JP7435257B2 - Notification devices, notification methods, and programs - Google Patents

Description

The present invention relates to a notification device, a notification method, and a program.

Devices have been proposed that detect obstacles and notify the user. Patent Document 1 discloses a device that detects an obstacle and notifies the user by vibration. Patent Document 2 discloses a device that detects obstacles and provides route guidance using tactile sensation on the soles of the feet.

Japanese Patent Application Publication No. 2010-158472 JP 2017-188052 Publication

Various applications are possible for detecting and notifying obstacles to visually impaired people. , there is a possibility that it will not feel real. Generally, when a person walks, they use their feet to determine a rough sense of distance and direction, and touch objects with their hands to determine a detailed sense of distance and direction.

An object of the present invention is to provide a notification device, a notification method, and a program that can appropriately notify the presence of an object.

A notification device according to one aspect of the present invention includes an object detection unit that detects an object around a person, a distance calculation unit that calculates a distance from the person to the object, and a distance calculation unit that calculates a distance between the person and the object. When the distance becomes the first distance from a state where the distance is greater than one distance, the person is notified using a first notification device that can detect the notification with the foot of the person, and the distance between the person and the object is and a notification control unit configured to notify the person using a second notification device that can detect a notification with a hand or arm of the person when the second distance is shorter than the first distance.

A notification method according to an aspect of the present invention includes the steps of: detecting an object around a person; calculating a distance from the person to the object; and a distance between the person and the object is greater than a first distance. When the distance state reaches the first distance, a first notification device capable of detecting a notification with the foot of the person is used to notify the person, and the distance between the person and the object becomes the first distance. If the second distance is shorter, the method includes the step of notifying the person using a second notification device that can detect the notification with the person's hand or arm.

A program according to one aspect of the present invention includes the steps of: detecting an object around a person; calculating a distance from the person to the object; and a distance where the distance between the person and the object is greater than a first distance. If the distance from the object reaches the first distance, the person is notified using a first notification device that can detect the notification with the person's foot, and the distance between the person and the object is less than the first distance. If the second distance is short, the computer is caused to perform the step of notifying the person using a second notification device capable of detecting the notification with the hand or arm of the person.

According to the present invention, the presence of an object can be appropriately notified.

FIG. 1 is a diagram for explaining a configuration example of a notification system according to the first embodiment. FIG. 2 is a diagram illustrating a configuration example of a notification device according to the first embodiment. FIG. 3 is a block diagram showing a configuration example of the sensing device according to the first embodiment. FIG. 4 is a block diagram showing a configuration example of the first notification device according to the first embodiment. FIG. 5 is a block diagram illustrating a configuration example of a second notification device according to an embodiment. FIG. 6 is a flowchart illustrating an example of notification control processing according to the first embodiment. FIG. 7 is a block diagram showing a configuration example of a notification device according to the second embodiment. FIG. 8 is a block diagram showing a configuration example of the first notification device according to the second embodiment. FIG. 9 is a flowchart illustrating an example of notification control processing according to the second embodiment. FIG. 10 is a block diagram showing a configuration example of a first notification device according to a modification of the second embodiment. FIG. 11 is a block diagram showing a configuration example of a notification device according to the third embodiment. FIG. 12 is a block diagram showing a configuration example of a first notification device according to the third embodiment. FIG. 13 is a flowchart illustrating an example of notification control processing according to the third embodiment. FIG. 14 is a block diagram showing a configuration example of a second notification device according to a modification of the third embodiment.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the present invention is not limited to this embodiment, and if there are multiple embodiments, the present invention may be configured by combining each embodiment. Further, in the following embodiments, the same parts are given the same reference numerals and redundant explanations will be omitted.

[First embodiment]
[Notification system]
A notification system according to the first embodiment will be described using FIG. 1. FIG. 1 is a diagram for explaining a configuration example of a notification system according to the first embodiment.

As shown in FIG. 1, the notification system 1 includes a notification device 100, a sensing device 200, a first notification device 300, and a second notification device 400. The notification device 100, the sensing device 200, the first notification device 300, and the second notification device 400 are each connected wirelessly, for example. The notification device 100 and the sensing device 200 may be connected by wire.

The notification device 100 is a control device that controls the sensing device 200, the first notification device 300, and the second notification device 400. The notification device 100 uses the first notification device 300 or the second notification device 400 to notify the user of the presence of the object based on the detection result of the object by the sensing device 200. Notification device 100 can be realized by, for example, a smartphone.

