JP4002970B2 - Haptic human navigation system and device used therefor - Google Patents

Description

【００６６】
さらに、ルート検索装置１０６において、電子コンパスユニット４０３などから求められたユーザの体の向き７０４と接線ベクトル７０３および法線ベクトルが比較されて、それによりユーザの体の向きに対する誘導すべき角度７０５が求められる。
【００６７】
人は、車とは異なり、装置で決定された経路をなぞるように歩くことはなく、路上の障害物や人を避けたり、目を引くものには近づいたりしながら目的地を目指す。つまり、ユーザは、目的地に向かって、カーナビ用およびヒューマンナビ用の電子地図で探索された経路以外を歩くことも行うため、目的地の大まかな方向７０６が提示されるだけでも十分に利用価値があると考えられる。
【００６８】
目的地までの距離情報も図１の力覚感覚入出力装置１１３の力覚感覚の強度に関連付けることができる。例えば、音源に近づけば音量が大きくなるように、目的地に近づけば力覚感覚の強度が大きくなる提示の仕方や、反対に、目的地を起点にしてゴムを伸ばした時のように目的地から遠くなれば強度が大きくなるという提示の仕方がある。この２通りのやり方は、それぞれに一長一短があり、前者の場合は、犬が臭いを頼りに探索するように自然法則に合致しているが、遠くに離れて目視が難しい時ほど力覚強度が弱くなり、迷いやすいという問題点もあるが、例えば、力覚感覚出力の最大強度および最小強度を予め設定し、力覚感覚出力が最大強度を超えないように、かつまた最小強度よりも小さくならないように制御することで、効果的な提示も可能である。また、距離に依存させず一定の力覚強度を提示する方法もある。
【００６９】
図８は、図１の視覚情報入出力装置１１０を用いたナビゲーション情報の提示方法および街並みなどの環境映像を記録する方法を示す。図８の（Ａ）は、視覚情報入出力装置１１０の全方位型の環境映像の記録方法の一構成例を示し、同図に示すように、３６０度視野角の環境映像８０１が液晶ディスプレイ８０５の例えば裏面等に取り付けた円錐形反射鏡８０２を介してＣＣＤカメラ８０３で読み込まれる。読み込まれた環境映像のデータは、視覚ＩＦ（インターフェース装置）８０４を介してＣＰＵ１０１に送られて利用されたり、図１の外部記憶装置１０９に記録される。また、ナビゲーション用の地図３０１（図３参照）および情報が液晶ディスプレイ８０５に提示される。
【００７０】
図８の（Ｂ）は、視覚情報入出力装置１１０の単方位型の環境映像の記録方法の一構成例を示し、上記の円錐形反射鏡８０２とＣＣＤカメラ８０３の代わりに、単一のＣＣＤカメラ８０６に置換した構成のものである。この場合は、一方向の環境映像がＣＣＤカメラ８０６により読み込まれ、読み込まれた環境映像のデータは、上記と同様に、視覚ＩＦ８０４を介してＣＰＵ１０１に送られて利用されたり、外部記憶装置１０９に記録される。
【００７１】
図９は、図１の聴覚情報入出力装置１１１を用いてナビゲーション用音声ガイドおよび報知音・警告音などの音響情報を提示する方法および環境音を記録する方法を示す。聴覚情報入出力装置１１１は、マイクロフォン９０１、聴覚ＩＦ（インターフェース装置）９０２、スピーカ９０３を有する。音響および音声ガイドは聴覚ＩＦ９０２で合成され、スピーカ９０３を介してユーザに提示される。環境音はマイクロフォン９０１および聴覚ＩＦ９０２を介して、ＣＰＵ１０１に送られて利用されたり、外部記憶装置１０９に記録される。聴覚ＩＦ９０２の音声認識機能を用いて入力装置にもなる。
【００７２】
図１０は、図１の触覚情報入出力装置１１２を用いてナビゲーション用点字情報の提示方法を示す。入出力デバイス１００１は図５に示した外部入出力装置１０４の入出力デバイス５０１と同一物とすることもできる。触覚情報入出力装置１１２の表面の指が添えられる部分に複数のアクチュエータおよび圧力センサを備えた入出力デバイス１００１が配置されている。この入出力デバイス１００１は点字ディスプレイなどで使われるペグが取り付けられており、ＣＰＵ１０１から送られてきたナビゲーション用情報が触覚ＩＦ（インターフェース装置）１００２を介して駆動力に変換されて入出力デバイス１００１に送られ、点字による文字・シンボル・図形を含む点字情報などの触覚情報によって提示することができる。
【００７３】
図１１は、図１の力覚情報入出力装置１１３を用いてナビゲーション用力覚情報を提示する方法を示す。力覚情報の提示には、空間に配置・固定された複数個のジャイロモータ１１０１を力覚ＩＦ（インターフェース装置）１１０２を介して各ジャイロモータを独立に駆動制御することで、任意の方向・大きさに角運動量ベクトルを合成し、その時間微分によってトルクを発生させることができる。この時、複数のジャイロモータ１１０１はｘ、ｙ、ｚ系の直交座標に固定される方が効率的である。力覚情報入出力装置１１３の姿勢・位置情報はその内部の姿勢・位置情報センサ１１０３によって測定され、力覚情報入出力装置１１３自身の動きによって発生する擾乱トルクがＣＰＵ１０１によって計算され、力覚ＩＦ１１０２を介して擾乱トルクがキャンセルするように複数のジャイロモータ１１０１が制御される。姿勢・位置情報センサ１１０３には歩くピッチを測定するための振動センサ（図示しない）が含まれる。
【００７４】
図１２は、力覚情報入出力装置１１３のトルク発生手段として、３個のジャイロモータ１１０１を利用したデバイス１２０１を示す。ｘ軸、ｙ軸、ｚ軸に固定された３個の回転子の回転数 ω_ｘ、ω_ｙ、ω_ｚ を独立に制御して、それぞれの回転子が発生する角運動量を合成することで、任意の方向に角運動量ベクトルを発生させる。そして、モータを加減速させた時に伴う角運動量の変化によって発生するトルクの反作用として外部にトルクを取り出す。
【００７５】
【外２】

【００７６】
ここで、ｘ、ｙ、ｚ軸方向の角速度の比ω_ｘ：ω_ｙ：ω_ｚを変えることで任意の方向に角運動量ベクトルの発生方向を制御することができる。この制御方法は制御が容易であり、変化に富んだ３次元力覚感覚を提示できる利点がある。
【００７７】
このように、３個のジャイロモータ１１０１を利用したデバイス１２０１は、３次元の任意の方向を指し示すことができ、これにより高さ方向の情報が提示することができので、前述のように、地図上では同じ位置で表わされる路面を歩くことと、陸橋・歩道橋を歩くこと、地下を歩くこと、とを区別して誘導することができる利点を有する。
【００７８】
図１３は、力覚情報入出力装置１１３のトルク発生手段として、３組のツイン・ジャイロモータ１１０１を利用した力覚情報提示デバイス１３０１を示す。図１３の（Ａ）はその力覚情報提示デバイス１３０１の構成の原理を示す模式図であり、図１３の（Ｂ）と（Ｃ）は実際に作成したデバイス１３０１の詳細な構成を示し、同図（Ｂ）はモータ固定用のフレーム１３０２に相当するハウジング（筐体）１３０４のみを断面の切り欠きで示した正面図、同図（Ｃ）はその平面図である。１３０３はジャイロモータ１１０１の電動モータ部分であり、１３０５は支持部材、１３０６は指示枠材である。フレーム１３０２は例えば円筒形、あるいは球形に形成され、ユーザの手に握られる。
【００７９】
図１２の例では３個のモータ１１０１が同図に示すようにねじれの位置に配置させていたが、質量バランスや慣性モーメントの向上を図るために、図１３に示すように慣性質量部分を重心近くで対峙させた３組のツイン・ジャイロモータ方式のデバイスを本発明者らは考え出した。また、モータ固定用のフレーム１３０２、１３０４の形状も、フレーム自体の慣性モーメントが小さくなるように、図１２に示すような立方体形状１２０２から点対称構造である球形に近づけた。慣性質量を重心に集中させることで、人の動きで生じる余計な慣性力の低減を図っている。このツイン・ジャイロモータは、同一方向、および反対方向に回転させることが可能で、反対方向に回転させることで角運動量の合成が打ち消され、ジャイロモータが回転していても見かけ上は回転していないのと同じ状態になり、トルクを発生させないまま反対方向に高速回転させた状態から片方のジャイロモータだけを電磁ブレーキなどによって急峻な制動をかけることによって大きな角運動量の変化が生じ、大きなトルクを提示することができる。
【００８０】
図１４は、力覚情報入出力装置１１３のトルク発生手段として、ジンバル構造１４０２を用いたデバイス１４０１を示す。ジャイロスコープのようにジンバル構造１４０２を用いて角速度ω_０で回転する回転子１４０３の姿勢を２つのジンバル軸１４０４、１４０５の周りに回転角Ω_１、Ω_２で制御する。この構成では、大きな１つのジャイロモータを使用するので、図１２および図１３に示した構成に比べて比較的大きなトルクを発生させることができるが、構造が複雑になったり、力学的強度が低下したり、提示できるトルクに制限がある。
【００８１】
図１５と図１６は、図１の通信装置１０７を用いたハプティックナビ１００の利用形態を示す。ハプティックナビ１００の第１の利用形態としては、図１５に示すように、ＧＰＳ受信機、電子コンパス、および地図地理情報が内蔵された携帯電話機、ＰＨＳ電話機、およびＰＤＡなどのモバイル機器にハプティックナビ１００を内蔵させた一体型モバイル機器１５０１が挙げられる。
【００８２】
