阅读说明：本技术 信息处理器 (Information processor ) 是由 谷口真潮 樋口真理子 角谷昌俊 大西有纪子 河村拓昌 于 2021-04-15 设计创作，主要内容包括：提供了一种信息处理器。白杖系统的控制器基于从诸如相机的内置传感器获取的传感器数据来确定不使用视力而行动的人的步行方向,并生成第一通知以通知所确定的步行方向。无线通信单元从数据通信模块和移动终端接收关于存在于所述人的周围的移动物体的移动的信息。当基于关于移动物体的移动的信息预测到不使用视力而行动的人与移动物体之间的碰撞时,控制器生成第二通知以通知所述碰撞。(An information processor is provided. A controller of the cane system determines a walking direction of a person who acts without using eyesight based on sensor data acquired from a built-in sensor such as a camera, and generates a first notification to notify the determined walking direction. The wireless communication unit receives information on movement of a moving object existing around the person from the data communication module and the mobile terminal. When a collision between a person who acts without using eyesight and the moving object is predicted based on the information on the movement of the moving object, the controller generates a second notification to notify the collision.)

1. An information processor, comprising:

a direction determination unit configured to determine a walking direction of a person who acts without using eyesight;

a receiving unit configured to receive information on movement of a moving object existing around the person; and

a generation unit configured to generate a first notification and a second notification as notifications for the person who acts without using eyesight,

the first notification is for notifying the walking direction determined by the direction determining unit, an

The second notification is for notifying a collision between the person who acts without using eyesight and the moving object when the collision is predicted based on the information on the movement of the moving object received by the receiving unit.

Technical Field

The present invention relates to an information processor.

Background

Disclosed in WO 2018/025531 is an information processor (e.g., a smart phone) comprising: a direction determination unit that determines a walking direction of a person who moves without using eyesight; and a guidance information generating unit that generates guidance information for walking in the determined direction for a person who is moving without using eyesight. In this technique, a direction determination unit determines a walking direction by matching an image captured with a camera with a reference image stored in advance, and a guidance information generation unit calculates a shift amount with respect to the determined direction.

Disclosure of Invention

However, in the technique disclosed in WO 2018/025531, detection of a moving object such as a vehicle is not mentioned. When moving objects exist around a person who acts without using eyesight, there is a possibility that the moving objects may collide with the person who acts without using eyesight, depending on the moving direction of the moving objects. Therefore, there is room for improvement in the technique disclosed in WO 2018/025531 from the viewpoint of enhancing the safety of a person who moves without using eyesight and moving objects existing around the person.

The present invention has been made in view of the above facts, and an object of the present invention is to provide an information processor capable of enhancing the security of a person who acts without using eyesight and moving objects existing around the person.

An information processor according to a first aspect of the present invention includes: a direction determination unit configured to determine a walking direction of a person who acts without using eyesight; a receiving unit configured to receive information on movement of a moving object existing around the person; and a generation unit configured to generate, as notifications to the person who acts without using eyesight, a first notification for notifying the walking direction determined by the direction determination unit and a second notification for notifying a collision between the person who acts without using eyesight and the moving object when the collision is predicted based on the information on the movement of the moving object received by the reception unit.

According to the first aspect of the present invention, the direction determining unit determines the walking direction of the person who moves without using eyesight, and the generating unit generates the first notification to notify the determined walking direction. The receiving unit receives information on movement of a moving object existing around the person. When a collision between a person who acts without using eyesight and a moving object is predicted, the generation unit generates a second notification to notify the predicted collision. Therefore, when a collision between a person who acts without using eyesight and a moving object is predicted, the person who acts without using eyesight can be encouraged to take measures to avoid the collision with the moving object. Thus, according to the first aspect of the present invention, it is possible to enhance the safety of a person who moves without using eyesight and a moving object existing around the person.

The present invention demonstrates the effect of enhancing the safety of a person who moves without using eyesight and moving objects existing around the person.