Sensing device 200 is a device worn by a user. The sensing device 200 is implemented, for example, as a wearable device in the form of glasses. For example, the sensing device 200 photographs objects around the user. The sensing device 200 particularly photographs objects around the user in the direction in which the user is traveling. For example, the sensing device 200 photographs an object using an imaging unit including two or more cameras. Sensing device 200 may be realized by other wearable devices. The sensing device 200 may include the functionality of the notification device 100. That is, the notification device 100 and the sensing device 200 may be configured integrally.

The first notification device 300 is a device that notifies the user of the presence of an object. The first notification device 300 is a device that provides a notification that can be detected by the user's foot. The first notification device 300 is, for example, a device configured as a user's shoe or shoe sole. The first notification device 300 may be, for example, a device wearable on the user's shoe or sole.

The second notification device 400 is a device that notifies the user of the presence of an object. The second notification device 400 is a device worn or held on the user's hand or arm. The second notification device 400 is, for example, a device that can detect notifications with the user's hand or arm. The second notification device 400 can be implemented, for example, as a wrist-worn device such as a smart watch. The second notification device 400 may be, for example, a finger-worn device. Alternatively, the second notification device 400 may be a white cane or the like.

[Notification device]
The configuration of the notification device according to the first embodiment will be described using FIG. 2. FIG. 2 is a diagram illustrating a configuration example of a notification device according to the first embodiment.

As shown in FIG. 2, the notification device 100 includes a control section 110 and a communication section 120.

The control unit 110 executes a program (for example, a program according to the present invention) stored in a storage unit (not shown) by, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit) using a RAM or the like as a work area. This is achieved by Further, the control unit 110 is a controller, and may be realized by, for example, an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). Control unit 110 may be realized by a combination of software and hardware.

The control unit 110 includes an object detection unit 111, a distance calculation unit 112, a notification control unit 113, and a communication control unit 114.

The object detection unit 111 detects, for example, an object within a predetermined distance from the user (from the sensing device 200). The predetermined distance is, for example, 5 m to 10 m, but is not limited thereto. The object detection unit 111 detects an object based on photographic data. The object detection unit 111 detects objects around the user, for example, in the direction of movement, based on, for example, photographic data photographed by the sensing device 200. The object detection unit 111 detects an object from the photographic data using, for example, dictionary data (not shown). The object detected by the object detection unit is an object that obstructs or affects the user's walking. Specifically, examples of objects include, but are not limited to, the surroundings of the user, such as walls, steps, fallen objects, installed objects, vehicles, and other people in the direction of movement.

The distance calculation unit 112 calculates the distance between the user and the object detected by the object detection unit 111. For example, the distance calculation unit 112 calculates an image based on the image data captured by the sensing device 200 based on the ratio of the area occupied by the object to the total area, the ground position of the object in the image data, or the parallax between images captured by a plurality of cameras. , calculate the distance between the user and the object.

The notification control unit 113 notifies the user. For example, the notification control unit 113 controls the first notification device 300 to notify the user. For example, the notification control unit 113 controls the second notification device 400 to notify the user.

The communication control unit 114 controls the communication unit 120 to control communication between the notification device 100 and an external device. The communication control unit 114 controls communication between the notification device 100 and the sensing device 200, for example. The communication control unit 114 controls communication between the notification device 100 and the first notification device 300, for example. The communication control unit 114 controls communication between the notification device 100 and the second notification device 400, for example.

The communication unit 120 wirelessly communicates with external devices such as the sensing device 200, the first notification device 300, and the second notification device 400. The communication unit 120 is realized by, for example, a communication unit such as Bluetooth (registered trademark).

[Sensing device]
The sensing device according to the first embodiment will be described using FIG. 3. FIG. 3 is a block diagram showing a configuration example of the sensing device according to the first embodiment.

As shown in FIG. 3, the sensing device 200 includes a control section 210, an imaging section (camera) 220, and a communication section 230.

The control unit 210 is realized by, for example, a CPU, an MPU, or the like executing a program stored in a storage unit (not shown) using a RAM or the like as a work area. Further, the control unit 210 is a controller, and may be realized by, for example, an integrated circuit such as an ASIC or an FPGA. The control unit 210 may be realized by a combination of software and hardware.

The control unit 210 includes a shooting control unit 211 and a communication control unit 212.