ハプティックナビ１００の第２の利用の形態としては、図１６に示すように、ＧＰＳ受信機、電子コンパス、および地図地理情報が内蔵された携帯電話機、ＰＨＳ電話機、およびＰＤＡなどのモバイル機器１６０２と、それとは別個の１つのケースに納めたハプティックナビ１００の少なくとも入出力装置部分１６０１とを、通信装置１０７Ａ、１０７Ｂを介して電波、赤外線、超音波、ケーブル、コネクタなどの伝送手段で接続する別体型の形態が挙げられる。
【００８３】
ここでは、第１の利用形態である一体型モバイル機器１５０１が扱いやすく望ましいが、力覚情報入出力が内蔵されたデバイス自身の重量が増えると力覚情報を提示した時のトルクに対する感覚が低下するので、第２の利用形態である分離型デバイス１６０１も効果的である。
【００８４】
図１７は、図１の力覚情報入出力装置１１３を用いて力覚情報を提示する方法およびその制御方法の１例を示す。角運動量ベクトルを図１７の（Ａ）に示すように円軌道１７０１をトレースするように変化させ、また、図１７の（Ｂ）に示すように、楕円軌道１７０２をトレースするように変化させることで目的地の方向１７０３や誘導すべき方向や知りたい方位を提示することができる。ここで、単振動軌道は楕円軌道１７０２に含まれる。
【００８５】
（他の実施の形態）
以上、本発明の実施形態を詳述したが、本発明は、前述した実施形態の機能を実現するソフトウエアのプログラムを、システム或いは装置に直接或いは遠隔から供給し、そのシステム或いは装置のコンピュータがその供給されたプログラムを読み出して実行することによっても達成される場合を含む。プログラムを供給するための記録媒体としては、例えば、ハードディスク、光ディスク、光磁気ディスク、ＭＯ、ＣＤ−ＲＯＭ、ＣＤ−Ｒ、ＣＤ−ＲＷ、磁気テープ、不揮発性のメモリカード（ＩＣメモリカード）、ＲＯＭ、ＤＶＤ（ＤＶＤ−ＲＯＭ、ＤＶＤ−Ｒ）などがある。
【００８６】
【発明の効果】
以上説明したように，本発明によれば、ディスプレイや音声ガイドによる視覚・聴覚情報に加えて、力覚感覚を利用して進行すべき方向を直感的に理解しやすい形で提示する力覚型ヒューマンナビゲーションシステムが実現できる。
【００８７】
よって、本発明のヒューマンナビゲーションシステムを用いれば、次の効果が得られる。
（１）霧の中や暗闇などの視界が悪い場所でもナビゲーションシステムの利用が効果的になる。
（２）森林・原野などのランドマークがない場所でもナビゲーションシステムの利用が効果的になる。
（３）地震によってビルなどが倒壊した場合の災害時においても有効である。
（４）更に、視覚情報提示装置・聴覚情報提示装置・触覚情報提示装置・力覚情報提示装置の少なくともいずれか一つとそれ以外の装置群をワイヤレスに接続することで装着感・操作性を向上させることができる。
【００８８】
このように、本発明のヒューマンナビゲーションシステムは、視覚障害者、聴覚障害者および晴眼者にも効果的な誘導デバイスである。また、本発明のヒューマンナビゲーションシステムは、人を目的地に誘導する他に、ロボットの誘導およびカーナビとしても利用することができる。
【００８９】
また、ヒューマンナビゲーションシステムで用いる本発明の力覚情報提示デバイスとしては、以下の利点がある。
（ａ）制御方式として、複数のジャイロモータを独立に制御することで、任意の方向・大きさに角運動量ベクトルを合成し、その時間微分によってトルクを発生させる方法を用いているため、制御が容易であり、変化に富んだ３次元力覚感覚を提示できる。
（ｂ）また、慣性質量部分を重心近くで対峙させた３組のツイン・ジャイロモータ方式を用いたり、モータ固定用のフレーム形状を点対称構造である球形に近づけることで、質量バランスや慣性モーメントが向上している。慣性質量を重心に集中させることで、人の動きで生じる余計な慣性力の低減が図られている。
（ｃ）ジンバル構造を用いた場合には、ジンバル構造自身が余計な慣性モーメントを持ち擾乱トルクを発生させる。また、ジンバルの可動部分の構造が煩雑となる。これに対して、本発明の複数のジャイロモータを固定した方法では、構造が単純となり、力学的に強い強度が得られる。また、小型化した場合にも構造が単純なため加工が容易である。
（ｄ）非接地型のため、従来のように接地用アームやワイヤが不要であり、身体の動きを拘束しない。複数の力覚情報入出力装置が干渉せずに共存できる。ユーザの動作・行動への制限が少なく、小型・携帯性に優れており、屋内・屋外を含む広範囲での使用が可能である。
【図面の簡単な説明】
【図１】本発明の一実施形態の力覚型ヒューマンナビゲーションシステム（ハプティックナビ）の概略構成を示すブロック図である。
【図２】２つ以上のハプティックナビ間の通信方法を説明するブロック図である。
【図３】図１の目的地入力装置を用いて目的地の位置情報を入力する方法を説明する平面図である。
【図４】位置・方位情報を測定する図１の位置・方位測定装置の構成例を示すブロック図である。
【図５】図１の外部入出力装置を用いてデータの入力および出力を行う方法を説明する概念図である。
【図６】図１の地図地理情報記憶装置を用いて地図および地理情報の読み出し、および書き込み保存を行うときの情報の流れを示すブロック図である。
【図７】図１のルート検索装置を用いて目的地までのルート検索および誘導情報の計算を行う方法を説明する概念図である。
【図８】ナビゲーション情報を提示および街並みなどの環境映像を記録する図１の視覚情報入出力装置の構成例を示すブロック図である。
【図９】ナビゲーション用音響および音声ガイド情報を提示し、環境音を記録する図１の聴覚情報入出力装置の構成例を示すブロック図である。
【図１０】図１の触覚情報入出力装置を用いてナビゲーション用点字情報などの触覚情報を提示する方法を説明する概念図である。
【図１１】図１の力覚情報入出力装置を用いてナビゲーション用力覚情報を提示する方法を説明する概念図である。
【図１２】図１の力覚情報入出力装置のトルク発生手段として、３つのジャイロモータを利用した構成例を示す模式図である。
【図１３】図１の力覚情報入出力装置のトルク発生手段として、３組みのジャイロモータを利用した構成例を示し、（Ａ）は模式図、（Ｂ）はハウジングのみ切り欠きで示した力覚情報提示デバイスの正面図、（Ｃ）は同じく平面図である。
【図１４】図１の力覚情報入出力装置のトルク発生手段として、ジンバル構造を利用した構成例を示す模式図である。
【図１５】図１のハプティックナビの利用形態として一体型ユニットの一例を示す概念図である。
【図１６】図１のハプティックナビの別の利用形態として通信装置を用いた分離型ユニットの一例示す概念図である。
【図１７】図１の力覚情報入出力装置を用いて力覚情報を提示する方法および制御する方法を説明する概念図である。
【符号の説明】
１００ ハプティックナビ（力覚型ヒューマンナビゲーションシステム）
１０１ ＣＰＵ
１０２ 目的地入力装置
１０３ 位置・方位測定装置
１０４ 外部入出力装置
１０５ 地図地理情報記憶装置
１０６ ルート検索装置
１０７ 通信装置
１０８ メモリ
１０９ 外部記憶装置
１１０ 視覚情報入出力装置
１１１ 聴覚情報入出力装置
１１２ 触覚情報入出力装置
１１３ 力覚情報入出力装置
２１０ 視覚情報入出力装置
２１１ 聴覚情報入出力装置
２１３ 力覚情報入出力装置
３０１ 地図画面
３０２ 経度・緯度の入力表示欄
３０３ 住所による緯度・経度検索表示欄
３０４ 郵便番号による緯度・経度検索表示欄
３０５ 電話番号による緯度・経度検索表示欄
４０２ ＧＰＳユニット
４０３ 電子コンパスユニット
４０４ ＰＨＳ位置情報サービスユニット
４０５ ビーコンユニット
４０６ 近接位置センサユニット
５０１ 入出力デバイス
７０１ ルートの経路軌跡
７０２ 現在位置
７０３ 接線ベクトル
７０４ ユーザの体の向き
７０５ 誘導すべき角度
８０１ 環境映像
８０２ 円錐形反射鏡
８０３ ＣＣＤカメラ
８０４ 視覚ＩＦ
８０５ 液晶ディスプレイ
８０６ ＣＣＤカメラ
９０１ マイクロフォン
９０２ 聴覚ＩＦ
９０３ スピーカ
１００１ 入出力デバイス
１００２ 触覚ＩＦ
１１０１ ジャイロモータ
１１０２ 力覚ＩＦ
１１０３ 姿勢・位置情報センサ
１２０１ ３つのジャイロモータを利用した力覚情報提示デバイス
１３０１ ３組のツイン・ジャイロモータを利用した力覚情報提示デバイス
１４０１ ジンバル構造を利用した力覚情報提示デバイス
１４０２ ジンバル構造
１４０３ 角速度ω_０で回転する回転子
１４０４ 回転角Ω_１のジンバル軸
１４０５ 回転角Ω_２のジンバル軸
１５０１ ハプティックナビがモバイル機器に内蔵された形態のデバイス
１６０１ ハプティックナビがモバイル機器と分離した形態のデバイス
１７０１ 角運動量ベクトルの円軌道
１７０２ 角運動量ベクトルの楕円軌道
１７０３ 目的地の方向[0001]
BACKGROUND OF THE INVENTION
The present invention The force Haptic human navigation system that uses a sense information presentation device to guide people to their destination And devices used therefor About.