Drawings

The features, advantages and technical and industrial significance of this invention will be described below with reference to the accompanying drawings, in which like reference numerals refer to like elements, and in which:

FIG. 1 is a block diagram showing a cane system and an external communication device incorporated in a grip portion of a cane device;

FIG. 2A is a side view of the cane device;

FIG. 2B is a top view of the grip portion of the cane device;

FIG. 2C is a front view of the grip portion of the cane device;

FIG. 2D is a side view of the grip portion of the cane device;

FIG. 2E is a rear view of the grip portion of the cane device;

fig. 2F is a bottom view of the grip portion of the cane device;

fig. 3 is a perspective view showing (a part of) a grip portion of the cane device in a scheme in which a camera is supported to hold an imaging direction forward;

fig. 4 is a flowchart of a walking assistance process executed in the controller of the cane device;

fig. 5 is an image view for explaining a walking assistance function;

fig. 6 is an image view for explaining emergency information transmitted to a prescribed emergency contact such as emergency medical treatment or the like through an external communication device;

fig. 7A is an image view for explaining a problem of the background art;

fig. 7B is an image view for explaining a problem of the background art;

fig. 7C is an image view for describing the effect of the cane device of the embodiment;

fig. 8A is an image view for explaining a haptic reproduction function;

fig. 8B is an image view for explaining a problem in the case of using a conventional white cane;

FIG. 9 is an image view useful in explaining aspects of the wand assembly projecting light beams as landmarks onto a surrounding road surface;

fig. 10 is a perspective view showing another configuration for imaging a front image with a camera;

fig. 11 is a perspective view showing another configuration for imaging a front image with a camera;

FIG. 12A is a front view showing another shape and configuration of the grip portion of the cane device;

FIG. 12B is a side view showing another shape and configuration of the grip portion of the cane device; and

fig. 12C is an internal configuration diagram showing another shape and configuration of the grip portion of the cane device.

Detailed Description

Hereinafter, examples of embodiments of the present invention will be described in detail with reference to the accompanying drawings. Fig. 2A shows the cane device 10 according to the present embodiment. The cane device 10 includes a grip portion 14, a cane portion 12 and a cane system 20. The cane 12 has a base portion attached to one end portion side of the bottom surface of the grip portion 14 (the front side of the cane device 10). The gripping portion 14 includes a cane system 20 as shown in fig. 1. The cane device 10 is carried by a user (e.g., a visually impaired person) when the user is not performing his or her eyesight.

As shown in fig. 2B to 2F, the grip portion 14 has a substantially box shape, and the longitudinal direction thereof extends in the front-rear direction of the cane device 10. In the grip portion 14, a corner portion where the front face intersects with the top face is formed in a partially cut-away shape. On the top surface of the grip portion 14, an emergency button 48 (physical button) is provided at a position where a user's finger is placed when the user grips the grip portion 14. The user presses the emergency button 48 in case of an emergency.

On the bottom surface of the grip portion 14, a plurality of circular groove portions (concave portions) 18 extending in the width direction of the grip portion 14 are provided at intervals in the longitudinal direction of the grip portion 14. When the user grips the grip portion 14, the user's fingers enter the circular groove portion 18, which stabilizes the user's grip on the grip portion 14.

The cane system 20 includes a controller 22 and various built-in sensors that are coupled to the controller 22. The built-in sensors include a camera 34, a range sensor 36, an acceleration sensor 38, a gyroscope sensor 40, a compass 42, and a Global Positioning System (GPS) sensor 44.

The controller 22 includes a Central Processing Unit (CPU)24, a memory 26 such as a Read Only Memory (ROM) or a Random Access Memory (RAM), and a nonvolatile storage unit 28 such as a Hard Disk Drive (HDD) or a Solid State Disk (SSD). The CPU 24, the memory 26, and the storage unit 28 are communicably connected to each other through an internal bus 30.

The storage unit 28 stores a walking assistance program 32. The controller 22 of the cane system 20 performs walking assistance processing described later by expanding the walking assistance program 32 read from the storage unit 28 to the memory 26 and executing the walking assistance program 32 expanded to the memory 26 on the CPU 24. Accordingly, cane system 20 serves as an example of an information processor.

The camera 34 receives incident light through the lens 16 (see fig. 2B, 2C, 2D, and 2F) provided on the front face of the grip 14. The camera 34 is supported by a universal joint, not shown, so as to always maintain the imaging direction at the front of the cane device 10 (see also arrow a of fig. 3), and to image a front image of the cane device 10.

A range sensor 36 is placed above the lens 16 on the front of the grip 14. The distance measuring sensor 36 emits light (visible light or infrared light), electric waves, or ultrasonic waves to the surroundings of the cane device 10, and detects reflected waves so as to obtain the distance to and the position relative to an object existing around the cane device 10.