The photographing control section 211 controls the imaging section 220 to photograph. For example, the photography control unit 211 controls the imaging unit 220 to photograph objects around the user, such as objects in the direction of travel.

The communication control unit 212 controls the communication unit 230 to control communication between the sensing device 200 and an external device. The communication control unit 212 controls communication between the sensing device 200 and the notification device 100, for example. The communication control unit 212 controls, for example, communication for transmitting photographic data photographed by the imaging unit 220 to the notification device 100.

The imaging section 220 photographs according to the control of the photographing control section 211 . For example, the imaging unit 220 is provided in the sensing device 200 so as to photograph the surroundings of the walking user, for example, the environment in the direction of movement. Specifically, the imaging unit 220 is provided in the sensing device 200 to photograph objects such as obstacles that exist around the walking user, for example, in the direction of movement, under the control of the imaging control unit 211. The imaging unit 220 is realized, for example, by a stereo camera composed of two or more cameras.

The communication unit 230 wirelessly communicates with an external device such as the notification device 100. The communication unit 230 is realized by, for example, a communication unit such as Bluetooth.

Note that although the sensing device 200 shown in FIG. 3 photographs an object with the imaging unit 220, the present invention is not limited to this. The imaging unit 220 may be, for example, a sensor having a function of detecting an object. Examples of the sensor include a laser radar (for example, LIDAR: Laser Imaging Detection and Ranging), an infrared sensor including an infrared irradiation section and a light receiving sensor, a ToF (Time of Flight) sensor, and the like. In this case, the control section 210 may include a sensor control section instead of the photographing control section 211, and each sensor may detect an object under the control of the sensor control section. Alternatively, the sensing device 200 may be configured by combining the imaging unit 220 and each sensor.

[Notification device]
The notification device according to the first embodiment will be explained using FIG. 4 and FIG. 5. FIG. 4 is a block diagram showing a configuration example of the first notification device according to the first embodiment. FIG. 5 is a block diagram showing a configuration example of the second notification device according to the first embodiment.

As shown in FIG. 4, the first notification device 300 includes a control section 310, a notification section (vibration section) 320, and a communication section 330.

The control unit 310 is realized by, for example, a CPU, an MPU, or the like executing a program stored in a storage unit (not shown) using a RAM or the like as a work area. Further, the control unit 310 is a controller, and may be realized by, for example, an integrated circuit such as an ASIC or an FPGA. The control unit 310 may be realized by a combination of software and hardware.

The control unit 310 includes a notification control unit 311 and a communication control unit 312.

The notification control unit 311 controls the notification unit 320 to notify the user. For example, the notification control unit 311 acquires a notification instruction from the notification device 100 when it is determined that an object is detected by the notification device 100 and the distance between the user and the object has reached a predetermined first distance. The unit 320 is vibrated to notify the user that an object is present. The first distance is, for example, from 2 m to 5 m, but is not limited thereto.

The communication control unit 312 controls the communication unit 330 to control communication between the first notification device 300 and an external device. The communication control unit 312 controls communication between the first notification device 300 and the notification apparatus 100, for example.

The notification unit 320 provides notification under the control of the notification control unit 311. Specifically, the notification unit 320 vibrates under the control of the notification control unit 311.

The communication unit 330 wirelessly communicates with an external device such as the notification device 100. The communication unit 330 is realized by, for example, a communication unit such as Bluetooth.

As shown in FIG. 5, the second notification device 400 includes a control section 410, a notification section (vibration section) 420, and a communication section 430.

The control unit 410 is realized by, for example, a CPU, an MPU, or the like executing a program stored in a storage unit (not shown) using a RAM or the like as a work area. Further, the control unit 410 is a controller, and may be realized by, for example, an integrated circuit such as an ASIC or an FPGA. Control unit 410 may be realized by a combination of software and hardware.

The control unit 410 includes a notification control unit 411 and a communication control unit 412.

The notification control unit 411 controls the notification unit 420 to notify the user. For example, the notification control unit 411 may issue a notification instruction from the notification device 100 when it is determined that an object is detected by the notification device 100 and the distance between the user and the object approaches a second distance that is shorter than a predetermined first distance. By acquiring the object, the notification unit 420 is vibrated to notify the user that the object is approaching. The second distance is, for example, 1 m to 2 m, but is not limited thereto. For example, if the second notification device 400 is a device worn on the user's arm or hand, the second distance is a distance that does not touch the object even if the hand is extended in the direction of the object after notification by the first notification device 300. The distance is preferably about 1 m, for example. For example, if the second notification device 400 is a device that can be held in the hand, such as a white cane, the second distance is determined by the second distance. It is preferable that the distance is such that it does not touch, for example, about 2 m.