[0002]
[Prior art]
In recent years, car navigation systems (car navigation systems) have become widespread, and the price and functionality of such devices have been increasing. When the driver inputs the destination to the car navigation system before starting driving, the current position and the direction of travel are displayed on the display screen, and detailed maps are popped up at the junctions and intersections. You can receive a service. It is extremely stressful for the driver to select the next route by driving while making a driving decision, so car navigation systems are particularly convenient when visiting the first place.
[0003]
However, the driver needs to have the ability to read the map, such as collating the map with the real space, using the place name, address, and landmark displayed on the display screen as clues. Accompanying the decline in visual acuity and spatial recognition, the reading map ability declines and oversights such as signs increase. Further, when a complicated intersection is reached, a detailed view pops up on the display screen, but it is not preferable to look aside while driving to see the display screen. In addition, there are times when the voice guide cannot fully explain on a five-way difference or a non-orthogonal road.
[0004]
Recently, with the recognition of the convenience of car navigation systems, PDA-GPS that can be equipped with GPS (Global Positioning System) modules and mobile phones equipped with GPS functions have been released. A palm-sized portable navigation environment called “Hitonavi” is being prepared. In addition, a seamless environment in which navigation information (navigation information) is shared between a car navigation system and a PDA (Personal Digital Assistant) and the car navigation system and the human navigation system cooperate with each other has been provided.
[0005]
However, similarly to the visibility problem when driving a car navigation system, even when using a portable human navigation system, it is not easy for a user to walk in an unknown city while dropping his gaze on the screen of the navigation screen. In addition, when a user aims at a destination while enjoying a show window of a store or a conversation with friends, navigation relying only on visual information and auditory information is not appropriate.
[0006]
In order to solve these problems, navigation devices that provide route guidance without using visual or voice have been proposed. For example, a device (Patent Document 1) for notifying an intersection that should turn left or right during driving by a vibrating means (Patent Document 1), giving a right-turn impact to a steering wheel at a place to turn right, A device (Patent Document 2) that notifies only of a right turn by vibrating only the vibration means has been proposed. There has also been proposed a tactile direction indicating device (Patent Document 3) provided with a direction indicating cue that arranges movable pegs on the front, rear, left and right, and raises the movable peg corresponding to the traveling direction. However, these are not suitable for use during walking, and a direction indicating device using a tactile sensation has a low direction resolution, and it is difficult to intuitively understand the direction to proceed.
[0007]
The human navigation system is portable and is preferably small and non-grounded so that it can be used while a person walks. Force direction such as torque is used to indicate direction rather than tactile sense. It is more intuitive and easier to understand. As a non-grounding type haptic information presentation device, a torque presentation device using a gyro moment and a gimbal structure was developed, and a person is guided by perceiving a virtual wall by an area presentation system that combines this with an infrared distance sensor. Has been proposed (Non-Patent Document 1). However, in the gimbal structure, the torque direction that can be presented is limited, and there is a problem that the structure becomes complicated and the control becomes complicated.
[0008]
In contrast, non-grounding / portable force information presentation that can present torque in any direction and size by independently controlling the rotation of three gyro motors arranged in three-axis orthogonal coordinates. A device (Non-Patent Document 2) has been proposed. Since the torque is generated by controlling the angular momentum combined vector generated by the three gyro motors, the structure is relatively simple and the control is easy. However, the balance of mass and moment of inertia and the disturbance torque generated by the natural movement of a person are to be solved.
[0009]
[Patent Document 1]
Japanese Patent Laid-Open No. 11-160087
[0010]
[Patent Document 2]
JP 09-133545 A
[0011]
[Patent Document 3]
JP 2000-352521 A
[0012]
[Non-Patent Document 1]
Masae Yoshie, Hiroaki Yano, Hiroo Iwata, "Development of Non-Installation Type Force Display Device Using Gyro Moment", Research Report of Human Interface Society, vol.3, No.5, pp. 25-30 (2000)
[Non-Patent Document 2]
Tanaka Yokichi, Sakai Katsutaka, Kawano Yuka, Fukui Yukio, Yamashita Juri, Nakamura Norio, “Mobile Torque Display and Haptic Characteristics of Human Palm”, INTERNATIONAL CONFERENCE ON ARTIFICIAL REALITY AND TELEXISTENCE, pp.115-120 (2001/12)
[0013]
[Problems to be solved by the invention]
As mentioned above, the visibility of the car navigation system and the level of understanding of the voice guide are problematic, as well as when using a portable human navigation system. It is not easy to walk around the city, and navigation that relies solely on visual and auditory information is not appropriate when aiming for a destination while enjoying a shop window or talking with friends.
[0014]
Therefore, in addition to visual and auditory information using a display and a voice guide, it is necessary to present the direction to be advanced in a form that is easy to understand intuitively using tactile sensation and force sense.
[0015]
In view of the above-described problems of the prior art, the object of the present invention is to make it easy to intuitively understand the direction to proceed using a force sense in addition to visual and auditory information using a display and a voice guide. The present invention provides a haptic human navigation system to be presented, a haptic information presentation device used therefor, and a human navigation method thereof.
[0016]
[Means for Solving the Problems]
In order to achieve the above object, a human navigation system of the present invention includes destination input means for a user to input position information of a destination, position / orientation measuring means for positioning a current position, train / subway / bus Map geographic information storage means for storing in advance map geographic information including timetables / transfer information such as station maps and three-dimensional maps such as station buildings and station buildings, and location information of the destination obtained from the destination input means And the position information of the current position obtained from the position / orientation measuring means is compared with the map geographic information stored in the map geographic information storage means, such as the shortest time, the shortest distance, the minimum fee, the walking speed, etc. The route search means for searching for the optimum route based on the evaluation criteria, the position / orientation information of the optimum route, and the position / orientation information of the current position are used by the user. A calculation means for calculating a traveling direction to be advanced, and a haptic information output means for guiding the user to the destination by presenting the user with a force toward the direction according to the direction information calculated by the calculation means. It is characterized by having.
[0017]
Here, the computing means compares the direction to be derived calculated from the tangent vector and normal vector of the searched route route with the orientation of the user's body obtained from the electronic compass, An angle to be guided with respect to the orientation of the user's body is obtained, and the obtained angle is output as a traveling direction in which the user should proceed.
[0018]
Further, the calculation means calculates distance information to the destination from the destination, the position / orientation information of the optimum route and the position / orientation information of the current position, and the force information output means The distance information to the destination calculated by the calculation means can be presented in association with the strength of the force sense.
