing the user U with GVS. The electrode section 130 preferably has three electrodes 131, 132, 133 as shown in FIG. When the GVS device 100 is worn on the right ear, these three electrodes are respectively near the temple on the right side of the user U, near the skin on the mastoid process behind the right ear, and near the skin on the mastoid process on the right side of the neck (for example, the right mastoid process). 6 cm below). The left ear GVS device (not shown) has a similar three electrodes, which are similarly placed in three locations. That is, each of the pair of GVS devices used in the present technology can include an electrode section 130 including the three electrodes 131, 132, 133, thereby stimulating the vestibule of the user U with current.

The overall configuration of the GVS device is not limited to that shown in FIG. FIG. 2 is a diagram showing an example of the overall configuration of the GVS device 101. As shown in FIG. As shown in FIG. 2, the GVS device 101 may further include an audio output unit 150 that outputs audio. The audio output unit 150 can be, for example, earphones. FIG. 3 is a diagram showing another example of the overall configuration of the GVS device 102. As shown in FIG. As shown in FIG. 3, the GVS device 102 may further comprise an image display unit 160 for displaying images. The video display unit 160 may have functions of, for example, AR (Augmented Reality) goggles, VR (Virtual Reality) goggles, or a head-mounted display.

(2-2) Configuration of main body

The configuration of the main unit 110 of the GVS device 100 will be described with reference to FIG. FIG. 4 is a diagram showing an example of the hardware configuration of the main unit 110. As shown in FIG. As shown in FIG. 4 , main body 110 includes processor 11 , memory 12 , storage 13 , wireless communication interface 14 , and power supply 15 .

The processor 11 is, for example, a CPU (Central Processing Unit) or the like, and controls the operation of the GVS device 100 . The memory 12 is, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory), and stores instructions that cause the GVS apparatus 100 to perform operations when executed by the processor 11 . The storage 13 is, for example, an SSD (Solid State Drive) or the like, and stores information and programs related to the operation and use of the GVS device 100 . The wireless communication interface 14 is an interface for wirelessly communicating with other devices according to predetermined wireless communication standards such as Bluetooth (registered trademark) and wireless LAN. The power source 15 is, for example, a storage battery, and supplies power to each component of the GVS device 100 . Although any piece of hardware is shown in FIG. 4 as being single, this is merely an example and any piece of hardware could be one or more.

(2-3) Functional configuration of vestibular electrical stimulation device

A functional configuration of the GVS device 100 will be described with reference to FIG. FIG. 5 is a diagram showing an example of the functional configuration of the GVS device 100. As shown in FIG. As shown in FIG. 5, the GVS device 100 includes a moving body analysis unit 111, a velocity calculation unit 112, a current value acquisition unit 113, a current control unit 114, a result confirmation unit 115, a transmission/reception unit 116, an imaging unit 120, and an electrode unit. 130 may be included. Moving object analysis unit 111 , speed calculation unit 112 , current value acquisition unit 113 , current control unit 114 , and result confirmation unit 115 are realized mainly by processor 11 executing a program stored in memory 12 . Transmitting/receiving unit 116 is implemented mainly by processor 11 executing a program stored in memory 12 and controlling wireless communication interface 14 . The imaging unit 120 is implemented by the processor 11 executing a program stored in the memory 12 and controlling the image sensors 121 , 122 and 123 . The electrode section 130 is realized mainly by the processor 11 executing a program stored in the memory 12 and controlling the electrodes 131 , 132 and 133 .

(2-4) Operation of vestibular electrical stimulation device

With reference to FIG. 6, the operation of each functional unit (see FIG. 5) of the GVS device 100, that is, the flow of processing executed by the approach avoidance system 1 of this embodiment will be described. FIG. 6 is a flowchart showing an example of processing executed by the GVS device 100. As shown in FIG.

The imaging unit 120 generates images of the surrounding environment of the user U at time intervals dT (step S11). The imaging unit 120 preferably generates an omnidirectional image of the surrounding environment of the user U at time intervals dT. Specifically, for example, a TOF image sensor and/or a millimeter wave image sensor and a visible light image sensor generate omnidirectional images of the surrounding environment of the user U at time intervals dT. By imaging the surrounding environment at time intervals dT in this manner, changes in the surrounding environment can be monitored over time.

The moving body analysis unit 111 extracts information about the moving body from the surrounding environment information recorded in the image (step S12). When a plurality of moving bodies are recorded in the image, the moving body analysis unit 111 can extract information about the plurality of moving bodies.

Step S12 will be described with reference to FIG. FIG. 7 is a schematic diagram for explaining an example of an image generated by the imaging unit 120. As shown in FIG. PIC1 on the upper right side of FIG. 7 and PIC2 on the lower right side of FIG. 7 are schematic diagrams of images generated by the imaging unit 120 . PIC1 and PIC2 are generated at a time interval dT, specifically PIC2 was generated dT after the time PIC1 was generated. M1 to M4 recorded in PIC1 and PIC2 schematically show moving objects existing in the surrounding environment of the user U captured by the imaging unit 120. FIG. The moving object analysis unit 111 can, for example, compare PIC1 and PIC2, and extract an object whose position recorded in the image during the time interval dT has changed as a moving object.

Returning to FIG. 6, the operation of the moving body analysis unit 111 will be continued. The moving body analysis unit 111 calculates a distance L between the user U and a moving body existing in the surrounding environment and a relative velocity vector V of the moving body to the user U, and uses the distance L and the relative velocity vector V to A time T required for U and the moving object to approach each other to a predetermined distance is calculated (step S13). When there are a plurality of moving bodies, the moving body analysis unit 111 can calculate the distance L, the relative velocity vector V, and the time T for each of the plurality of moving bodies.

When the predetermined distance is zero, the time T is, in other words, the time until the user U contacts or collides with the moving object. For example, the predetermined distance may be stored in the memory 12 in advance, or may be updated as needed.

Distance L, relative velocity vector V, and time T will be described with reference to FIG. FIG. 8 is a schematic diagram showing distance L, relative velocity vector V, and time T. As shown in FIG. PIC3 on the upper left side of FIG. 8 and PIC4 on the lower left side of FIG. U in PIC3 and PIC4 schematically indicates the position of the user. L in PIC3 and PIC4 indicates the distance L between the user U and the moving object M4. PIC5 on the right side of FIG. 8 includes arrows that schematically indicate the relative velocity vectors V of the moving bodies M1 to M4. For example, the arrow on the moving object M1 in PIC5 indicates the relative velocity vector V1 of the moving object M1 calculated by the moving object analysis unit 111 . An arrow on the moving object M2 in PIC5 indicates the relative velocity vector V2 of the moving object M2 calculated by the moving object analysis unit 111. FIG. T1 in PIC5 means the time required for the user U and the moving object M1 to approach each other to a predetermined distance. Similarly, T2 in PIC5 means the time required for the user U and the moving object M2 to approach each other to a predetermined distance.

Of the moving bodies M1 to M4 shown in PIC5, the moving bodies M3 and M4 are predicted not to approach the user U or to move away from the user U because their relative velocity vectors V are not directed in the direction of the user U. Therefore, the moving body analysis unit 111 does not need to calculate the time T of the moving bodies M3 and M4. That is, the moving body analysis unit 111 does not need to calculate the time T for the user U and the moving body whose relative velocity vector V is not directed to the user U. In this case, for example, after calculating the relative velocity vector V with respect to the user U, the moving body analysis unit 111 selects a moving body whose relative velocity vector V does not face the direction of the user U from among the surrounding moving bodies as a non-approaching moving body. can be determined. Then, the moving body analysis unit 111 can calculate the time T required for the user U and the moving body excluding the non-approaching moving body to approach each other to a predetermined distance. That is, the moving object analysis unit 111 can execute a process of not calculating the time T of the non-approaching moving object.