The communication control unit 412 controls the communication unit 430 to control communication between the second notification device 400 and an external device. The communication control unit 412 controls communication between the second notification device 400 and the notification apparatus 100, for example.

The notification unit 420 provides notification under the control of the notification control unit 411. The notification unit 420 vibrates under the control of the notification control unit 411.

The communication unit 430 wirelessly communicates with an external device such as the notification device 100. The communication unit 430 is realized by, for example, a communication unit such as Bluetooth.

[Notification control processing]
An example of the notification control process according to the first embodiment will be described using FIG. 6. FIG. 6 is a flowchart illustrating an example of notification control processing according to the first embodiment.

The control unit 110 determines whether an object has been detected (step S10). Specifically, the object detection unit 111 determines whether an object is detected within a predetermined distance of the user based on the photographic data taken by the sensing device 200. If it is determined that an object has been detected (step S10; Yes), the process advances to step S11. If it is determined that no object has been detected (step S10; No), the process advances to step S15.

If the determination in step S10 is Yes, the control unit 110 determines whether the distance from the user to the object has approached the first distance (step S11). Specifically, the distance calculation unit 112 determines whether the distance from the user to the object has approached the first distance based on the photographic data taken by the sensing device 200 and the like. If it is determined that the distance from the user to the object has approached the first distance (step S11; Yes), the process advances to step S12. If it is determined that the distance from the user to the object has not approached the first distance (step S11; No), the process advances to step S15.

If the determination in step S11 is Yes, the control unit 110 issues a notification instruction to the first notification device 300 (step S12). Specifically, when the distance becomes the first distance from a state where the distance is greater than the first distance, the notification control unit 113 issues a notification instruction to the first notification device 300 that can detect the notification with the user's foot, The notification is performed using the first notification device 300. Then, the process advances to step S13.

The control unit 110 determines whether the distance from the user to the object has approached the second distance (step S13). Specifically, after the notification by the first notification device 300, the distance calculation unit 112 approaches the object to a second distance, where the distance from the user to the object is shorter than the first distance, based on the photographic data taken by the sensing device 200. Determine whether or not. If it is determined that the distance from the user to the object has approached the second distance (step S13; Yes), the process advances to step S14. If it is determined that the distance from the user to the object has not approached the second distance (step S13; No), the process advances to step S15.

If the determination in step S13 is Yes, the control unit 110 issues a notification instruction to the second notification device 400 (step S14). Specifically, when the second distance is shorter than the first distance, the notification control unit 113 instructs the second notification device 400, which can detect notifications with the user's hand or arm, to notify the second distance. The notification is performed using the second notification device 400. Then, the process advances to step S15.

After step S14 and when the determination is No in step S10, No in step S11, and No in step S13, the control unit 110 determines whether to end the notification control process (step S15). Specifically, the control unit 110 determines to end the notification control process when it receives an operation to end the process or when it receives an operation to turn off the power. If it is determined that the notification control process is not to be ended (step S15; No), the process advances to step S10. If it is determined that the notification control process is to be terminated (step S15; Yes), the process of FIG. 6 is terminated.

As described above, in the first embodiment, when the distance between the user and the object approaches the first distance, a device that can detect the user's foot notifies the user, and when the distance between the user and the object approaches the first distance, the second distance is shorter than the first distance. If the device approaches the user, a device that can detect the user's hand or arm will notify the user. Thereby, the first embodiment can appropriately notify the presence of an object.

Specifically, in the first embodiment, when the user approaches the first distance, the first notification device 300 attached to the user's foot notifies the user, so the user intuitively stops and It is possible to take actions such as paying attention to the direction of objects and changing the direction of travel. Furthermore, if a notification is given using the second notification device 400 that can be detected on the user's hand or arm, the user will often extend their hand, white cane, or the like in the direction of the object to check the object. Therefore, in the first embodiment, the second notification device 400 notifies the user when the object approaches the second distance, which is shorter than the first distance. You can check the object and take avoidance actions before touching it.