[0019]
The haptic information output means may be capable of presenting the direction of the destination as well as the direction in which the user should proceed.
[0020]
In addition, the force information output means can indicate an arbitrary direction in three dimensions, and can thereby present information in the height direction, so that it walks on the road surface represented by the same position on the map. It can be characterized by being able to distinguish between walking on the overpass and pedestrian bridge and walking on the basement.
[0021]
And tactile information output means for guiding the user to the destination by presenting to the user a tactile sensation that changes according to the information on the direction of travel of the user that the user should proceed. Can be a feature.
[0022]
Further, the haptic information output means can present haptic information including braille information such as characters, symbols, and graphics for navigation by a haptic information output device including a plurality of actuators.
[0023]
In addition, the information processing apparatus further includes an auditory information output unit that guides the user to the destination by converting the information on the traveling direction that the user should currently travel calculated by the calculating unit into a voice message. Can do.
[0024]
The auditory information output means sequentially extracts and extracts reference information useful for user guidance from the map geographic information stored in the map geographic information storage means based on the current position and the optimum route. The reference information may be converted into voice and transmitted.
[0025]
Further, the computing means estimates the stride from the walking pitch measured by the vibration sensor and the moving speed obtained from the position information, estimates the walking pitch that can reach the destination in the required time with the stride, and It is characterized in that at least one of the optimum target walking speed considering the transfer, the current walking speed, and the insufficient speed is presented auditorially via the auditory information output means.
[0026]
Further, the map read from the map geographic information stored in the map geographic information storage means is displayed, the optimum route searched by the route search means, the destination inputted from the destination input means, And visual information output means for guiding the user to the destination by marking and displaying the current position input from the position / orientation measuring means on the map.
[0027]
Further, the computing means estimates the stride from the walking pitch measured by the vibration sensor and the moving speed obtained from the position information, estimates the walking pitch that can reach the destination in the required time with the stride, and It is possible to visually present at least one of an optimum target walking speed considering the transfer, the current walking speed, and the insufficient speed through the visual information output means.
[0028]
In addition, in synchronization with the haptic information presented by the haptic information output means, the haptic information, the position / orientation information of the current position, and the position / orientation information of the optimum route are recorded together with time information. In addition, an external storage means that can refer to the recorded information at any time can be further provided.
[0029]
Further, the external storage means can record an environmental image such as a cityscape received by the imaging means and an environmental sound including a conversation collected by the sound input means together with time information.
[0030]
Also, a communication means for exchanging information and data between two or more human navigation systems, and a video, voice / conversation / ambient sound sent from the communication partner's human navigation system via the communication means are monitored. Monitoring means, information input means for inputting operation information for guiding a remote user to the destination, and the communication partner via the communication means according to the operation information input from the information input means Control means for outputting control information to the output means of the human navigation system can be further provided.
[0031]
Further, the monitoring means can read and monitor information recorded in the external storage means at a remote place through the communication means.
[0032]
The destination input means includes operation means such as a mouse, an input pen, and a touch panel with a display, and at least one of longitude / latitude, address, postal code, and telephone number is input via the operation means. The destination may be selected in step (b) to generate position information of the destination.
[0033]
The position / orientation measuring means may use at least one of a GPS signal, geomagnetic orientation data, PHS position information data, beacon data, and proximity position data.
[0034]
The human navigation system may be incorporated in a mobile device such as a GPS receiver, an electronic compass, and a cellular phone, a PHS phone, and a PDA that incorporate map geographic information.
[0035]
The haptic information output means of the human navigation system is a GPS receiver, an electronic compass, and a device that can be grasped separately from mobile devices such as a mobile phone, a PHS phone, and a PDA that incorporates map geographic information. In this case, information can be exchanged with the mobile device via information transmission means such as radio.
[0036]
Further, the force information output means can independently control a plurality of gyro motors such as three gyro motors, three twin gyro motors opposed to each other near the center of gravity, or a gimbal motor having a gimbal structure. The angular momentum vector is synthesized in an arbitrary direction and magnitude, and torque is generated by time differentiation.
[0037]
Further, the force information output means, the direction of the destination, or the direction to be guided by changing the angular momentum vector so as to trace along a circular or elliptical or simple vibration orbit, Or it can be characterized by presenting the direction to be known.
[0038]
In order to achieve the above object, the haptic information presentation device of the present invention provides haptic information presentation that presents a user with a force that changes according to the direction and distance to be guided in order to guide the user to the destination. Multiple devices, such as three gyro motors arranged and fixed on three axes, or three twin gyro motors using three pairs of twin gyro motors and facing each other near the center of gravity The angular momentum vector is synthesized in an arbitrary direction and size by independently controlling the plurality of gyro motors according to the input information of the gyro motor and the direction and distance to be guided. And control means for generating a torque corresponding to the direction to be guided and the distance.
[0039]
Here, the pair of twin gyro motors can be rotated in the same direction and in the opposite directions. By rotating in the opposite directions, the composition of angular momentum is negated, and even if the gyro motor is rotating, it appears. The top is in the same state as when it is not rotating, and a large change in angular momentum is caused by applying sharp braking with only one gyro motor by electromagnetic brake etc. from a state where it is rotated at high speed in the opposite direction without generating torque. It can be characterized in that it can be produced and a large torque can be presented.
[0040]
Further, the control means changes the angular momentum vectors of the plurality of gyro motors so as to trace along a circular or elliptical or simple vibration orbit, or the direction of the destination or A direction to be guided or a direction to be known can be presented by force.
[0041]
Further, the control means changes the angular momentum vectors of the plurality of gyro motors so as to trace along a circular or elliptical or simple vibration orbit, or the direction of the destination or A direction to be guided or a direction to be known can be presented by force.
[0042]
To achieve the above object, the human navigation method of the present invention includes a destination input step for inputting destination position information, a position / orientation measuring step for measuring the current position, the position information for the destination, and the current position. Compare the location / direction information of the location with the timetable / transfer information of trains, subways, buses, etc. recorded in advance in the map geographic information memory, and map geographic information including 3D maps such as station premises and station buildings, Based on evaluation criteria such as the shortest time, the shortest distance, the minimum fee, and walking speed, the route search step for searching for the optimal route, and the position / orientation information of the optimal route and the position / orientation information of the current position are used for guidance. A calculation step for calculating a power direction and a haptic information presenting device that presents a force in the direction according to the calculated direction information to the destination. And having a force sense presentation information output step of inducing THE.
[0043]
In order to achieve the above object, the program of the present invention performs human navigation for guiding a user to a destination using a haptic information presentation device that presents the user with a force that changes according to the direction and distance to be guided. A computer-readable program for controlling by a computer, the program comprising: a destination input step for inputting destination position information; a position / orientation measurement step for positioning a current position; Map including location information and time / location information such as trains, subways, buses, etc., which are recorded in advance in the map geographic information storage device, and three-dimensional maps such as station premises and station buildings. A route that searches for the best route based on evaluation criteria such as the shortest time, the shortest distance, the minimum fee, and walking speed in light of geographic information A search step; a calculation step for calculating a direction to be derived from the position / orientation information of the optimum route and the position / orientation information of the current position; and a force that changes according to the calculated direction information. And a force sense presentation information output step of guiding the user to the destination by presenting to the user via the sense information presentation device.
[0044]
The recording medium of the present invention is characterized in that the above-mentioned program is stored so as to be readable by a computer.
[0045]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0046]
FIG. 1 shows a schematic configuration of a haptic human navigation system (hereinafter referred to as haptic navigation) in an embodiment of the present invention. In the haptic navigation 100, the position information of the destination is input by the user by the destination input device 102. The input position information of the destination is compared with the current position information measured by the position / orientation measuring apparatus 103, and the comparison result and the time of the train, subway, bus, etc. stored in advance in the map geographic information storage apparatus 105. Based on table / transfer information and map geographical information including 3D maps such as station premises and station buildings, the route search device 106 checks the evaluation criteria such as the shortest time, shortest distance, minimum fee, walking speed, etc. Optimal route candidates are calculated.
[0047]
Presented to at least one of a visual information input / output device 110 including a display and an imaging device, an auditory information input / output device 111 including a speaker and a microphone, or a tactile information input / output device 112 including a tactile information output device and a tactile sensor. From the optimum route candidates, the optimum route desired by the user is selected using an external input / output device 104 as shown in FIG. Information about the selected optimum route is temporarily stored in the memory 108.