Returning to FIG. 6, step S14 will be described. The speed calculation unit 112 extracts moving objects for which the time T is within the determination time Tj (step S14).

The determination time Tj may be, for example, a time during which the user U and the moving object are expected to approach each other under a predetermined situation. Alternatively, it can be a time when it is predicted that the vehicle will approach a predetermined distance. As a result, the velocity calculation unit 112 selects a moving object predicted to approach the user U (more specifically, a moving object expected to approach the user U from among the moving objects for which the time T has been calculated in step S13). A moving object that is expected to approach up to a point) can be extracted. For example, when the user U is walking at a speed of 4 km/h and there is a pedestrian walking towards the user U at a speed of 4 km/h within a range of 4.4 m from the user U, the user U and the pedestrian will A collision is expected. Two seconds, which is the time until the collision occurs, may be used as the determination time Tj. The determination time Tj may, for example, be stored in the memory 12 in advance, or may be updated as needed.

Next, step S15 will be described with reference to FIG. The speed calculation unit 112 calculates a speed dV representing the magnitude and direction of the action to be taken by the user U so that the distance Lj between the user U and the extracted moving object after the determination time Tj is a predetermined distance. is calculated (step S15).

Specifically, the predetermined distance in step S15 may be a distance at which the user U and the extracted moving object do not approach each other after the determination time Tj. and the extracted moving object may not collide, contact, or come close to a predetermined distance. As a result, the velocity calculation unit 113 determines that the user U approaches the extracted moving object after the determination time Tj (more specifically, the user U collides with or contacts the extracted moving object after the determination time Tj). or approaching a predetermined distance) can be calculated. The predetermined distance value may, for example, be stored in the memory 12 in advance, or may be updated from time to time.

The speed dV represents the magnitude and direction of the movement to be taken by the user U so that the distance Lj between the user U and the extracted moving object after the determination time Tj is a predetermined distance. Specifically, the velocity dV represents the magnitude and direction of motion that allows the user U to avoid approaching the extracted moving body after the determination time Tj. More specifically, the velocity dV represents the magnitude and direction of motion that allows the user U to avoid colliding with, contacting, or approaching the extracted moving object to a predetermined distance after the determination time Tj. When there are multiple extracted moving bodies, the velocity dV is calculated so that the distance between the user U and all the extracted moving bodies is a predetermined distance. As a result, it is possible to induce motions that can avoid approaching all the extracted moving objects by GVS.

The speed calculation unit 112 calculates the speed dV using, for example, the distance L between the user U and a moving object existing in the surrounding environment, the relative speed vector V of the moving object with respect to the user U, and the determination time Tj. can be done.

Steps S14 and S15 will be further described with reference to FIG. FIG. 9 is a schematic diagram for explaining an example of processing executed by the speed calculation unit 112. As shown in FIG. The left side of FIG. 9 schematically shows that the time T1 required for the user U and the moving object M1 to approach each other to a predetermined distance calculated in step S13 is within one second. Furthermore, the left side of FIG. 9 schematically shows that the time T2 required for the user U and the moving object M2 to approach each other to a predetermined distance, which is similarly calculated in step S13, is more than 2 seconds.

If the determination time Tj is 2 seconds, the speed calculation unit 112 determines in step S14 whether the moving object whose time T1 is within the determination time Tj (that is, within 2 seconds) is selected from the two moving objects M1 and M2. Extract M1.

The right side of FIG. 9 shows the relative velocity vector V1 of the moving object M1 calculated by the moving object analysis unit 111 in step S13, and the velocity dV representing the magnitude and direction of the movement to be taken by the user U calculated by the velocity calculation unit 112 in step S14. and are schematically shown. The moving object M1 moving with the relative velocity vector V1 is predicted to approach the user U within a predetermined distance within one second. In step S15, the speed calculation unit 112 calculates the speed dV of the action that the user U should take so that the user U can keep a predetermined distance from the moving body M1 after two seconds. The right side of FIG. 9 shows an example in which the direction of the velocity dV is set perpendicular to the relative velocity vector V1 of the moving body M1.

Returning to FIG. 6, step S16 will be described. The GVS device 100 may include a current value acquisition unit 113, although this is not essential. The current value acquisition unit 113 searches a current value database holding information on the speed dV of the motion induced when the current of the current value I flows through the electrode unit 130, and obtains the current value corresponding to the predetermined speed dV. I is acquired (step S16).

The current value database may be provided within the GVS device 100, or may be external to the GVS device 100, such as a cloud database.

The initial construction of the current value database can be performed, for example, using the correspondence relationship between the current value I and the speed dV obtained by an experimental method. That is, a specific subject wearing a GVS device is used as a test subject, and an experiment is repeated in which a current of current value I is applied to the electrodes of the GVS device, and information on the speed dV of the motion induced at that time is recorded. The correspondence relationship between the current value I and the velocity dV thus obtained can be used for constructing the current value database. Information held by the constructed current value database may be updated as needed.

Since the effect of GVS may vary from subject to subject, the speed of motion dV induced by the current value I may vary from subject to subject. One possible reason for this is that even if the current value I flowing through the electrode section 130 is the same, the magnitude of the current that actually stimulates the vestibule differs due to the influence of the size of the head and the like. Another factor could be that the perceived stimulus magnitude is different, even though the magnitude of the current stimulating the vestibule is the same. In order to reduce the influence of such individual differences, a current value database specific to the user U can preferably be used as the current value database. As a result, it is possible to improve the accuracy of correspondence between the current value I and the speed dV, and reduce the difference in GVS effect due to individual differences. As a result, the motion of the user U can be guided by the GVS with high accuracy, so that the accuracy of approach avoidance with a moving object in the approach avoidance system of the present embodiment can be improved. A current value database unique to the user U can be constructed by associating the current value I with the speed dV based on the result of the user U using the approach avoidance system of the present embodiment.

The user U's unique current value database may further hold the user's U attribute information. The attribute information may include, for example, one or more selected from the group consisting of nationality, gender, age, height, and weight.

In the present embodiment, a current value database group may be constructed in which a plurality of current value databases holding attribute information of the user U are aggregated. The current value database group is preferably a cloud database. The current value acquisition unit 113 searches a predetermined current value database selected by referring to the attribute information from among the current value database group, and acquires the current value I corresponding to the predetermined speed dV. good. For example, the user U has little track record of using the approach avoidance system of this embodiment, and it may be difficult to construct a unique current value database that reflects individual differences. In such a case, the current value acquisition unit 113 selects a current value database of another user whose attribute information is similar to that of the user U from among the current value database group, and searches the current value database of the other user. to obtain the current value I corresponding to the predetermined speed dV. By using the current value database of other users with similar attribute information, it is possible to reduce differences in GVS effects due to individual differences. As a result, the motion of the user U can be guided by the GVS with high accuracy, so that the accuracy of approach avoidance with a moving object in the approach avoidance system of the present embodiment can be improved.

FIG. 10 is a schematic diagram showing an example of information on the current value I and the velocity dV held by the current value database. As shown in FIG. 10, the unit of current value I is mA. By using such a current value database, the current value acquisition unit 113 can acquire the current value I corresponding to the predetermined speed dV.