The acceleration sensor 38 detects three-axis acceleration. The gyro sensor 40 detects three-axis angular velocities. The compass 42 detects geomagnetism. The GPS sensor 44 receives GPS signals from a plurality of GPS satellites and detects a position based on the received GPS signals.

The controller 22 is also connected to a battery 46, an emergency button 48, an audio output unit 50, a vibration generating unit 52, and a wireless communication unit 54. The battery 46 provides power to the various units of the cane system 20. The audio output unit 50 includes a speaker to output sound from the speaker in response to an instruction from the controller 22. The user hears the sound output from the audio output unit 50.

The vibration generating unit 52 includes a plurality of vibrators each formed of a vibration motor that converts an electric signal into vibration. The vibrators are disposed in positions different from each other in the grip 14 (for example, a position where a finger of a user's hand is placed (a position corresponding to the circular groove portion 18) or a position where a palm is placed when the user grips the grip 14). In response to instructions from the controller 22, the vibrator produces vibrations. The user who grips the grip portion 14 perceives the vibration generated in the vibrator of the vibration generating unit 52.

The wireless communication unit 54 performs wireless communication of a relatively short distance directly with the external communication device 60 included in the moving object existing around the cane device 10, not through a base station. When the moving object is a vehicle 62, the external communication device 60 is a Data Communication Module (DCM)60A mounted in the vehicle 62. When the moving object is a bicycle 64, the external communication device 60 is a mobile terminal 60B owned by the person riding the bicycle 64. The wireless communication unit 54 is an example of a receiving unit.

The data communication module 60A and the mobile terminal 60B each constantly detect the current position, the moving direction, and the moving speed of their own devices. When communicating with the cane device 10, the data communication module 60A and the mobile terminal 60B transmit such information to the cane device 10. The current positions, moving directions, and moving speeds of the data communication module 60A and the mobile terminal 60B received from the data communication module 60A and the mobile terminal 60B are examples of information on the movement of the moving object. When crime prevention information or road construction information is received from a server, not shown, the data communication module 60A and the mobile terminal 60B forward the information to the white-stick device 10.

Next, as an operation of the present embodiment, a walking assist process performed by the controller 22 of the cane device 10 will be described first with reference to fig. 4. In step 100, the controller 22 determines whether the walking assist function of the cane system 20 is available. When power is supplied from the battery 46 to the respective units of the cane system 20 including the controller 22 and the cane system 20 is operating normally, yes is determined in step 100 and the process proceeds to step 102.

In step 102, the controller 22 acquires sensor data from various built-in sensors including the camera 34, the ranging sensor 36, the acceleration sensor 38, the gyro sensor 40, the compass 42, and the GPS sensor 44. In step 104, the controller 22 communicates with the external communication devices 60 (the data communication module 60A of the vehicle 62 and the mobile terminal 60B of the bicycle 64) present around the cane device 10, and acquires various information from the external communication devices 60.

In step 106, the controller 22 performs a detection process of analyzing the sensor data acquired in step 102. In step 108, the controller 22 executes a situation determination process of determining the situation of the surrounding environment of the cane device 10 based on the information obtained in the detection process of step 106.

In step 110, the controller 22 determines whether or not the user needs to be notified based on the determination result of the state of the environment around the cane device 10 in the state determination process of step 108. When it is determined as "yes" in step 110, the process proceeds to step 112. In step 112, the controller 22 notifies the user by outputting a sound corresponding to the notification content from the audio output unit 50 to the user or generating a vibration corresponding to the notification content to the user through a combination of the vibrators of the vibration generating unit 52. When the user does not need to be notified, it is determined as "no" in step 110, and step 112 is skipped.

In the following step 114, the controller 22 determines whether an external notification is required. Examples of the case where the external notification is required may include a case where the user presses the emergency button 48 and a case where a time at which a periodic notification about the current position of the cane device 10 is transmitted to the outside has come. When the determination in step 114 is yes, the process proceeds to step 116. In step 116, the controller 22 transmits information notified to the outside to the external communication device 60 through communication with the external communication device 60. When the notification to the outside is not necessary, the determination is no in step 114, and step 116 is skipped.

When power is supplied from the battery 46 to the various units of the cane system 20 including the controller 22 and the cane system 20 is operating normally, the controller 22 repeats the above-described steps 100 through 116. Meanwhile, when the battery 46 has no remaining capacity, or when the cane system 20 fails, the process goes from step 100 to step 118. In this case, in step 118, the user uses the cane device 10 as a normal cane for physically detecting objects using the cane portion 12.