[0048]
As the current position is updated along with the movement of the user (that is, haptic navigation 100), the CPU 101 calculates information related to the user's guidance, and the guidance information obtained thereby is used as the visual information input / output device 110, the auditory information input. It is presented to the user via at least one of the output device 111, the tactile information input / output device 112, and the force information input / output device 113 including a force sensor information presentation device and a force sensor. The user can safely reach the destination based on the presented guidance information.
[0049]
In particular, the haptic information input / output device 113 can point in any three-dimensional direction, thereby presenting information in the height direction, and thus walking on the road surface represented at the same position on the map. Can be distinguished from walking on an overpass / pedestrian bridge and walking underground.
[0050]
In the middle of the route to the destination, when a user asks for directions by an environmental image of a cityscape taken by a camera (not shown) of the visual information input / output device 110 or a microphone (not shown) of the auditory information input / output device 111 Conversation, environmental sounds, etc. are collected, and these environmental images and environmental sounds are presented by at least one of the visual information input / output device 110, the auditory information input / output device 111, and the tactile information input / output device 112. , And information presented by the force information input / output device 113, time information of the CPU 101, position information of the position / orientation measuring device 103, direction information, input information of the external input / output device 104, etc. No) is recorded as guide record information in the external storage device 109. The guidance record information recorded in the external storage device 109 can be automatically transferred and stored in a personal home server connected to the Internet via the communication device 107 after arrival at the destination.
[0051]
Information recorded in the external storage device 109 is stored in the visual information input / output device 110, the auditory information input / output device 111, the tactile information input / output device 112, and the haptic information input / output device 113 both during the route and after arrival at the destination. Reference can be made through at least one of them.
[0052]
As will be described later with reference to FIG. 2, the communication device 107 is used when exchanging information and data with another haptic navigation in a remote place via a communication line such as the Internet. For example, the destination information is input from a remote haptic navigation, or the guidance record information sequentially recorded in the external storage device 109 is transmitted via the communication device 107 to the visual information input / output device 110 of the remote haptic navigation, It can be referred to by at least one of the information input / output device 111, the tactile information input / output device 112, and the force information input / output device 113. Further, the user is in a remote place through at least one of the visual information input / output device 110, the auditory information input / output device 111, the tactile information input / output device 112, and the force information input / output device 113 of the remote haptic navigation. It is also possible to accurately guide the person to be guided.
[0053]
FIG. 2 shows a communication method between two or more haptic navigations. Information and data can be exchanged between the plurality of haptic navigators 100 and 200 via the communication devices 107 and 207 and the communication line 220. Through the communication devices 107 and 207 and the communication line 220, images of the remote cityscape and environmental sounds collected by the visual information input / output device 210 and the auditory information input / output device 211 of the haptic navigation 200 at the remote location are used as the haptic of the communication partner. The remote information can be monitored by the visual information input / output device 110 and the auditory information input / output device 111 of the navigation 100, or by voice conversation with a user at a remote location via the auditory information input / output devices 111 and 211. Understand the situation and present the information necessary for remote guidance to the remote visual information input / output device 210 and the auditory information input / output device 211 by remote control, or input the tactile information input / output device 212 and the force information into the remote location. By controlling the output device 213, it is possible to correctly guide the guided user at a remote location to the destination correctly. This guiding method is suitable for guiding visually handicapped persons, hearing handicapped persons, defocused elderly persons, infants, tourists, and the like. Real-time information uploaded to a server (not shown) connected to the Internet is monitored, searched and downloaded sequentially using the haptic navigation of the present invention. For example, new roads, bridges, underpasses, railways, etc. are opened. It is possible to properly reflect the latest information that changes every day, such as road construction is closed, roads that are events such as festivals are very crowded until evening, or changes every moment it can. In the same way, application programs and functions related to navigation can be updated to the latest version.
[0054]
FIG. 3 shows a method for inputting destination position information using the destination input device 102 of FIG. Click the destination on the map screen 301 displayed on the display (not shown) integrated with the touch panel of the visual information input / output device 110 with a mouse (not shown) or touch it with a pen (not shown) or a finger. Thus, the destination (indicated by a star and a white arrow) is selected, and the corresponding latitude / longitude position information of the destination is read from the map geographic information storage device 105. Also, the “input longitude / latitude” field 302, “latitude / longitude search by address” field 303, “latitude / longitude search by zip code” field 304, “latitude by telephone number” displayed on the visual information input / output device 110. Using the “longitude search” field 305, position information can also be input from an external acquisition output device 104 or operation keys (not shown) as shown in FIG. It is also possible to input the above search contents using the audio recognition of the auditory IF 902.
[0055]
FIG. 4 shows a method of measuring position / orientation information using the position / orientation measuring apparatus 103 of FIG. The position / orientation measuring apparatus 103 includes a GPS unit 402, an electronic compass unit 403, a PHS (Personal Handyphone System) position information service unit 404, a beacon unit 405, and a proximity position sensor unit 406. The GPS unit 402 receives a so-called GPS (Global Positioning System) signal, and the received GPS data is sent to the CPU 101 in FIG. A signal from a GPS satellite is received by an antenna 4021, amplified by an RF (Radio Frequency Amplifier) 4022, and decoded (decoded) by a decoder 4023. Similarly, the electronic compass unit 403 sends orientation data obtained based on the measured geomagnetism to the CPU 101, and the PHS location information service unit 404 sends the location data obtained from communication with the antenna base station to the CPU 101. So-called beacon data obtained by the beacon unit 405 is sent to the CPU 101. In the proximity position sensor unit 406, position data measured by a position measuring device using electromagnetic waves, infrared rays, ultrasonic waves, or the like is sent to the CPU 101.
[0056]
FIG. 5 shows a method of inputting and outputting data using the external input / output device 104 of FIG. An input / output device 501 including a plurality of actuators and pressure sensors (for example, piezoelectric elements) is disposed on the surface of the external input / output device 104 where a finger 502 is attached. By pressing these input / output devices 501 with a finger 502 or the like, a menu item on the visual information input / output device 110 can be selected. The input / output device 501 is attached with a peg used for a braille display or the like, and can present braille information and the like. As the external input / output device 104, devices other than these actuators and pressure sensors, for example, devices using electromagnetic switches, microswitches, elastic members, etc. may be connected.
[0057]
FIG. 6 shows a flow of information when the map and geographic information storage device 105 of FIG.
[0058]
When the map information IC card 601 is set, the map geographic information is stored in the map geographic information storage device 105 through the CPU 101, and the stored map geographic information is subsequently called through the CPU 101, and the visual information input / output device 110, etc. Can be output.
[0059]
When the destination is input from the destination input device 102, the CPU 101 displays a map including the destination from the map geographic information storage device 105 on the visual information input / output device 110, and sets the destination from the map geographic information storage device 105. If there is related reference information, it is read out and output to at least one of the visual information input / output device 110, the auditory information input / output device 111, the tactile information input / output device 112, and the haptic information input / output device 113.
[0060]
After that, when the current position / orientation is input by the position / orientation measuring apparatus 103, the CPU 101 passes control to the route search apparatus 106, and the route search apparatus 106 inputs the position information of the destination stored in the memory 108 and its input. The position / orientation information is compared with the map geographic information stored in the map geographic information storage device 105, and the shortest time, the shortest distance, the minimum fee, the walking speed, etc. input by the user from the external input / output device 104 The optimal route candidate is searched based on the evaluation criteria, and the search result is reported to the CPU 101 as the optimal route candidate. The CPU 101 displays the reported optimal route candidates on the visual information input / output device 110, and displays the candidate information on at least one of the auditory information input / output device 111 and the tactile information input / output device 112, and if necessary, a force sense Also output to the information input / output device 113.
[0061]
When a candidate for the optimum route is selected by the user through the external input / output device 104, the CPU 101 highlights the selected route on the display drawing of the visual information input / output device 110 with a bold line, flash, etc. The reference information is read from the map geographic information storage device 105 and output to at least one of the visual information input / output device 110, the auditory information input / output device 111, the tactile information input / output device 112, and the haptic information input / output device 113. .
[0062]
As the user moves and the current position / orientation input from the position / orientation measuring apparatus 103 changes, the CPU 101 sequentially moves the current position on the highlighted route on the display drawing of the visual information input / output apparatus 110. The route search device 106 uses the position information of the destination, the position / orientation information of the optimum route, and the position / orientation information of the current position, and the direction in which the user should travel (ie, the guidance direction) and the distance to the destination; The CPU 101 calculates the optimal walking speed, and the CPU 101 outputs the calculation result to at least one of the visual information input / output device 110, the auditory information input / output device 111, the tactile information input / output device 112, and the haptic information input / output device 113. Output. The walking speed is estimated from the walking pitch measured by the vibration sensor and the moving speed obtained from the position information, and the walking pitch that can reach the destination in the required time is estimated based on the walking length, taking into account the transfer of trains, etc. At least one of the optimal target walking speed, the current walking speed, and the insufficient speed is output to the input / output device. At the same time, the CPU 101 reads out any reference information useful for guiding the user from the map geographic information storage device 105, and uses the read reference information as the visual information input / output device 110, the auditory information input / output device 111, and the tactile information input / output device. 112, output to at least one of the force information input / output device 113.