Returning to FIG. 6, step S17 will be described. The current control unit 114 applies a current value I to the electrode unit 130 and gives GVS to the user U to induce the user U to operate at the speed dV (step S17). When the GVS device 100 does not include the current value acquisition unit 113, the current control unit 114 causes the electrode unit 130 to flow current of a predetermined current value.

The current control unit 114 can select, for example, an electrode through which a current having a current value I flows from among the three electrodes 131, 132, and 133 that constitute the electrode unit 130. FIG.

With reference to FIG. 11, the relationship between the induced motion of the user U and the electrodes through which the current flows will be described. FIG. 11 is a schematic diagram showing three electrodes 131, 132, 133 arranged near the right ear of the user U and directions of the user U (X, Y and Z directions). In FIG. 11, electrode 131 is placed near the temple on the right side, electrode 132 is placed near the skin above the mastoid on the right side, and electrode 133 is placed on the nape on the right side. Three similar electrodes are also arranged near the left ear of the user U (not shown). In FIG. 11 , the X direction indicates the user's U front-back direction, the Y direction indicates the user's U left-right direction, and the Z direction indicates the user's U up-down direction.

In the case of GVS that induces the user U to move in the front-rear direction X, the current control unit 114 causes current to flow through electrodes placed near the skin on the left and right mastoid processes. In the case of the GVS that induces the user U to move in the left-right direction Y, the current control unit 114 applies current to the electrodes arranged near the skin on the mastoid and the electrodes arranged near the temples. . For example, when guiding in the right direction, the current control unit 114 applies current to the electrode placed near the skin on the right mastoid and the electrode placed near the right temple. For example, when guiding to the left, the current control unit 114 applies current to the electrode placed near the skin on the left mastoid and the electrode placed near the left temple. In addition, in the case of the GVS that induces the user U to move in the vertical direction Z, the current control unit 114 controls the electrodes arranged near the skin on the left and right mastoid processes and the electrodes arranged on the left and right nape of the neck. , to pass a current through.

The current control unit 114 gradually increases the current value when passing a current of a predetermined current value (current value I) through the electrode unit 130, and after a predetermined time elapses, the current value reaches the predetermined current value (current value I). It is preferable to adjust so that Thereby, it is possible to prevent the user U from feeling a stimulus when the current is applied.

The approach avoidance system of the present embodiment can guide the user U to take actions to avoid approaching moving objects present in the surroundings by executing step S17 and giving the user U the GVS. As a result, the user U can avoid approaching moving objects existing in the surroundings. Note that the number of moving objects is not limited to one, and may be two or more.

Steps S18 and S19 will be described with continued reference to FIG. The GVS device 100 may, but not necessarily, include a result confirmation unit 115 . The result confirmation unit 115 confirms the distance Lr between the user U and the extracted moving object after the current control unit 114 gives the GVS to the user U (step S18). If the distance Lr does not satisfy the predetermined condition (step S18: No), the result confirmation unit 115 terminates the process. If the distance Lr satisfies the predetermined condition (step S18: Yes), the result confirmation unit 115 updates the current value database (step S19), and terminates the process.

The user U is guided by the GVS to move (speed dV) so as to secure a distance Lj to the extracted moving object. Therefore, the user U can avoid approaching the extracted moving body by moving at the speed dV. However, since the effect of GVS is not necessarily constant, the user U given GVS may not operate at the speed dV. In this case, the user U may not be able to avoid approaching the extracted moving object. That is, the actual behavior induced by the GVS may differ from the assumed behavior. Therefore, the step for confirming the result of the actual operation is step S18.

The predetermined condition in step S18 may be, for example, a condition under which it can be confirmed that, as a result of the actual action, the user U is able to avoid colliding with, contacting, or approaching a moving object within a predetermined distance. Specifically, the predetermined condition may be, for example, that the above Lr matches the above Lj. Thereby, it can be confirmed that the actual distance (distance Lr) between the user U and the moving object after moving under the GVS matches the assumed distance (distance Lj). The predetermined condition may be, for example, that the difference between the distance Lr and the distance Lj is within a predetermined value, whereby it can be confirmed that the error between the distance Lr and the distance Lj is within a predetermined value. . The predetermined condition may be, for example, that the distance Lr is a predetermined value, whereby it can be confirmed that the actual distance is the predetermined value and the predetermined distance is actually secured. The predetermined condition may be, for example, that the distance Lr is non-zero, thereby confirming that no collision or contact actually occurred.

In step S19, the result confirmation unit 115 updates the current value database when the distance Lr satisfies a predetermined condition. For example, the result confirmation unit 115 updates the current value database when confirming that the user U was able to avoid colliding with, contacting, or approaching a moving object within a predetermined distance as a result of the actual operation. can do. By executing the process of step S19, the results of the use of the approach avoidance system of the present embodiment by the user U can be reflected in the current value database, so that a unique current value database for the user U can be constructed. Such a user-specific current value database can contribute to improving the accuracy of approach avoidance in the approach avoidance system.

3. Second embodiment (first example including vestibular electrical stimulation device and mobile terminal)

An approach avoidance system according to a second embodiment of the present technology includes a pair of GVS devices and a mobile terminal. The pair of GVS devices and the mobile terminal may be communicatively connected. The main difference between the approach avoidance system of this embodiment and the first embodiment is that the mobile terminal includes an imaging unit and the GVS device includes other functional units. In the following, the approach avoidance system of this embodiment will be mainly described with respect to the differences from the first embodiment. Regarding the configuration of the approach avoidance system of the present embodiment, the same reference numerals as those of the first embodiment are assigned to the same descriptions as those of the first embodiment.

The approach avoidance system 1A of this embodiment will be described with reference to FIG. FIG. 12 is a diagram showing an example of the overall configuration of the approach avoidance system 1A of the second embodiment. The approach avoidance system 1A shown in FIG. 12 includes a pair of left and right GVS devices each composed of a right ear GVS device 100A and a left ear GVS device (not shown), and a mobile terminal 200A.

The GVS device 100A shown in FIG. 12 does not include an imaging unit, and specifically does not include an imaging sensor. Instead, the mobile terminal 200A is configured to include an imaging unit, specifically an imaging sensor (not shown). The functions of the imaging unit included in the mobile terminal 200A are as described in the first embodiment. The image sensor that constitutes the imaging unit is also the same as described in the first embodiment.

The mobile terminal 200A is a portable computer device having a communication function. The mobile terminal 200A can be, for example, a mobile phone, a smart phone, a tablet terminal, or the like. The hardware configuration of the mobile terminal 200A can be similar to that of a general computer device with communication functions. The mobile terminal 200A can include, as an example, a processor, memory, wireless communication interface, input device, and output device. The functions of the mobile terminal 200A are basically realized by the processor executing a predetermined control program stored in the memory.

A functional configuration of the approach avoidance system 1A will be described with reference to FIG. FIG. 13 is a diagram showing an example of the functional configuration of an approach avoidance system 1A according to the second embodiment. As shown in FIG. 13, the GVS device 100A does not include an imaging section. The functional units included in the GVS device 100A are the same as the functional units of the GVS device 100 described with reference to FIG. 5 in the first embodiment, except for the imaging unit. The mobile terminal 200A includes an imaging section 201 and a wireless communication section 205. FIG. The function of the imaging unit 120 is as described in the first embodiment. The wireless communication unit 205 is implemented by, for example, a wireless communication interface included in the mobile terminal 200 . Wireless communication is performed between the wireless communication unit 205 of the mobile terminal 200A and the transmission/reception unit 116 of the GVS device 100A.