In the present embodiment, the above-described walking assistance process can realize a plurality of functions listed below. Hereinafter, functions realized by the walking assistance process will be described in turn.

Walking assistance function

The walking assist function is a function of guiding a user who owns the cane device 10 to walk along a path registered in advance. To realize this function, the path registration processing is executed in advance.

In the route registration process, the controller 22 periodically collects sensor data from built-in sensors such as the camera 34, the ranging sensor 36, and the GPS sensor 44 when the user walks along a route as a registration target. The controller 22 also searches for indices such as crosswalks and signalers from the image captured by the camera 34, and adds the search results to the sensor data. Then, the controller 22 stores the obtained information as path information in the storage unit 28. As a result of this processing, the route information includes information indicating the positions of crosswalks, signal devices, and the like existing on the route.

Hereinafter, an example of processing based on the walking assist function will be described with reference to fig. 5. The controller 22 determines whether or not a crosswalk or a signal device is present within a predetermined distance from the cane device 10 in the detection process (step 106) and the situation determination process (step 108). This determination may be accomplished by matching the images captured with the camera 34 or by determining whether the position detected by the GPS sensor 44 is within a first prescribed distance from the position of the crosswalk and signaling device, while also using the distance detected by the range sensor 36.

When the crosswalk and the signaling device are present within the predetermined distance from the cane device 10, the controller 22 determines that the user needs to be notified (yes at step 110), and notifies the user of the approach of the crosswalk and the signaling device by sound or vibration as shown in fig. 5(1) (step 112). Thus, the user can recognize the approach of the crosswalk and the signaling device.

Next, the controller 22 calculates the directions of the crosswalk and the signaling device based on the positions of the crosswalk and the signaling device in the detection process (step 106) and the situation determination process (step 108) with reference to the position of the cane device 10. The controller 22 also calculates a match of the orientation of the cane device 10 as detected by the compass 42 relative to the orientation of the crosswalk and signaling device. When the degree of matching between the direction of the cane device 10 and the direction of the crosswalk and the signaling device is equal to or greater than a predetermined value, the controller 22 determines that the user needs to be notified (yes at step 110). Then, as shown in fig. 5(2), the controller 22 informs the user of the direction in which the cane device 10 faces the crosswalk and signaling device by vibration (or sound) (step 112).

Thus, when the user takes action to hold the cane device 10 around and change the direction of the cane device 10, the user is notified when the cane device 10 is facing the crosswalk and signaling device. Thus, the user can recognize the crosswalk and the direction in which the signaling device exists. When the user who has recognized the direction in which the crosswalk and the signaling device exist walks in the recognized direction, the user is continuously informed by vibration (or sound) that the cane device 10 faces the crosswalk and the signaling device. Therefore, as shown in fig. 5(3), the user can recognize that the user is walking to the crosswalk and the signal device.

Next, the controller 22 determines whether the cane device 10 has reached the stop position in front of the crosswalk and the signaling device in the detection process (step 106) and the condition determination process (step 108). The determination process may also be implemented by matching images captured by the camera 34, or by determining whether the position detected by the GPS sensor 44 is within a second prescribed distance (< the first prescribed distance) from the crosswalk and the position of the signaling device, while also using the distance detected by the ranging sensor 36.

When the cane device 10 has reached the stop position, the controller 22 determines that the user needs to be notified (yes determination in step 110). Therefore, as shown in fig. 5(4), the arrival at the stop position is notified to the user by vibration (or sound) (step 112). Therefore, the user can recognize that the stop position has been reached, and the user stops walking.

Next, in the detection process (step 106) and the situation determination process (step 108), the controller 22 detects the state of the signal device by performing image recognition on the image taken by the camera 34, and determines whether the signal device is in a state of changing from red to green. When the signaling device is out of the state of changing from red to green, the controller 22 determines that the user needs to be notified (determined as "yes" in step 110). Accordingly, as shown in fig. 5(5), the current state of the signaling device is notified to the user by sound or vibration (step 112). Thus, the user can recognize the state of the signaling device, and the user remains in the stop position.

When the signaling device is in a state of changing from red to green, the controller 22 determines that the user needs to be notified (determined as yes in step 110). Thus, as shown in fig. 5(6), the controller 22 encourages the user to start walking by sound or vibration (step 112). Thus, the user can recognize that the signaling device is in a state of changing from red to green, and the user starts to cross the road on the crosswalk.