[Second embodiment]
The configurations of a notification device and a first notification device according to the second embodiment will be described using FIG. 7 and FIG. 8. FIG. 7 is a block diagram showing a configuration example of a notification device according to the second embodiment. FIG. 8 is a block diagram showing a configuration example of the first notification device according to the second embodiment.

In the second embodiment, the notification device 100A determines whether to notify the user based on the movement of the user's feet detected by the first notification device 300A.

As shown in FIG. 7, the notification device 100A is different from the notification device 100 shown in FIG. 2 in that the control section 110A includes a first motion detection section 115.

The first motion detection unit 115 detects the user's motion. The first movement detection unit 115 detects, for example, the movement of the user's feet. The first movement detection unit 115 detects the movement of the user's foot, for example, based on the acceleration generated in the user's foot. The first motion detection unit 115 detects, for example, that the user's foot is swung in the direction of movement, in other words, in the direction of the object.

The notification control unit 113A notifies the user based on the detection result by the first motion detection unit 115. For example, when the user's foot is swung in the user's movement direction, the notification control unit 113A specifically detects the acceleration of the user's foot being swung in the user's movement direction. When the distance from the user to the object reaches the first distance during the period, the first notification device 300A is used to notify the user. The notification control unit 113A notifies the foot that is put out in the direction of movement.

As shown in FIG. 8, the first notification device 300A is different from the first notification device 300 shown in FIG. 4 in that the control unit 310A includes a sensor information acquisition unit 313 and a sensor 340. . The first notification device 300A may be attached to one foot of the user, or may be configured to be attached to each of the left and right feet of the user.

The sensor information acquisition unit 313 acquires the detection result by the sensor 340. The sensor information acquisition unit 313 acquires, for example, the detection result of the acceleration generated in the user's foot by the sensor 340. The sensor information acquisition unit 313 transmits the detection result by the sensor 340 to the notification device 100A.

The sensor 340 is realized by, for example, a gyro sensor, an acceleration sensor, or the like. The sensor 340 detects, for example, acceleration generated in the user's foot. Sensor 340 may also be implemented with other sensors.

[Notification control processing]
The notification control process according to the second embodiment will be described using FIG. 9. FIG. 9 is a flowchart illustrating an example of notification control processing according to the second embodiment.

Step S20 and the processing from step S22 to step S26 are the same as the processing from step S10 to step S15 shown in FIG. 6, respectively, so a description thereof will be omitted.

If the determination in step S20 is Yes, the control unit 110A determines whether the user's foot has swung in the direction of movement (step S21). Specifically, the first movement detection unit 115 determines whether the user's foot has swung in the direction of movement based on the detection result by the sensor 340. If it is determined that the foot is swung in the moving direction (step S21; Yes), the process advances to step S22. If it is determined that the foot is not swinging in the direction of movement (step S21; No), the process advances to step S26.

When the first notification device 300A is attached to each of the user's left and right feet, the first notification device 300A attached to the leg on the side that is swung in the direction of movement of the user as the user walks issues a notification. You can also use it as Furthermore, the first notification device 300A, which is attached to the foot on the side that is not swung in the direction of movement of the user due to the user's walking, may not issue a notification.

As described above, in the second embodiment, when an object is detected, a notification is sent to the foot extended in the direction of travel. This allows the user to more safely take evasive action.

[Modification of second embodiment]
[First notification device]
The configuration of the first notification device according to a modification of the second embodiment will be described using FIG. 10. FIG. 10 is a block diagram showing a configuration example of a first notification device according to a modification of the second embodiment.

As shown in FIG. 10, the first notification device 300B differs from the first notification device 300A shown in FIG. 8 in that the control section 310B includes a first motion detection section 314.

The first motion detection unit 314 detects the user's motion. The first movement detection unit 314 detects, for example, the movement of the user's feet. The first movement detection unit 314 detects the movement of the user's foot, for example, based on the acceleration generated in the user's foot. The first movement detection unit 314 detects, for example, that the user's foot is swung in the direction of movement, in other words, in the direction of the object.

That is, the first notification device 300B has a function of detecting the movement of the user's feet. Therefore, by combining the first notification device 300B and the notification device 100 shown in FIG. 2, the process shown in FIG. 9 can be executed.

[Third embodiment]
The configurations of a notification device and a second notification device according to the third embodiment will be described using FIG. 11 and FIG. 12. FIG. 11 is a block diagram showing a configuration example of a notification device according to the third embodiment. FIG. 12 is a block diagram showing a configuration example of a first notification device according to the third embodiment.