The operations of the mobile terminal 200A and the GVS device 100A, that is, the processing executed by the approach avoidance system 1A of the present embodiment will be described. The flow of processing executed by the approach avoidance system 1A may be generally similar to the flow of processing executed by the approach avoidance system 1 of the first embodiment described above with reference to FIG. In the approach avoidance system 1A of the present embodiment, the mobile terminal 200A executes the processing of step S11 shown in FIG. 6, and the GVS device 100A executes the processing of other steps. This is the main difference from the avoidance system 1. Transmission and reception of necessary information between the mobile terminal 200A and the GVS device 100A are performed by wireless communication.

4. Third Embodiment (Second Example Including Vestibular Electrical Stimulator and Mobile Terminal)

An approach avoidance system according to a third embodiment of the present technology includes a pair of GVS devices and a mobile terminal. The pair of GVS devices and the mobile terminal may be communicatively connected. In the approach avoidance system of this embodiment, the mobile terminal includes an imaging unit, a moving object analysis unit, a velocity calculation unit, and a current value acquisition unit, and the GVS device includes other functional units, unlike the first embodiment. is the main difference between In the following, the approach avoidance system of this embodiment will be mainly described with respect to the differences from the first or second embodiment. Regarding the configuration of the approach avoidance system of this embodiment, the same reference numerals as in the first or second embodiment are assigned to the same description as in the first or second embodiment.

An approach avoidance system 1B of the present embodiment will be described with reference to FIGS. 14 and 15. FIG. FIG. 14 is a diagram showing an example of the overall configuration of the approach avoidance system 1B of the third embodiment. FIG. 15 is a diagram showing an example of the functional configuration of the approach avoidance system 1B of the third embodiment.

As shown in FIG. 14, the approach avoidance system 1B comprises a pair of right and left GVS devices, a mobile terminal 200B, and a left ear GVS device 100B, and a left ear GVS device (not shown). A current value database 500 is included. The current value database 500 can be, for example, a cloud database.

The mobile terminal 200B is a portable computer terminal having a communication function, and can be, for example, a mobile phone, a smart phone, or a tablet terminal. The hardware configuration of the mobile terminal 200B can be the same as that of the mobile terminal 200A described in the second embodiment. The functions of the mobile terminal 200B are basically realized by the processor executing a predetermined control program stored in the memory.

The mobile terminal 200B can include an imaging unit 201, a moving object analysis unit 202, a velocity calculation unit 203, a current value acquisition unit 204, and a wireless communication unit 205 as functional units, as shown in FIG. The GVS device 100B can include a current control unit 114, a result confirmation unit 115, a transmission/reception unit 116, and an electrode unit 130 as functional units.

The flow of processing executed by the approach avoidance system 1B can be generally similar to the flow of processing executed by the approach avoidance system 1 of the first embodiment described above with reference to FIG. . In the approach avoidance system 1B of the present embodiment, the GVS device 100B executes the processes of steps S17 to S19 shown in FIG. 6, and the mobile terminal 200B executes the processes of other steps. This is the main difference from the approach avoidance system 1 of . Further, in the approach avoidance system 1B of the present embodiment, the current value database searched by the current value acquisition unit 204 of the mobile terminal 200B in step S16 shown in FIG. 6 is the current value database shown in FIGS. 500 (cloud database).

5. Fourth Embodiment (Third Example Including Vestibular Electrical Stimulator and Mobile Terminal)

An approach avoidance system according to a fourth embodiment of the present technology includes a pair of GVS devices and a mobile terminal. The pair of GVS devices and the mobile terminal may be communicatively connected. The main difference between the approach avoidance system of this embodiment and the first embodiment is that the mobile terminal includes a speed calculator and the GVS device includes other functional units.

A mobile terminal used in the present embodiment is a portable computer terminal having a communication function, and can be, for example, a mobile phone, a smart phone, or a tablet terminal. The hardware configuration of the mobile terminal can be the same as the mobile terminal 200A described in the second embodiment. The functions of the mobile terminal are basically realized by the processor executing a predetermined control program stored in memory.

The mobile terminal used in this embodiment includes a speed calculator and a wireless communication unit as functional units. Each of the pair of GVS devices used in this embodiment can include, as functional units, an imaging unit, a moving object analysis unit, a current value acquisition unit, a current control unit, a result confirmation unit, a transmission/reception unit, and an electrode unit.

The flow of processing executed by the approach avoidance system of the present embodiment is generally the same as the flow of processing executed by the approach avoidance system 1 of the first embodiment described above with reference to FIG. sell. In the approach avoidance system of this embodiment, the first implementation is that the speed calculation unit of the mobile terminal executes the processing of steps S14 and S15 shown in FIG. 6, and the GVS device executes the processing of other steps. This is the main difference from the processing executed by the morphological approach avoidance system 1 .

6. Fifth embodiment (example including vestibular electrical stimulation device and information processing device)

An approach avoidance system according to a fifth embodiment of the present technology includes a pair of GVS devices and an information processing device. The pair of GVS devices and the information processing device can be communicatively connected. In the approach avoidance system of the present embodiment, an information processing device executes the processing that is executed by the mobile terminal in the approach avoidance system of the fourth embodiment. That is, the approach avoidance system of this embodiment can be the same as that of the fourth embodiment except that the mobile terminal used in the fourth embodiment is replaced with an information processing device.

The information processing device is a computer device having a communication function, and may be, for example, a server device. The server device may be one or more physical servers, or one or more virtual servers constructed on one or more physical servers. The plurality of physical servers may be geographically located at the same location, or may be geographically distributed.

The hardware configuration of the information processing device may be the same as that of a general computer device having a communication function. The information processing device can include, for example, a processor, memory, communication interface, input device, and output device. The functions of the information processing device are basically realized by the processor executing a predetermined control program stored in the memory.

The information processing apparatus used in this embodiment includes the same functional units as those of the mobile terminal described in the fourth embodiment, and specifically includes a speed calculation unit and a wireless communication unit. Each of the pair of GVS devices used in this embodiment has, as in the GVS device of the fourth embodiment, functional units such as an imaging unit, a moving object analysis unit, a current value acquisition unit, a current control unit, and a result confirmation unit. , a transceiver unit, and an electrode unit.

In the approach avoidance system of this embodiment, the speed calculation unit of the information processing device executes the processing of steps S14 and S15 shown in FIG. 6, and the GVS device executes the processing of other steps.

7. Sixth Embodiment (Example of using map information)

An approach avoidance system according to a sixth embodiment of the present technology includes a pair of GVS devices. The approach avoidance system of this embodiment differs from that of the first embodiment in that it uses position information and map information. In the following, the approach avoidance system of this embodiment will be mainly described with respect to the differences from the first embodiment. Regarding the configuration of the approach avoidance system of the present embodiment, the same reference numerals as those of the first embodiment are assigned to the same descriptions as those of the first embodiment.

The approach avoidance system 1C of this embodiment will be described with reference to FIGS. 16 and 17. FIG. FIG. 16 is a diagram showing an example of the overall configuration of the approach avoidance system 1C of the sixth embodiment. FIG. 17 is a diagram showing an example of the functional configuration of the approach avoidance system 1C of the sixth embodiment.

The approach avoidance system 1C, as shown in FIG. 16, holds a pair of left and right GVS devices composed of a right ear GVS device 100C and a left ear GVS device (not shown), and map information. It includes a map information database 600 that The map information database 600 may be, for example, a cloud database.