Generally, the visually impaired person moves by using contact information between the wand and the road surface or an obstacle and surrounding sounds as guidance. However, there are cases where: the braille blocks are partially disposed on the road surface or some braille blocks are no longer effective due to aging or other reasons. Particularly in the case of crossing roads, there are places where no audible signaling device is provided. To cope with these situations, the cane device 10 according to the present embodiment includes the walking assist function as described above. Thus, a user possessing cane device 10 may be guided to walk along a pre-registered path.

In the walking assist function described above, the controller 22 of the cane system 20 functions as an example of a direction determining unit and a generating unit that generates the first notification. The notification to the user in the walking assistance function described above is an example of the first notification.

Function of avoiding collision with moving object

The function of avoiding collision with a moving object is a function of avoiding collision of a user with a moving object such as a vehicle 62 and a bicycle 64 present around the cane device 10 by communicating with the external communication device 60 (data communication module 60A and mobile terminal 60B) of the moving object.

More specifically, the controller 22 communicates with the external communication devices 60 of the moving object existing around the cane device 10 to acquire the current position, moving direction and moving speed of the moving object (step 104). The controller 22 also predicts a future moving trajectory (first trajectory) of the moving object based on the current position, the moving direction, and the moving speed of the moving object in the detection process (step 106) and the situation determination process (step 108). The controller 22 also predicts a future movement trajectory (second trajectory) of the user possessing the cane device 10 based on the sensor data, and calculates, for example, a distance between the first trajectory and the second trajectory when the first trajectory and the second trajectory are closest at the same time as an index corresponding to a probability of collision between the moving object and the user.

When the probability of a collision between the moving object and the user is a prescribed value or more (for example, when the distance between the first trajectory and the second trajectory when the first trajectory and the second trajectory are closest at the same time is less than a prescribed value, that is, when a collision between the user and the moving object is predicted), the controller 22 determines that the user needs to be notified (determined as yes in step 110), and notifies the user of the possibility of a collision with the moving object by sound or vibration (step 112). The notification to the user may be achieved by simply notifying the possibility of collision with the moving object (outputting an alarm) or by guiding the user toward a direction safer for the user (for example, a direction at 90 degrees from the direction in which the moving object approaches). Therefore, the user can recognize the possibility of collision with the moving object, and the user is encouraged to take an action of avoiding collision with the moving object.

Although the technique disclosed in WO 2018/025531 detects a signal device or the like, detection of a moving object such as a vehicle present around the user is not mentioned. Therefore, the collision with the moving object existing around the user hinders the safe movement of the user. As a solution, the cane device 10 according to the present embodiment includes the above-described function of avoiding collision with a moving object. Therefore, it is possible to detect the approach of a moving object such as a vehicle existing around the user and output an alarm or guide the user to a safer side. This makes it possible to enhance the safety of the user and the moving objects existing around the user.

In the above-described function of avoiding collision with a moving object, the controller 22 of the cane system 20 serves as an example of a generation unit that generates the second notification. The notification to the user in the above-described function of avoiding collision with a moving object is an example of the second notification.

Emergency reporting function

The emergency report function is a function of transmitting emergency information to a prescribed emergency contact (for example, a third party such as emergency medical or police) through the external communication device 60 such as the data communication module 60A and the mobile terminal 60B when the user presses the emergency button 48 in an emergency. Examples of the case where the user presses the emergency button 48 may include a case where the user is ill, a case where the user is involved in an accident, a case where the user gets lost, a case where the user encounters an attacker, and the like. This function can ensure the safety of the user in case of emergency.

The technique disclosed in WO 2018/025531 presupposes the use of a smartphone. However, it is difficult for those visually impaired to perform operations such as a flick operation, a swipe operation, or an operation of clicking an icon on a smartphone. In the present embodiment, the grip portion 14 of the cane device 10 is provided with a physical button (emergency button 48) on a portion where the user's fingers are placed when the user grips the grip portion 14. This ensures that the user can operate the button.

Guardian monitoring function

The guardian monitoring function is a function of periodically transmitting the current position of the cane device 10 (user) detected by the GPS sensor 44 to the mobile terminal owned by the guardian of the user through the external communication device 60 such as the data communication module 60A and the mobile terminal 60B every time a predetermined time elapses. This feature allows the guardian to determine the current location of the user and confirm the user's safety actions.