[0063]
FIG. 7 shows a route search method to the destination using the route search device 106 of FIG. Based on the destination information input from the destination input device 102, the position information / azimuth information input from the location / orientation measuring device 103, and the map / geographic information read from the map geographic information storage device 105, the route search device 106 The optimal route candidate is calculated and searched.
[0064]
A desired route is selected by the user from the optimum route candidates, and the tangent vector 703 and the normal vector at the current position 702 on the route locus 701 of the selected route are obtained by differentiation or difference in the route search device 106. It is done. The tangent vector 703 indicates the direction of travel at that point, and in order to mechanically correct the centripetal force for the vector opposite to the normal vector (not shown) to bend the curve, that is, the direction of travel of the object. It means the necessary force vector. Therefore, the azimuth information necessary for guiding a person is calculated from this tangent vector and normal vector in consideration of human sensory characteristics.
[0065]
[Outside 1]

[0066]
Further, the route search device 106 compares the user's body orientation 704 obtained from the electronic compass unit 403 and the like with the tangent vector 703 and the normal vector, whereby an angle 705 to be guided with respect to the user's body orientation is determined. Desired.
[0067]
Unlike a car, a person does not walk to follow the route determined by the device, and avoids obstacles and people on the road or approaches an eye-catching object while aiming for a destination. In other words, since the user also walks other than the route searched for on the electronic map for car navigation and human navigation toward the destination, it is sufficiently useful to present the rough direction 706 of the destination. It is thought that there is.
[0068]
The distance information to the destination can also be associated with the strength of the force sense of the force sense input / output device 113 of FIG. For example, a presentation method that increases the strength of the haptic sensation as the volume increases as it approaches the sound source, and conversely, when the rubber is stretched starting from the destination. There is a way of presentation that the strength increases as the distance from. Each of these two methods has their merits and demerits. In the former case, the dog matches the laws of nature so that the dogs can search for odors. For example, the maximum and minimum intensity of the haptic sensation output is set in advance so that the haptic sensation output does not exceed the maximum intensity and does not become smaller than the minimum intensity. By controlling in this way, effective presentation is also possible. There is also a method of presenting a constant haptic intensity without depending on the distance.
[0069]
FIG. 8 shows a method for presenting navigation information using the visual information input / output device 110 of FIG. 1 and a method for recording an environmental video such as a cityscape. FIG. 8A shows a configuration example of an omnidirectional environmental video recording method of the visual information input / output device 110. As shown in FIG. 8, an environmental video 801 having a viewing angle of 360 degrees is displayed on a liquid crystal display 805. For example, the image data is read by the CCD camera 803 via a conical reflecting mirror 802 attached to, for example, the back surface. The read environment video data is sent to the CPU 101 via the visual IF (interface device) 804 for use or recorded in the external storage device 109 of FIG. In addition, a navigation map 301 (see FIG. 3) and information are presented on the liquid crystal display 805.
[0070]
FIG. 8B shows an example of the configuration of the unidirectional environmental image recording method of the visual information input / output device 110. Instead of the conical reflector 802 and the CCD camera 803, a single CCD is used. The camera 806 is replaced. In this case, a one-way environmental image is read by the CCD camera 806, and the read environmental image data is sent to the CPU 101 via the visual IF 804 and used, or stored in the external storage device 109, as described above. To be recorded.
[0071]
FIG. 9 shows a method of presenting acoustic information such as a navigation voice guide and notification / warning sounds and a method of recording environmental sounds using the auditory information input / output device 111 of FIG. The auditory information input / output device 111 includes a microphone 901, an auditory IF (interface device) 902, and a speaker 903. The sound and voice guide are synthesized by the auditory IF 902 and presented to the user via the speaker 903. The environmental sound is sent to the CPU 101 via the microphone 901 and the auditory IF 902 for use or recorded in the external storage device 109. The voice recognition function of the auditory IF 902 is also used as an input device.
[0072]
FIG. 10 shows a method for presenting Braille information for navigation using the haptic information input / output device 112 of FIG. The input / output device 1001 can be the same as the input / output device 501 of the external input / output device 104 shown in FIG. An input / output device 1001 including a plurality of actuators and pressure sensors is disposed on the surface of the tactile information input / output device 112 where a finger is attached. The input / output device 1001 is attached with a peg used for a braille display or the like, and navigation information sent from the CPU 101 is converted into driving force via a tactile IF (interface device) 1002 to be input / output device 1001. Sent, and can be presented by tactile information such as Braille information including Braille characters, symbols, and figures.
[0073]
FIG. 11 shows a method of presenting navigation force information using the force information input / output device 113 of FIG. For the presentation of the haptic information, a plurality of gyromotors 1101 arranged and fixed in space are independently driven and controlled via a haptic IF (interface device) 1102, so that any direction and magnitude can be obtained. Furthermore, torque can be generated by synthesizing an angular momentum vector and time differentiation thereof. At this time, it is more efficient that the plurality of gyro motors 1101 are fixed to the x, y, z system orthogonal coordinates. Posture / position information of the haptic information input / output device 113 is measured by an internal posture / position information sensor 1103, disturbance torque generated by the movement of the haptic information input / output device 113 itself is calculated by the CPU 101, and the haptic IF 1102 is detected. The plurality of gyro motors 1101 are controlled so as to cancel the disturbance torque via the. The posture / position information sensor 1103 includes a vibration sensor (not shown) for measuring the walking pitch.
[0074]
FIG. 12 shows a device 1201 that uses three gyro motors 1101 as torque generating means of the force sense information input / output device 113. Number of rotations of three rotors fixed to the x-axis, y-axis, and z-axis ω _x , Ω _y , Ω _z Are independently controlled to synthesize the angular momentum generated by the respective rotors, thereby generating an angular momentum vector in an arbitrary direction. Then, torque is extracted outside as a reaction of torque generated by a change in angular momentum that accompanies the acceleration / deceleration of the motor.
[0075]
[Outside 2]

[0076]
Here, the ratio ω of the angular velocities in the x-, y-, and z-axis directions _x : Ω _y : Ω _z By changing, the generation direction of the angular momentum vector can be controlled in an arbitrary direction. This control method is easy to control and has the advantage of presenting a variety of three-dimensional force sensations.
[0077]
As described above, the device 1201 using the three gyro motors 1101 can indicate an arbitrary three-dimensional direction, and can thereby present information in the height direction. In the above, there is an advantage that it is possible to distinguish and guide walking on the road surface represented at the same position, walking on an overpass / pedestrian bridge, and walking underground.
[0078]
FIG. 13 shows a haptic information presentation device 1301 that uses three pairs of twin gyro motors 1101 as torque generating means of the haptic information input / output device 113. 13A is a schematic diagram showing the principle of the configuration of the haptic information presentation device 1301, and FIGS. 13B and 13C show the detailed configuration of the device 1301 actually created. FIG. (B) is a front view showing only a housing (housing) 1304 corresponding to the motor fixing frame 1302 by a cutout in a cross section, and FIG. (C) is a plan view thereof. 1303 is an electric motor portion of the gyro motor 1101, 1305 is a support member, and 1306 is an instruction frame member. The frame 1302 is formed in a cylindrical shape or a spherical shape, for example, and is held by a user's hand.
[0079]
In the example of FIG. 12, the three motors 1101 are arranged at the twisted position as shown in the figure. However, in order to improve the mass balance and the moment of inertia, the inertia mass part is centered on the center of gravity as shown in FIG. The present inventors have devised three sets of twin gyro motor type devices facing each other nearby. Also, the shape of the frames 1302 and 1304 for fixing the motor was made closer to a spherical shape having a point-symmetric structure from a cubic shape 1202 as shown in FIG. 12 so that the moment of inertia of the frame itself was reduced. By concentrating the inertial mass at the center of gravity, the extra inertial force generated by human movement is reduced. This twin gyro motor can be rotated in the same direction and in the opposite direction. By rotating it in the opposite direction, the composition of angular momentum is negated, and even if the gyro motor is rotating, it appears to rotate. In the same state as when there is no torque, a large angular momentum change occurs by applying sharp braking with only one gyro motor, such as electromagnetic brake, from the state where it is rotated at high speed in the opposite direction without generating torque. Can be presented.