The hardware configuration of the main unit 110C of the GVS device 100C shown in FIG. include. The location information acquisition device is configured by a GPS (Global Positioning System) receiver, for example, and acquires the current location information of the GVS device 100C, that is, the current location information of the user U.

The functional units of the GVS device 100C shown in FIG. 17 differ from the GVS device 100 used in the first embodiment described with reference to FIG. It is a point. The location information acquisition unit 117 is mainly implemented by a processor, memory, and location information acquisition device. The route selection unit 118 is mainly realized by a processor and memory.

The operation of the GVS device 100C, that is, the flow of processing executed by the approach avoidance system 1C of the present embodiment will be described with reference to FIG. FIG. 18 is a flowchart showing an example of processing executed by the GVS device 100C.

The flow chart shown in FIG. 18 differs from the flow of the first embodiment described above with reference to FIG. 6 in that it includes steps S15C and S21-S23. Other steps, that is, steps S11 to S14 and S16 to S19 are as described in the first embodiment.

In the approach avoidance system 1C of the present embodiment, the location information acquisition unit 117 acquires the current location information of the user U (step S21). Next, the route selection unit 118 selects a route for the user U to reach the destination based on the map information held in the map information database 600 and the position information acquired in step S21 ( step S22). Information about the destination may be preset. For example, the GVS device 100C may include an input device that receives input of information from the user U, and the destination information received by the input device may be stored in the memory 12 .

Next, the route selection unit 118 acquires information about the route (hereinafter also referred to as route information) from the map information (step S23). The route information may include, for example, information regarding obstacles present on the route.

The processing of steps S21 to S23 may be performed in parallel with the processing of steps S11 to S14 shown in FIG. 18, for example.

The speed calculator 112 can use the information about the route when calculating the speed dV (step S15C). The method for calculating the velocity dV is as described in step S15 in the first embodiment.

The approach avoidance system 1C of the present embodiment can calculate the velocity dV in consideration of the route information. Therefore, the approach avoidance system 1C can guide the motion of the user U to follow the route selected in step S22, that is, can automatically guide the user U to the destination. Further, when the route information includes information about obstacles existing on the route, the approach avoidance system 1C can guide the user U so that the user U can reach the destination while avoiding approaching the obstacles. .

8. Seventh embodiment (example of remote control by a third party)

An approach avoidance system according to a seventh embodiment of the present technology includes a pair of GVS devices. The approach avoidance system of this embodiment further includes an operation terminal device used by a third party other than the user, and the third party can remotely control the GVS device. differ. More specifically, by using the approach avoidance system of this embodiment, the third party can remotely control the GVS device worn by the user while monitoring the visibility information of the user. In the following, the approach avoidance system of this embodiment will be described mainly with respect to the differences from the first embodiment. Regarding the configuration of the approach avoidance system of the present embodiment, the same reference numerals as those of the first embodiment are assigned to the same descriptions as those of the first embodiment.

The configuration of the approach avoidance system 1D of the present embodiment will be described with reference to FIGS. 19 and 20. FIG. FIG. 19 is a diagram showing an example of the overall configuration of an approach avoidance system 1D according to the seventh embodiment. FIG. 20 is a diagram showing an example of the functional configuration of the approach avoidance system 1D of the seventh embodiment.

The approach avoidance system 1D, as shown in FIG. An operation terminal device 300 used by a third party is included. The pair of GVS devices and the operation terminal device 300 can be communicably connected. The operation terminal device 300 can be a device capable of remotely controlling a pair of GVS devices.

The operation terminal device 300 is a computer device having a communication function. The operation terminal device 300 is, for example, a smart phone, a mobile phone, a tablet terminal, a laptop personal computer, a desktop personal computer, or the like. The hardware configuration of the operation terminal device 300 can be the same as that of a general computer device having a communication function. The operation terminal device 300 can include, as an example, a processor, memory, communication interface, input device, and output device. The functions of the operation terminal device 300 are basically realized by the processor executing a predetermined control program stored in the memory.

The operation of each functional unit of the GVS device 100 shown in FIG. 20 is as described in the first embodiment. As shown in FIG. 20, the operation terminal device 300 includes a visibility information acquisition unit 301, a visibility display unit 302, and a current value setting unit 303 as functional units.

The operations of the GVS device 100 and the operation terminal device 300, that is, the flow of processing executed by the approach avoidance system 1D of the present embodiment will be described with reference to FIG. FIG. 21 is a flowchart showing an example of processing executed by the GVS device 100 and the operation terminal device 300. FIG.

The flowchart shown in FIG. 21 differs from the flow of the first embodiment described above with reference to FIG. 6 in that steps S31 to S34 are included. Other steps, that is, steps S11 to S19 are as described in the first embodiment.

In the approach avoidance system 1D of the present embodiment, the visibility information acquisition unit 301 acquires visibility information that can specify the visibility of the user U (step S31). The field-of-view information may be, for example, image information that allows the user U to check the range that the user U can see with his or her eyes. Specifically, the field-of-view information may be image information that allows the user U to confirm a moving object that exists within a range that the user U can see. The field-of-view information may be information acquired by the imaging unit 120 of the GVS device 100, or information acquired by a wearable device other than the GVS device 100 worn by the user U, for example.

The visibility display unit 302 displays the visibility information of the user U acquired in step S31 (step S32). The view display unit 302 may display the view information on the output device (for example, display) of the operation terminal device 300, for example. The third person can monitor the field of view display unit 302, and thereby grasp the field of view of the user U over time.

Next, the current value I obtained from the current value database by the current value obtaining unit 113 in step S16 may be referred to by the third party (step S33). Note that the current value acquisition unit 113 is not an essential functional unit in the GVS device 100 . If the GVS device 100 does not include the current value acquiring unit 113, the current value that can be referred to in step S33 may be a predetermined current value that can be applied to the electrode unit 130 instead of the current value I.

The current value setting unit 303 can set the current value determined by the third party who monitors the visual field display unit 302 as the current value I (or as the predetermined current value) (step S34). In step S<b>17 executed after step S<b>34 , the current control unit 114 causes the electrode unit 130 to flow the current having the current value set by the current value setting unit 303 .

An application example of the approach avoidance system 1D of this embodiment will be described. For example, a person (for example, a child, a visually impaired person, a dementia patient, etc.) who is considered to be exposed to the risk of colliding or contacting surrounding moving bodies while walking is a user of the approach avoidance system 1D. may be For example, by using the approach avoidance system 1D of the present embodiment, a third party monitors the visibility information of the user and determines that the user may collide with a moving object. By setting the current value, it is possible to induce the user to avoid approaching the moving object. As a result, a third party can support safe walking while watching over the user from a remote location. The object of the approach avoidance system 1D of the present embodiment is not limited to humans as described above, and may be, for example, another person or an animal other than a person.

A modification of the approach avoidance system 1D of this embodiment will be described. In this variant, the GVS device worn by the user may comprise a microphone for picking up sounds such as the user's voice and ambient environmental sounds. Additionally, the user may wear a pressure sensor on their finger. On the other hand, an operation terminal device operated by a third party other than the user may include a microphone for acquiring sound and a speaker for outputting sound, and the third party may wear a pressure sensor on their finger. The GVS device, the pressure sensor, and the operation terminal device are configured to communicate with each other wirelessly (for example, Bluetooth (registered trademark)). With such a configuration, a third party can control the user's actions while being remotely aware of the user's surrounding environment in real time. Therefore, this modification can also be applied to entertainment applications such as remote travel or dating, for example.