Function of notifying crime prevention information

The function of notifying the crime prevention information is a function of receiving crime prevention information announced from a police station patrolling an area where the cane device 10 is located via the external communication device 60 such as the data communication module 60A and the mobile terminal 60B, and notifying the user of the content of the received crime prevention information by sound. The received crime prevention information may be used in the above-described walking assistance function for a process of correcting a walking guide path so as to avoid walking through an area where crime has occurred. This function enables the user to take appropriate measures to avoid danger based on the notified crime prevention information.

Function of notifying construction information

The function of notifying the construction information is a function of receiving construction information of a road (sidewalk) in an area where the cane device 10 is located via the external communication device 60 such as the data communication module 60A and the mobile terminal 60B, and notifying information to a user by sound or vibration. The received construction information may be used in the walking assistance function described above for a process of correcting the walking guide path so as to avoid walking on a sidewalk on which the construction work is performed. This function enables the user to take appropriate measures to avoid danger based on the notified construction information.

Other effects

In the technique disclosed in WO 2018/025531, mobile communication involving communication with a base station is applied to communication between a smartphone and the outside. In mobile communications, one base station covers a relatively large base station area. In the base station area, wireless communication with the same base station is required, and thus a large amount of power is consumed. When the remaining capacity of the battery becomes zero and mobile communication is lost, the smartphone becomes unusable.

To cope with this, in the cane device 10 according to the present embodiment, the wireless communication unit 54 directly performs wireless communication over a relatively short distance with the external communication device 60 included in the moving object existing around the cane device 10, not through a base station. For example, as shown in FIG. 6, when the user presses the emergency button 48 in an emergency and emergency information is transmitted to a prescribed emergency contact (such as a third party of emergency medical treatment: in FIG. 6, an ambulance 66 is shown as an example), the emergency information is transmitted via the external communication device 60 such as the data communication module 60A by using the mobile communication function of the external communication device 60.

Therefore, the power consumed in the wireless communication performed by the wireless communication unit 54 of the cane device 10 can be reduced. Also, since power saving is achieved in wireless communication, a drop in the remaining capacity of the battery 46 is reduced, and thus the risk of communication loss can be reduced. It is also possible to reduce the size and weight of the battery 46 from the viewpoint of power saving in wireless communication. In this case, it is possible to achieve an improvement in the degree of freedom in the design of the cane device 10 and a reduction in user fatigue.

When the wireless communication unit 54 performs communication through the external communication device 60, a GPS sensor with relatively high accuracy installed in the external communication device 60 may be utilized. As a result, a sensor that saves electricity although the accuracy is relatively low can also be used as the GPS sensor 44 mounted in the cane device 10. For example, when the accuracy of the GPS sensor 44 of the cane device 10 is relatively low when the emergency information is transmitted to a predetermined emergency contact through the external communication device 60, highly accurate position information may be transmitted to the predetermined emergency contact based on the latest positional relationship between the external communication device 60 and the user (cane device 10).

Although the technique disclosed in WO 2018/025531 is premised on the use of a smartphone, visually impaired people cannot visually recognize objects. Therefore, it is difficult for the visually impaired to hold the smartphone to place objects (signal devices, crosswalks) within the field angle of the camera. To overcome this difficulty, in the cane device 10 according to the present embodiment, the camera 34 is supported by a gimbal to constantly maintain the imaging direction of the camera 34 in the forward direction of the cane device 10. Accordingly, an object can be placed within the field angle of the camera 34 without the user performing an operation.

Further, in the cane device 10 according to the present embodiment, a concave portion (circular groove portion 18) is provided on the bottom surface of the grip portion 14 at a position where fingers of the user's hand are placed when the user grips the grip portion 14. The plurality of vibrators of the vibration generating unit 52 are provided on the grip 14 at positions where fingers of the user's hand are placed or at positions where the palm is placed when the user grips the grip 14. The vibrator is configured to transmit different information to the user through a combination of vibrations from the vibrator. The user can stably grip the grip portion 14 in a substantially constant gripping state by the concave portion of the grip portion 14. Since the holding state of the holding portion 14 is stable, erroneous recognition of information transmitted by a combination of vibrations is less likely to occur.