[0080]
FIG. 14 shows a device 1401 that uses a gimbal structure 1402 as the torque generating means of the haptic information input / output device 113. Angular velocity ω using gimbal structure 1402 like a gyroscope ₀ Rotate the rotor 1403 to rotate around the two gimbal axes 1404 and 1405 with a rotation angle Ω. ₁ , Ω ₂ To control. In this configuration, since a single large gyro motor is used, a relatively large torque can be generated as compared with the configurations shown in FIGS. 12 and 13, but the structure becomes complicated and the mechanical strength decreases. Or the torque that can be presented is limited.
[0081]
FIGS. 15 and 16 show a usage form of the haptic navigation 100 using the communication device 107 of FIG. As a first usage form of the haptic navigation 100, as shown in FIG. 15, a haptic navigation 100 is installed in a mobile device such as a GPS receiver, an electronic compass, and a mobile phone, a PHS phone, and a PDA with built-in map geographic information. One example is an integrated mobile device 1501 in which is incorporated.
[0082]
As a second form of use of the haptic navigation 100, as shown in FIG. 16, a mobile device 1602 such as a GPS receiver, an electronic compass, and a mobile phone, a PHS phone, and a PDA with built-in map geographic information, A separate type in which at least the input / output device portion 1601 of the haptic navigation 100 housed in a separate case is connected by transmission means such as radio waves, infrared rays, ultrasonic waves, cables and connectors via the communication devices 107A and 107B. The form is mentioned.
[0083]
Here, the integrated mobile device 1501 which is the first usage form is easy to handle, but it is desirable to increase the weight of the device with built-in force information input / output, so that the sense of torque when the force information is presented decreases. Therefore, the separation type device 1601 which is the second usage form is also effective.
[0084]
FIG. 17 shows an example of a method of presenting haptic information using the haptic information input / output device 113 of FIG. 1 and a control method thereof. By changing the angular momentum vector so as to trace the circular orbit 1701 as shown in FIG. 17A, and changing it so as to trace the elliptical orbit 1702 as shown in FIG. 17B. The direction 1703 of the destination, the direction to be guided, and the desired direction can be presented. Here, the simple vibration trajectory is included in the elliptical trajectory 1702.
[0085]
(Other embodiments)
The embodiment of the present invention has been described in detail above. However, the present invention supplies a software program for realizing the functions of the above-described embodiment directly or remotely to a system or apparatus, and the computer of the system or apparatus performs This includes a case where it is also achieved by reading and executing the supplied program. As a recording medium for supplying the program, for example, hard disk, optical disk, magneto-optical disk, MO, CD-ROM, CD-R, CD-RW, magnetic tape, nonvolatile memory card (IC memory card), ROM And DVD (DVD-ROM, DVD-R).
[0086]
【The invention's effect】
As described above, according to the present invention, in addition to visual and auditory information using a display and a voice guide, a haptic type that presents a direction to proceed using a haptic sensation in an easily understandable form. A human navigation system can be realized.
[0087]
Therefore, if the human navigation system of the present invention is used, the following effects can be obtained.
(1) Use of the navigation system is effective even in places with poor visibility such as in fog or darkness.
(2) Use of the navigation system is effective even in places where there are no landmarks such as forests and wilderness.
(3) It is also effective in the event of a disaster when a building collapses due to an earthquake.
(4) Furthermore, at least one of the visual information presentation device, the auditory information presentation device, the tactile information presentation device, and the haptic information presentation device and the other device group are wirelessly connected to improve the wearing feeling and operability. Can be made.
[0088]
As described above, the human navigation system of the present invention is a guidance device that is also effective for visually impaired persons, hearing impaired persons, and sighted persons. Moreover, the human navigation system of the present invention can be used not only for guiding a person to a destination but also for guiding a robot and car navigation.
[0089]
The haptic information presentation device of the present invention used in the human navigation system has the following advantages.
(A) As a control method, since a plurality of gyro motors are independently controlled, an angular momentum vector is synthesized in an arbitrary direction and magnitude, and a torque is generated by time differentiation thereof. It is easy and can present a variety of three-dimensional sense of force.
(B) In addition, the mass balance and moment of inertia can be achieved by using three sets of twin gyromotors with the inertial mass parts facing each other near the center of gravity or by bringing the frame shape for fixing the motor closer to a spherical shape that is a point-symmetrical structure. Has improved. By concentrating the inertial mass on the center of gravity, an extra inertia force generated by the movement of the person is reduced.
(C) When the gimbal structure is used, the gimbal structure itself has an extra moment of inertia and generates a disturbance torque. In addition, the structure of the movable part of the gimbal becomes complicated. On the other hand, in the method of fixing a plurality of gyro motors according to the present invention, the structure becomes simple and a mechanically strong strength can be obtained. In addition, even when the size is reduced, the structure is simple and processing is easy.
(D) Since it is a non-grounding type, no grounding arm or wire is required as in the prior art, and it does not restrain the movement of the body. Multiple force information input / output devices can coexist without interference. There are few restrictions on the operation and behavior of the user, it is excellent in small size and portability, and it can be used in a wide range including indoors and outdoors.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a schematic configuration of a haptic human navigation system (haptic navigation) according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating a communication method between two or more haptic navigations.
3 is a plan view for explaining a method of inputting destination position information using the destination input device of FIG. 1; FIG.
4 is a block diagram illustrating a configuration example of the position / orientation measuring apparatus of FIG. 1 that measures position / orientation information. FIG.
FIG. 5 is a conceptual diagram illustrating a method for inputting and outputting data using the external input / output device of FIG. 1;
6 is a block diagram showing a flow of information when a map and geographic information is read and written and stored using the map geographic information storage device of FIG. 1; FIG.
7 is a conceptual diagram illustrating a method for searching for a route to a destination and calculating guidance information using the route search device of FIG. 1;
8 is a block diagram showing a configuration example of the visual information input / output device of FIG. 1 that presents navigation information and records an environmental video such as a cityscape.
9 is a block diagram showing a configuration example of the auditory information input / output device of FIG. 1 that presents navigation sound and voice guide information and records environmental sounds.
10 is a conceptual diagram illustrating a method for presenting tactile information such as Braille information for navigation using the tactile information input / output device of FIG. 1. FIG.
FIG. 11 is a conceptual diagram illustrating a method for presenting navigation force information using the force information input / output device of FIG. 1;
12 is a schematic diagram showing a configuration example using three gyro motors as torque generating means of the force sense information input / output device of FIG. 1. FIG.
13 shows a configuration example using three sets of gyro motors as torque generating means of the force information input / output device of FIG. 1, (A) is a schematic diagram, and (B) is a notch showing only a housing. A front view of a haptic information presentation device, (C) is also a plan view.
14 is a schematic diagram showing a configuration example using a gimbal structure as torque generating means of the force sense information input / output device of FIG. 1; FIG.