9. Eighth embodiment (example of mutual communication between vestibular electrical stimulation devices)

An approach avoidance system according to an eighth embodiment of the present technology includes a plurality of pairs of GVS devices. A plurality of pairs of GVS devices can be communicatively connected. In the following, the approach avoidance system of this embodiment will be mainly described with respect to the differences from the first embodiment.

The approach avoidance system 10 of this embodiment will be described with reference to FIGS. 22 and 23. FIG. FIG. 22 is a diagram showing an example of the overall configuration of the approach avoidance system 10 of the eighth embodiment. FIG. 23 is a diagram showing an example of the functional configuration of the approach avoidance system 10 of the eighth embodiment.

As shown in FIG. 22, in the approach avoidance system 10 of this embodiment, the user Ua wears the GVS device 100a, and the user Ub wears the GVS device 100b. That is, the approach avoidance system 10 of the present embodiment is intended for a plurality of users, and each of the plurality of users wears a GVS device. The GVS device 100a and the GVS device 100b shown in FIG. 22 are a pair of left and right GVS devices configured for right and left ears, respectively. That is, the approach avoidance system 10 shown in FIG. 22 includes two pairs of GVS devices. Note that the number of pairs of GVS devices used in this embodiment is not limited to two, and may be two or more.

As shown in FIG. 23, the GVS device 100a includes a recognition signal generator 119a, and the GVS device 100b includes a recognition signal generator 119b. These recognition signal generators 119a and 119b are different from the GVS device 100 used in the first embodiment. Of the functional units shown in FIG. 23, the functional units other than the recognition signal generators 119a and 119b are the same as those described in the first embodiment.

The recognition signal generation unit 119a of the GVS device 100a generates a recognition signal for causing another GVS device 100b to recognize its own GVS device 100a. Similarly, the recognition signal generation unit 119b of the GVS device 100b generates a recognition signal for causing the other GVS device 100a to recognize its own GVS device 100b. Thus, in the approach avoidance system 10 of the present embodiment, each of the pair of GVS devices 100a and 100b includes a recognition signal generator that generates a recognition signal that causes the other GVS device to recognize its own GVS device. The recognition signal may, for example, contain information about the own GVS device, and in particular about the magnitude and direction of the user's movements guided by the own GVS device.

The GVS devices 100a, 100b respectively include transceivers 116a, 116b for transmitting and receiving the recognition signal. The recognition signal may be, for example, an RF signal, and in this case, the transceivers 116a and 116b may be RF transceivers.

By receiving recognition signals from other GVS devices, the GVS devices 100a and 100b used in this embodiment can use the recognition signals to avoid users from approaching each other. Specifically, the speed calculator 112a of the GVS device 100a can calculate the speed dV based on the recognition signal received by the transmitter/receiver 116a from the other GVS device 100b. Similarly, the speed calculator 112b of the GVS device 100b can calculate the speed dV based on the recognition signal from the other GVS device 100a received by the transmitter/receiver 116b. The method for calculating the velocity dV is as described in step S15 in the first embodiment. If the recognition signal includes information about the size and direction of the user's motion as described above, the velocity dV is calculated using the recognition signals from other GVS devices to avoid approaching other users. possible velocity dV can be obtained.

10. Ninth Embodiment (Example Using Action History)

An approach avoidance system according to a ninth embodiment of the present technology includes a plurality of pairs of GVS devices. A plurality of pairs of GVS devices can be communicatively connected. The approach avoidance system of this embodiment further includes an action history database, and the main difference from the eighth embodiment is that the action history database is used. In the following, the approach avoidance system of this embodiment will be mainly described with respect to the differences from the eighth embodiment. Regarding the configuration of the approach avoidance system of the present embodiment, the same reference numerals as those of the eighth embodiment are assigned to those to which the same description as that of the eighth embodiment applies.

FIG. 24 is a diagram showing an example of the overall configuration of the approach avoidance system 10A of the ninth embodiment. As shown in FIG. 24, the approach avoidance system 10A of this embodiment includes a behavior history management device 700. FIG. The action history management device 700 is a computer device having a communication function, and may be a cloud server, for example. The action history management device 700 can be communicably connected to one or more pairs of GVS devices.

The hardware configuration of the action history management device 700 can be the same as that of a general computer device having a communication function. The action history management device 700 can include, for example, a processor, a memory, a communication interface, an input device, and an output device. The functions of the action history management device 700 are basically realized by the processor executing a predetermined control program stored in the memory.

Action history management device 700 includes an action history database. The action history database holds action history information for each user. The action history information may be, for example, information related to past actions of the user wearing the GVS device, and specifically includes time information, GPS information, map information, acceleration information, imaging information of the surrounding environment, and the like. can be included.

The GVS devices 100a and 100b used in this embodiment respectively include the functional units of the GVS devices 100a and 100b in the eighth embodiment described with reference to FIG. Furthermore, the GVS devices 100a and 100b used in this embodiment each include an information acquisition unit as a functional unit. Based on the recognition signal from the other GVS device, the information acquisition unit acquires the action history of the other user from the action history database holding the action history of the other user wearing the other GVS device. can do For example, the information acquisition unit of the GVS device 100a, based on the recognition signal from the other GVS device 100b, from the action history database holding the action history of the other user Ub wearing the other GVS device 100b, User Ub's action history can be acquired.

The action history management device 700 may include an action prediction section as a functional section. The behavior prediction unit can predict the behavior of the user and calculate the predicted velocity vector Vp based on the behavior history information. The action prediction unit can be realized by machine learning such as deep learning, for example.

Each information acquisition unit of the GVS devices 100 a and 100 b can acquire the predicted velocity vector Vp from the action prediction unit of the action history management device 700 . For example, the GVS device 100a can acquire the predicted velocity vector Vp of another user Ub wearing another GVS device 100b. In this case, the velocity calculator 112a of the GVS device 100a can calculate the velocity dV using the predicted velocity vector Vp of the other user Ub. By calculating the velocity dV using the predicted velocity vector Vp of the other user in this way, it is possible to more accurately avoid approaching the other user.

11. Tenth embodiment (system for avoiding crowding and close contact of people)

A tenth embodiment of the present technology is an approach avoidance system of the present technology, which is used to avoid crowding and close contact of people. In the approach avoidance system, the object is a person, and the moving object existing in the surrounding environment is also a person. By using the approach avoidance system of the present technology under such conditions, it is possible to avoid the approach of people, and as a result, it is possible to avoid the crowding and close contact of people.

The access avoidance system for avoiding crowding and closeness of people can be used, for example, for services that prevent crowding and closeness when children exercise or play. An example of the service will be described below.

The above services are assumed to be implemented within specific areas such as parks, school playgrounds, and amusement parks. The user of the service can enter the necessary information on the website for applying for the service, or go to the place where the service is provided and fill in the necessary information We signed a contract. Service provision is thereby started. Devices and services provided to users include, for example, the GVS device, regular maintenance of the approach avoidance system, the current value database of the GVS device, the action history database of other users, and third parties (especially parents of children). It can be a control tool, video or game content viewable through AR goggles, VR goggles or a head-mounted display, and the like.

With the above services, crowding and close contact can be suppressed in places where children tend to be crowded, such as parks, school playgrounds, and amusement parks.

12. Modified example (car sickness control system)

The basic configuration of the approach avoidance system of the present technology can be applied, for example, to technology for suppressing car sickness. Hereinafter, a car sickness suppression system will be described as a modified example of the present technology.