In the third embodiment, the notification device 100B notifies the user based on the movement of the user's feet detected by the first notification device 300A and the tilt of the user's hand, white cane, etc. detected by the second notification device 400A. Determine whether or not to perform.

As shown in FIG. 11, the notification device 100B is different from the notification device 100A shown in FIG. 10 in that the control unit 110B includes a second motion detection unit 116.

The second motion detection unit 116 detects the motion of the user's hand, arm, and a member used by the hand or arm. The second motion detection unit 116 detects that the user's hand, arm, and a member used with the hand or arm (for example, a white cane) are extended in the movement direction. The second motion detection unit 116 detects, for example, the angle of the user's hand, arm, and a member used with the hand or arm relative to the ground. The second motion detection unit 116 detects, for example, the angle of the user's hand or the white cane held in the hand with respect to the ground.

The notification control unit 113B notifies the user based on the detection result by the second motion detection unit 116. For example, the notification control unit 113B performs notification using the second notification device 400A when the distance to the object approaches the second distance with the hand extended in the moving direction.

As shown in FIG. 12, the second notification device 400A differs from the second notification device 400 shown in FIG. 5 in that the control unit 410A includes a sensor information acquisition unit 413 and a sensor 440. .

The sensor information acquisition unit 413 acquires the detection result by the sensor 440. The sensor information acquisition unit 413 acquires, for example, information from the sensor 440 regarding the inclination of the user's hand or white cane. The sensor information acquisition unit 413 transmits the detection result by the sensor 440 to the notification device 100A.

The sensor 440 is realized by, for example, a gyro sensor, an acceleration sensor, or the like. The sensor 440 detects, for example, the inclination of the user's hand or white cane with respect to the ground. Sensor 440 may also be implemented with other sensors.

[Notification control processing]
The notification control process according to the third embodiment will be described using FIG. 13. FIG. 13 is a flowchart illustrating an example of notification control processing according to the third embodiment.

The processing from step S30 to step S33, step S36, and step S39 is the same as the processing from step S20 to step S23, step S25, and step S26 shown in FIG. 9, respectively, so the description thereof will be omitted.

After step S33, the control unit 110B determines whether the user's hand is extended in the moving direction (step S34). Specifically, the second motion detection unit 116 determines whether the user's hand is extended in the movement direction based on the detection result by the sensor 440. If it is determined that the user's hand has been extended in the moving direction (step S34; Yes), the process advances to step S35. If it is determined that the user's hand is not stretched in the moving direction (step S34; No), the process advances to step S37. Instead of detecting that the user's hand is extended in the moving direction, the process in step S34 is performed by detecting an action in which the user's hand searches for the moving direction, that is, when the user's hand is extended in the moving direction and It may also be possible to determine the presence or absence of an action such as searching in the left and right directions.

If the determination in step S34 is Yes, the control unit 110B determines whether the user has approached to a second distance with his hand extended (step S35). Specifically, the distance calculation unit 112 calculates the distance from the user to the object with the user's hand extended in the moving direction (for example, about ±10 degrees from the horizontal) based on the photographic data taken by the sensing device 200. It is determined whether the distance has approached a second distance. Further, the distance calculation unit 112 determines whether the distance from the user to the object has approached a second distance with the user holding out the white cane in the direction of movement (for example, at about -45 degrees with respect to the horizontal). . If it is determined that the user has approached the second distance with his hand extended (step S35; Yes), the process advances to step S36. If it is determined that the user has not approached the second distance with his hand extended (step S35; No), the process advances to step S39.

If the determination in step S34 is No, the control unit 110B determines whether the distance from the user to the object has approached the second distance (step S37). The details of the process are the same as the process in step S13 shown in FIG. 6, so the explanation will be omitted. If it is determined that the distance from the user to the object has approached the second distance (step S37; Yes), the process advances to step S38. If it is determined that the distance from the user to the object has not approached the second distance (step S37; No), the process advances to step S39.

If the determination in step S37 is Yes, the control unit 110B issues a strong warning (step S38). Specifically, the notification control unit 113B uses the first notification device 300A or the second notification device 400A to perform a notification that is stronger than the notification in step S33 or step S36. Then, the process advances to step S39.