FIG. 15 is a conceptual diagram showing an example of an integrated unit as a usage form of the haptic navigation of FIG. 1;
FIG. 16 is a conceptual diagram showing an example of a separation unit using a communication device as another usage form of the haptic navigation of FIG. 1;
FIG. 17 is a conceptual diagram illustrating a method for presenting and controlling force sense information using the force sense information input / output device of FIG. 1;
[Explanation of symbols]
100 Haptic navigation (force-sensitive human navigation system)
101 CPU
102 Destination input device
103 Position / orientation measuring device
104 External input / output device
105 Map geographic information storage device
106 Route search device
107 Communication device
108 memory
109 External storage device
110 Visual information input / output device
111 Auditory information input / output device
112 Tactile information input / output device
113 Haptic information input / output device
210 Visual information input / output device
211 Auditory information input / output device
213 Haptic information input / output device
301 Map screen
302 Longitude / latitude input display field
303 Latitude / longitude search display field by address
304 Latitude / longitude search display field by zip code
305 Latitude / longitude search display field by phone number
402 GPS unit
403 Electronic compass unit
404 PHS location information service unit
405 Beacon unit
406 Proximity position sensor unit
501 I / O device
701 Route path trajectory
702 Current position
703 tangent vector
704 User body orientation
705 Angle to guide
801 Environmental video
802 Conical reflector
803 CCD camera
804 Visual IF
805 LCD display
806 CCD camera
901 Microphone
902 Auditory IF
903 Speaker
1001 Input / output devices
1002 Tactile IF
1101 Gyro motor
1102 Force IF
1103 Posture / position information sensor
1201 Force information presentation device using three gyro motors
1301 Force information presentation device using three twin gyro motors
1401 Force information presentation device using gimbal structure
1402 Gimbal structure
1403 Angular velocity ω ₀ Rotating rotor
1404 Rotation angle Ω ₁ Gimbal axis
1405 Rotation angle Ω ₂ Gimbal axis
1501 Device in which haptic navigation is built in mobile device
1601 Device in which haptic navigation is separated from mobile device
1701 Circular orbit of angular momentum vector
1702 Elliptical orbit of angular momentum vector
1703 Destination direction

Claims (23)

Destination input means for the user to input location information of the destination;
A position / orientation measuring means for measuring the current position;
Map geographic information storage means for preliminarily storing map geographic information including a timetable of trains , subways, or buses and transfer information, and a three-dimensional map including station premises and station buildings;
The position information of the destination obtained from the destination input means and the position information of the current position obtained from the position / orientation measuring means are compared with the map geographic information stored in the map geographic information storage means. Route search means for searching for an optimum route based on evaluation criteria including the shortest time, the shortest distance, the minimum fee, or the walking speed;
A calculation means for calculating a direction in which the user should proceed from the position / orientation information of the optimum route and the position / orientation information of the current position;
Haptic information output means for guiding the user to the destination by presenting to the user a force in the direction according to the information of the direction calculated by the calculation means ,
The haptic information output means independently controls a plurality of gyro motors, a plurality of twin gyro motors opposed to each other near the center of gravity, or a gimbal motor having a gimbal structure. Synthesize angular momentum vector, generate torque by its time derivative, and
The haptic information output means changes the angular momentum vector so as to trace along a circular or elliptical trajectory or a simple vibration trajectory. A human navigation system that presents the desired direction .   The calculation means compares the orientation to be derived calculated from the tangent vector and normal vector of the route route searched for with the orientation of the user's body obtained from the electronic compass, thereby The human navigation system according to claim 1, wherein an angle to be guided with respect to a body direction is obtained, and the obtained angle is output as a traveling direction in which the user should proceed.   The calculating means calculates distance information to the destination from the destination, the position / orientation information of the optimum route, and the position / orientation information of the current position, and the force information output means is the calculating means. 3. The human navigation system according to claim 1, wherein the distance information to the destination calculated in step 1 is presented in association with the strength of a force sense. 4.   The posture / position information of the haptic information output means is measured by a posture / position information sensor installed therein, and is generated by the movement of the haptic information output means itself based on the measured posture / position information. 2. A plurality of gyro motors of the haptic information output means are controlled so that a disturbance torque is calculated by the computing means and the disturbance torque is canceled via the haptic information output means. 4. The human navigation system according to any one of 3 to 3.   5. The human navigation system according to claim 1, wherein the haptic information output unit is capable of presenting a direction of the destination as well as a direction in which the user should proceed. The haptic information output means can indicate an arbitrary direction in three dimensions, and can thereby present information in the height direction. Therefore, walking on the road surface represented by the same position on the map and a crossover · to walk footbridge, human navigation system according to claim 5, characterized in that can be induced by distinguishing between Arukuko underground.   It further comprises tactile information output means for guiding the user to the destination by presenting to the user a tactile sensation that changes according to the information on the direction of travel that the user should currently travel calculated by the computing means. The human navigation system according to claim 1. Wherein the haptic information output means, human navigation system described by tactile information output device having a plurality of actuators, to claim 7, characterized in that presenting tactile information including a point-shaped information for navigation.   The auditory information output means for guiding the user to the destination by converting the information on the traveling direction that the user should travel to the voice message, and transmitting the voice message calculated by the calculating means to the destination. The human navigation system according to any one of Items 8 to 8.   The auditory information output means sequentially extracts reference information useful for user guidance from the map geographic information stored in the map geographic information storage means based on the current position and the optimum route, and extracts the reference The human navigation system according to claim 9, wherein the information is converted into voice and transmitted. The computing means estimates the stride from the walking pitch measured by the vibration sensor and the moving speed obtained from the position information, estimates the walking pitch that can reach the destination in the required time with the stride, train , subway, or The human navigation according to claim 10, wherein at least one of an optimum target walking speed considering a bus change, a current walking speed, and an insufficient speed is presented auditorially through the auditory information output unit. Method. The map geographic information read from the map geographic information storage means is displayed, the optimum route searched by the route search means, the destination inputted from the destination input means, and the position / orientation measuring means The human navigation according to any one of claims 1 to 11, further comprising visual information output means for guiding the user to the destination by marking and displaying the input current position on the map. system. The computing means estimates the stride from the walking pitch measured by the vibration sensor and the moving speed obtained from the position information, estimates the walking pitch that can reach the destination in the required time with the stride, train , subway, or The human navigation according to claim 12, wherein at least one of an optimum target walking speed considering the transfer of buses , a current walking speed, and an insufficient speed is visually presented via the visual information output unit. Method. In synchronization with the haptic information presented by the haptic information output means, the haptic information, the position / orientation information of the current position, and the position / orientation information of the optimum route are recorded, and the recorded information can be referred to at any time. 14. The human navigation system according to claim 1, further comprising a possible external storage means. 15. The human according to claim 14, wherein the external storage unit records an environmental image including a cityscape received by the imaging unit and an environmental sound including a conversation collected by the sound input unit together with time information. Navigation system. Communication means for exchanging information and data between two or more of the human navigation systems;
Monitoring means for monitoring video and voice / conversation / ambient sound sent from the communication partner's human navigation system via the communication means;
Information input means for inputting operation information for guiding a remote user to the destination;
Control means for outputting control information to the output means of the human navigation system of the communication partner via the communication means in accordance with the operation information input from the information input means. Item 16. A human navigation system according to any one of Items 1 to 15. The destination input means includes operation means including a mouse, an input pen, or a touch panel with a display, and at least one of longitude / latitude, address, postal code, and telephone number is input via the operation means. Human navigation system according to any one of claims 1 to 16, characterized in that selecting the destination, and generates the positional information of the destination. The position and orientation measurement means, GPS signals, geomagnetic direction data, PHS location information data, the beacon data, any one of claims 1, characterized in that use at least one of the position data of the proximity position 17 The human navigation system described in 1. The human navigation system, GPS receiver, an electronic compass, and a mobile phone map geographic information is built, PHS phones, or any one of claims 1 to 18, characterized in that it is incorporated in a mobile device comprising a PDA The human navigation system described in 1. The force information output unit of the human navigation system is a GPS receiver, an electronic compass, and a mobile device including a mobile phone including a mobile phone, a PHS phone, or a PDA with a built-in map geographic information, and can be gripped. Te, human navigation system according to any one of claims 1 to 18, characterized in that that can exchange information via the mobile device and information transmission means. A haptic information presentation device that presents to a user a force that changes according to a direction and a distance to be guided in order to guide the user to a destination,
A plurality of sets of twin gyro motor which is facing them near the center of gravity of the twin-gyro motor of the pair arranged and fixed on a three-axis by using a plurality of sets,
According to the input information of the direction and distance to be guided, the plurality of sets of gyro motors are independently controlled to synthesize an angular momentum vector in an arbitrary direction and magnitude, and the guidance is performed by its time differentiation. Control means for generating torque corresponding to the power direction and distance,
The pair of twin gyro motors can be rotated in the same direction and in the opposite direction. By rotating in the opposite direction, the composition of angular momentum is canceled, and even if the gyro motor is rotating, it appears to rotate. It is in the same state as not being done, and a large angular momentum change occurs by applying sharp braking only to one gyro motor from a state where it is rotated at high speed in the opposite direction without generating torque, and presents a large torque A haptic information presentation device characterized by that. A haptic information presentation device that presents to a user a force that changes according to a direction and a distance to be guided in order to guide the user to a destination,
A plurality of gyro motors arranged and fixed on three axes and facing each other near the center of gravity;
According to the input information of the direction and distance to be guided, the plurality of gyro motors are independently controlled to synthesize an angular momentum vector in an arbitrary direction and size, and the guidance is performed by its time differentiation. Control means for generating torque corresponding to the power direction and distance,
The control means changes the angular momentum vectors of the plurality of gyro motors so as to trace along a circular or elliptical or simple vibration orbit, thereby guiding or guiding the destination. A haptic information presentation device characterized by causing a force direction to present a direction or a direction to be known. The posture / position information of the haptic information presentation device is measured by a posture / position information sensor installed therein, and is generated by the movement of the haptic information presentation device itself based on the measured posture / position information. disturbance torque is calculated by the control means, the force according to claim 21 or 22該擾turbulent torque through the haptic information presentation device is characterized in that the front article Yairomota is controlled so as to cancel Information presentation device.

Images