An outline of the car sickness suppression system of this modified example will be described. The motion sickness suppression system is a technology for vehicles that are fully automated and whose windows are full-screen displays, and aims to suppress motion sickness of passengers in the vehicle. In this system, the imaging section described in the above embodiment is configured as an infrared and visible light imaging section. This system uses the GVS device described in the above embodiment not to avoid approaching a moving object, but to suppress in-vehicle motion sickness caused by the difference between the actual acceleration and the acceleration in the image.

The cause of the car sickness will be described with reference to FIG. 25 . Looking at the image displayed on the entire surface of the car window while riding in the above car, the acceleration sensed by the passenger's vestibule (actual acceleration) and the acceleration felt by the passenger based on visual information There may be differences between That is, there may be a mismatch between the information sensed by the vestibule and the information obtained visually. Such inconsistency between vestibular information and visual information can cause car sickness.

The car sickness suppression system will be described with reference to FIG. 26 . FIG. 26 is a schematic diagram for explaining an example of the car sickness suppression system 20 of this modified example. The motion sickness suppression system 20 includes a pair of left and right GVS devices including a right ear GVS device 103 and a left ear GVS device (not shown). A user U who wears a pair of GVS devices is also a passenger of a car 800 shown in FIG. The entire window of the automobile 800 is made into a display.

The automobile 800 includes a visible light image sensor section, an infrared image sensor section, a facial color determination section, a vehicle body acceleration sensor section, a display image processing section, and a motion analysis section. The visible light image sensor unit identifies the face of the passenger (user U) by visible light imaging. The infrared image sensor unit determines variations in the amount of hemoglobin in the passenger's blood by near-infrared imaging, and calculates pulse changes. A plurality of visible light image sensor units and infrared image sensor units may each be mounted inside the vehicle 800, so that the states of a plurality of passengers can be individually determined.

The facial color determination unit determines the facial color of the passenger using information obtained from the visible light image sensor unit and the infrared image sensor unit. The facial color determination unit determines that the passenger is in a stressed state, which is a sign of intoxication, when the facial color exceeds a predetermined threshold value.

The vehicle body acceleration sensor section extracts the acceleration of the automobile 800 . The display image processing unit extracts the acceleration in the video displayed on the car window display. The motion analysis unit calculates the difference between the acceleration of the vehicle 800 and the acceleration in the image. The GVS device 103 determines the current values to apply to the electrodes within the device to compensate for the difference. In the car sickness suppression system of this modified example, a database in which acceleration and current values are associated may be created, and the current values applied to the electrodes of the GVS device 103 may be determined using the database. good.

It should be noted that the plurality of embodiments described above can be implemented in combination as long as there is no contradiction in their configurations and operations.

The present technology can also take the following configuration.
[1]
an imaging unit that generates images of the subject's surroundings at time intervals dT;
calculating a distance L between the target and a moving body existing in the surrounding environment and a relative velocity vector V of the moving body with respect to the target; and using the distance L and the relative velocity vector V, the target and the moving body A moving body analysis unit that calculates the time T required for the to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the distance Lj between the target and the extracted moving body after the determination time Tj is a predetermined distance. a speed calculator that calculates a speed dV representing the magnitude and direction of motion;
an electrode unit for providing vestibular electrical stimulation to the subject;
and a current control unit that supplies the subject with the vestibular electrical stimulation to induce the subject to move at the speed dV by applying a current of a predetermined current value to the electrode unit.
[2]
A current value acquisition of searching a current value database holding information on a speed dV of an operation induced when a current of a current value I flows through the electrode portion, and acquiring a current value I corresponding to a predetermined speed dV. further comprising
The approach avoidance system according to [1], wherein the current control unit causes the current of the current value I to flow through the electrode unit.
[3]
further comprising a result confirmation unit for confirming the distance Lr between the target and the extracted moving body after the current control unit has applied the vestibular electrical stimulation to the target,
The approach avoidance system according to [2], wherein the result confirmation unit updates the current value database when the distance Lr satisfies a predetermined condition.
[4]
The approach avoidance system according to any one of [1] to [3], wherein the imaging unit includes a TOF image sensor and/or a millimeter wave image sensor.
[5]
The approach avoidance system according to [4], wherein the imaging unit further includes a visible light image sensor.
[6]
the access avoidance system includes a pair of vestibular electrical stimulators;
any one of [1] to [5], wherein each of the pair of vestibular electrical stimulation devices includes the imaging unit, the moving body analysis unit, the velocity calculation unit, the electrode unit, and the current control unit Access avoidance system as described.
[7]
the approach avoidance system includes a pair of vestibular electrical stimulators and a mobile terminal;
The pair of vestibular electrical stimulation devices and the mobile terminal are communicably connected,
Each of the pair of vestibular electrical stimulation devices includes the imaging unit, the moving body analysis unit, the electrode unit, and the current control unit,
The approach avoidance system according to any one of [1] to [6], wherein the mobile terminal includes the speed calculator.
[8]
The approach avoidance system includes a pair of vestibular electrical stimulators and an information processing device,
The pair of vestibular electrical stimulation devices and the information processing device are communicably connected,
Each of the pair of vestibular electrical stimulation devices includes the imaging unit, the moving body analysis unit, the electrode unit, and the current control unit,
The approach avoidance system according to any one of [1] to [7], wherein the information processing device includes the speed calculation unit.
[9]
The approach avoidance system includes a mobile terminal,
The approach avoidance system according to any one of [1] to [8], wherein the mobile terminal includes the imaging unit.
[10]
The approach avoidance system includes a mobile terminal,
The approach avoidance system according to [2] or [3], wherein the mobile terminal includes the imaging unit, the moving object analysis unit, the velocity calculation unit, and the current value acquisition unit.
[11]
The approach avoidance system according to any one of [1] to [10], further including an audio output unit that outputs audio.
[12]
The approach avoidance system according to any one of [1] to [11], further including an image display unit that displays an image.
[13]
a location information acquisition unit that acquires current location information of the target;
a route selection unit that selects a route for the target to reach a destination based on the map information and the position information, and acquires information about the route from the map information;
The approach avoidance system according to any one of [1] to [12], wherein the speed calculator uses the information about the route when calculating the speed dV.
[14]
a visibility information acquisition unit that acquires visibility information that can specify the visibility of the target;
a visibility display unit that displays the visibility information;
any one of [1] to [13], including a current value setting unit that sets, as the predetermined current value, a current value determined by a third party other than the target who monitors the field of view display unit. The approach avoidance system described in 1.
[15]
The approach avoidance system includes a plurality of pairs of vestibular electrical stimulators,
the plurality of pairs of vestibular electrical stimulation devices are communicably connected to each other,
each of the plurality of subjects wearing the pair of vestibular electrical stimulation devices;
The pair of vestibular electrical stimulation devices includes a recognition signal generation unit that generates a recognition signal that causes the other pair of vestibular electrical stimulation devices to recognize its own vestibular electrical stimulation device, and a transmission and reception unit that transmits and receives the recognition signal. ,
According to any one of [1] to [14], wherein the speed calculation unit calculates the speed dV based on the recognition signals from the other pair of vestibular electrical stimulation devices received by the transmission/reception unit. approach avoidance system.
[16]
The approach avoidance system
Based on the recognition signals from the other pair of vestibular electrical stimulation devices, the action history is retrieved from an action history database holding the behavior history information of another subject wearing the other pair of vestibular electrical stimulation devices. an information acquisition unit that acquires information;
a behavior prediction unit that predicts the behavior of the other target based on the acquired behavior history information and calculates a predicted velocity vector Vp;
The approach avoidance system according to [15], wherein the velocity calculator calculates the velocity dV using the predicted velocity vector Vp of the other object.
[17]
the subject is a person, and the moving body present in the surrounding environment is also a person;
The approach avoidance system according to any one of [1] to [16], which is used to secure a predetermined distance between people to avoid crowds and close contact.
[18]
A pair of vestibular electrical stimulators, comprising:
each of the pair of vestibular electrical stimulation devices comprising:
an imaging unit that generates images of the subject's surroundings at time intervals dT;
calculating a distance L between the target and a moving body existing in the surrounding environment and a relative velocity vector V of the moving body with respect to the target; and using the distance L and the relative velocity vector V, the target and the moving body A moving body analysis unit that calculates the time T required for the to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the distance Lj between the target and the extracted moving body after the determination time Tj is a predetermined distance. a speed calculator that calculates a speed dV representing the magnitude and direction of motion;
an electrode unit for providing vestibular electrical stimulation to the subject;
a current control unit that applies a current of a predetermined current value to the electrode unit and provides vestibular electrical stimulation to the subject to induce the subject to move at the speed dV. Device.
[19]
The pair of vestibular electrical stimulation devices is a pair of ear-hung wearable devices,
A pair of vestibular electrical stimulators according to [18], wherein each of the pair of vestibular electrical stimulators includes the imaging unit including one or more image sensors and the electrode unit including three electrodes.