As described above, in the third embodiment, after the first notification device 300A has notified, the first notification device 300A has notified when the user approaches the second distance with an outstretched hand. Thereby, the user can recognize the distance to the object in more detail using a hand or a white cane, and therefore can take actions to respond to the object more safely.

[Modification of third embodiment]
[Second notification device]
The configuration of a second notification device according to a modification of the third embodiment will be described using FIG. 14. FIG. 14 is a block diagram showing a configuration example of a second notification device according to a modification of the third embodiment.

As shown in FIG. 14, the second notification device 400B differs from the second notification device 400A shown in FIG. 12 in that a control section 410B includes a second motion detection section 414.

The second motion detection unit 414 detects the motion of the user's hand, arm, and a member used by the hand or arm. The second motion detection unit 414 detects that the user's hand, arm, and member used by the hand or arm is extended in the movement direction. The second motion detection unit 414 detects, for example, the angle of the user's hand, arm, and a member used with the hand or arm relative to the ground. The second motion detection unit 414 detects, for example, the angle of the user's hand or the white cane held in the hand with respect to the ground.

That is, the second notification device 400B has a function of detecting the movement of the user's hand, arm, and a member used with the hand or arm. Therefore, by combining the second notification device 400B and the notification device 100A shown in FIG. 7, the process shown in FIG. 13 can be executed.

Although the embodiments of the present invention have been described above, the present invention is not limited to the contents of these embodiments. Furthermore, the above-mentioned components include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those that are in a so-called equivalent range. Furthermore, the components described above can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the constituent elements can be made without departing from the gist of the embodiments described above.

1 Notification system 100, 100A, 100B Notification device 110, 110A, 110B, 210, 310, 310A, 310B, 410, 410A, 410B Control unit 111 Object detection unit 112 Distance calculation unit 113, 113A, 113B, 311, 411 Notification control Sections 114, 212, 312, 412 Communication control section 115, 314 First motion detection section 116, 414 Second motion detection section 120, 230, 430 Communication section 200 Sensing device 211 Shooting control section 220 Imaging section (camera)
300, 300A, 300B First notification device 313, 413 Sensor information acquisition unit 320, 420 Notification unit (vibration unit)
340,440 Sensor 400,400A,400B Second notification device

Claims (4)

an object detection unit that detects objects around the person;
a distance calculation unit that calculates a distance from the person to the object;
When the distance between the person and the object becomes the first distance from a state where the distance is greater than a first distance, a first notification device capable of detecting a notification with the foot of the person is used to notify the person. , when the distance between the person and the object becomes a second distance shorter than the first distance, the second notification device or the first notification device that can detect the notification with the hand or arm of the person is used to a notification control unit that notifies a person;
a second movement detection unit that detects a movement of the person's hand;
Equipped with
The notification control unit provides a first notification to the person using the second notification device when the hand is extended in the direction of movement of the person; when not being stretched in the direction, using the first notification device to issue a second notification that is stronger than the first notification;
Notification device. further comprising a first movement detection unit that detects movement of the person's legs,
The notification control unit notifies the person using the first notification device when the person's foot swings in the direction of movement of the person.
The notification device according to claim 1. detecting objects around the person;
calculating a distance from the person to the object;
When the distance between the person and the object becomes the first distance from a state where the distance is greater than a first distance, a first notification device capable of detecting a notification with the foot of the person is used to notify the person. , when the distance between the person and the object becomes a second distance shorter than the first distance, the second notification device or the first notification device that can detect the notification with the hand or arm of the person is used to notifying the person;
a second movement detection step of detecting a movement of the person's hand;
including;
providing a first notification to the person using the second notification device when the hand is extended in the direction of movement of the person; and when the hand is not extended in the direction of movement of the person; further comprising the step of using a first notification device to issue a second notification that is stronger than the first notification;
Notification method. detecting objects around the person;
calculating a distance from the person to the object;
When the distance between the person and the object becomes the first distance from a state where the distance is greater than a first distance, a first notification device capable of detecting a notification with the foot of the person is used to notify the person. , when the distance between the person and the object becomes a second distance shorter than the first distance, the second notification device or the first notification device that can detect the notification with the hand or arm of the person is used to notifying the person;
a second movement detection step of detecting a movement of the person's hand;
providing a first notification to the person using the second notification device when the hand is extended in the direction of movement of the person; and when the hand is not extended in the direction of movement of the person; Using a first notification device to issue a second notification that is stronger than the first notification;
A program that causes a computer to execute.

Images