1 approach avoidance system 100 vestibular electrical stimulation device 111 moving body analysis unit 112 speed calculation unit 114 current control unit 120 imaging unit 130 electrode unit

Claims (19)

an imaging unit that generates images of the subject's surroundings at time intervals dT;
calculating a distance L between the target and a moving body existing in the surrounding environment and a relative velocity vector V of the moving body with respect to the target; and using the distance L and the relative velocity vector V, the target and the moving body A moving body analysis unit that calculates the time T required for the to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the distance Lj between the target and the extracted moving body after the determination time Tj is a predetermined distance. a speed calculator that calculates a speed dV representing the magnitude and direction of motion;
an electrode unit for providing vestibular electrical stimulation to the subject;
and a current control unit that supplies the subject with the vestibular electrical stimulation to induce the subject to move at the speed dV by applying a current of a predetermined current value to the electrode unit. A current value acquisition of searching a current value database holding information on a speed dV of an operation induced when a current of a current value I flows through the electrode portion, and acquiring a current value I corresponding to a predetermined speed dV. further comprising
2. The approach avoidance system according to claim 1, wherein said current control section causes said current value I to flow through said electrode section. further comprising a result confirmation unit for confirming the distance Lr between the target and the extracted moving body after the current control unit has applied the vestibular electrical stimulation to the target,
3. The approach avoidance system according to claim 2, wherein said result confirmation unit updates said current value database when said distance Lr satisfies a predetermined condition. The approach avoidance system according to claim 1, wherein the imaging unit comprises a TOF image sensor and/or a millimeter wave image sensor. 5. The approach avoidance system of claim 4, wherein the imaging portion further comprises a visible light image sensor. the access avoidance system includes a pair of vestibular electrical stimulators;
The approach avoidance system according to claim 1, wherein each of the pair of vestibular electrical stimulation devices includes the imaging section, the moving body analysis section, the velocity calculation section, the electrode section, and the current control section. the approach avoidance system includes a pair of vestibular electrical stimulators and a mobile terminal;
The pair of vestibular electrical stimulation devices and the mobile terminal are communicably connected,
Each of the pair of vestibular electrical stimulation devices includes the imaging unit, the moving body analysis unit, the electrode unit, and the current control unit,
The approach avoidance system according to claim 1, wherein said mobile terminal includes said velocity calculator. The approach avoidance system includes a pair of vestibular electrical stimulators and an information processing device,
The pair of vestibular electrical stimulation devices and the information processing device are communicably connected,
Each of the pair of vestibular electrical stimulation devices includes the imaging unit, the moving body analysis unit, the electrode unit, and the current control unit,
2. The approach avoidance system according to claim 1, wherein said information processing device includes said speed calculator. The approach avoidance system includes a mobile terminal,
2. The approach avoidance system of claim 1, wherein the mobile terminal includes the imaging unit. The approach avoidance system includes a mobile terminal,
3. The approach avoidance system according to claim 2, wherein said mobile terminal includes said imaging unit, said moving body analysis unit, said velocity calculation unit, and said current value acquisition unit. The approach avoidance system according to claim 1, further comprising an audio output unit that outputs audio. 2. The approach avoidance system according to claim 1, further comprising an image display unit for displaying an image. a location information acquisition unit that acquires current location information of the target;
a route selection unit that selects a route for the target to reach the destination based on the map information and the position information, and acquires information about the route from the map information;
2. The approach avoidance system according to claim 1, wherein said velocity calculator uses said route information when calculating said velocity dV. a visibility information acquisition unit that acquires visibility information that can specify the visibility of the target;
a visibility display unit that displays the visibility information;
2. The approach avoidance system according to claim 1, further comprising a current value setting unit that sets a current value determined by a third party other than the target who monitors the visual field display unit as the predetermined current value. The approach avoidance system includes a plurality of pairs of vestibular electrical stimulators,
the plurality of pairs of vestibular electrical stimulation devices are communicably connected to each other,
each of the plurality of subjects wearing the pair of vestibular electrical stimulation devices;
The pair of vestibular electrical stimulation devices includes a recognition signal generation unit that generates a recognition signal that causes the other pair of vestibular electrical stimulation devices to recognize its own vestibular electrical stimulation device, and a transmission and reception unit that transmits and receives the recognition signal. ,
The approach avoidance system according to claim 1, wherein the velocity calculator calculates the velocity dV based on the recognition signals from the other pair of vestibular electrical stimulators received by the transmitter/receiver. The approach avoidance system
Based on the recognition signals from the other pair of vestibular electrical stimulation devices, the action history is retrieved from an action history database holding the behavior history information of another subject wearing the other pair of vestibular electrical stimulation devices. an information acquisition unit that acquires information;
a behavior prediction unit that predicts the behavior of the other target based on the acquired behavior history information and calculates a predicted velocity vector Vp;
16. The approach avoidance system according to claim 15, wherein said velocity calculator calculates said velocity dV using said predicted velocity vector Vp of said another object. the subject is a person, and the moving body present in the surrounding environment is also a person;
2. The approach avoidance system according to claim 1, which is used to keep a predetermined distance between people to avoid crowding and close contact. A pair of vestibular electrical stimulators, comprising:
each of the pair of vestibular electrical stimulation devices comprising:
an imaging unit that generates images of the subject's surroundings at time intervals dT;
calculating a distance L between the target and a moving body existing in the surrounding environment and a relative velocity vector V of the moving body with respect to the target; and using the distance L and the relative velocity vector V, the target and the moving body A moving body analysis unit that calculates the time T required for the to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the distance Lj between the target and the extracted moving body after the determination time Tj is a predetermined distance. a speed calculator that calculates a speed dV representing the magnitude and direction of motion;
an electrode unit for providing vestibular electrical stimulation to the subject;
a current control unit that applies a current of a predetermined current value to the electrode unit and provides vestibular electrical stimulation to the subject to induce the subject to move at the speed dV. Device. The pair of vestibular electrical stimulation devices is a pair of ear-hung wearable devices,
19. A pair of vestibular electrical stimulators according to claim 18, wherein each of said pair of vestibular electrical stimulators includes said imaging section comprising one or more image sensors and said electrode section comprising three electrodes.

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