Although the technique disclosed in WO 2018/025531 presupposes the use of a smartphone, the smartphone has a generic design so as to be usable in a variety of applications. Therefore, it is not easy for the user to understand the sound and vibration generated in the smartphone. When the user incorrectly explains the guidance, the user may be incorrectly guided to a dangerous situation (e.g., involving a fall or walking onto a lane).

As a solution, in the cane device 10 according to the present embodiment, the grip portion 14 is formed in a certain shape on the premise of being gripped. The vibrator of the vibration generating unit 52 is also three-dimensionally placed at a position where the fingers or palm of the hand are located when the user grips the grip portion 14. Thus, the user may be guided in a tactile and intuitive way for the user. This makes it possible to prevent the user from interpreting guidance by mistake and to prevent the user from getting into a dangerous situation.

When a visually impaired person walks, the person must use a cane or a guide dog for safety. However, in the technique disclosed in WO 2018/025531, as an example, as shown in fig. 7A, for example, when a user holds a smartphone 92 with a hand that is not used to hold a cane 90, the user needs to walk with both hands occupied. Therefore, it is difficult for the user to advance while touching a wall, an obstacle, or the like with the hand that is not used to hold the wand 90. Since both hands are occupied, the user cannot hold the umbrella in rainy weather.

As shown in fig. 7B, in the technique disclosed in WO 2018/025531, when the user walks while holding the smartphone 92 in addition to the cane 90, the user receives information from both the cane 90 and the smartphone 92 in a separate manner. Therefore, the user needs to walk while arranging the information from the cane 90 and the information from the smartphone 92 in his head, which makes the user feel tired and troublesome.

As a solution, in the cane device 10 according to the present embodiment, the cane portion 12 is integrated with the grip portion 14 to which the cane system 20 is incorporated. Thus, the user can walk safely and comfortably without both hands being occupied. The cane system 20 also includes functions to perform detection processing, situation determination processing, and processing for notifying a user. As shown in fig. 7C, since information in cooperation with and synchronization with information from the white stick part 12 (by touch and vibration from the distal end) is transmitted to the user, the user can intuitively obtain the information, which reduces fatigue and trouble of the user.

In the cane device 10 according to the present embodiment, the cane system 20 is incorporated into the grip portion 14 that is integral with the cane portion 12. With this configuration, even in the event that the remaining capacity of the battery 46 becomes zero or the cane system 20 fails due to a failure of the cane system 20, the user can walk using the cane device 10 as a conventional cane.

Other embodiments

The cane device 10 is not limited to the configuration described in the disclosed embodiments.

For example, the cane part 12 of the cane device 10 can be designed to be stowable or foldable. As shown in fig. 8A, the cane device 10 may include a function (tactile reproduction function): in a state where the white cane 12 is stored or folded, based on the result of the distance measurement by the distance measuring sensor 36, tactile feedback (sense of touch) corresponding to the feeling when the white cane comes into contact with an object 94 such as a road surface, an obstacle, or the like is reproduced by the vibrator of the vibration generating unit 52.

In the technique disclosed in WO 2018/025531, a smartphone recognizes a signal device or the like while obtaining road surface and surrounding information using a conventional cane. As shown in fig. 8B, the conventional cane 90 physically detects an object 94. Thus, the conventional cane 90 is at risk of injury and property damage due to contact between the cane 90 and the object 94.

As a solution, in the tactile sensation reproducing function, the tactile sensation generated by the combination of the vibrators of the vibration generating unit 52 is fed back through the grip portion 14, reproducing a tactile sensation similar to that of the conventional whiting stick 90 in contact with the object 94. Therefore, the same information as that obtained by the conventional cane 90 can be obtained without using the conventional cane 90, which makes it possible to walk without using the conventional cane 90. The risk of injury and property damage due to contact with the object 94 may also be reduced.

As shown in fig. 9, the cane device 10 may include the following functions: collision is avoided by projecting a light beam serving as a landmark from the cane device 10 to a surrounding road surface and notifying the presence of the user of the cane device 10 to vehicles, bicycles, pedestrians, and the like traveling around the user of the cane device 10. This function can further reduce the possibility of collision of the user with a moving object or the like.

In the above description, the configuration in which the camera 34 is supported by the gimbal to constantly image the front image has been described. However, the present invention is not limited to this configuration. For example, the present invention may employ a configuration including a drive unit that changes the direction of the camera 34 using the driving force of a motor or the like, as indicated by an arrow B in fig. 10. In this configuration, the gyro sensor 40 and the like detect the posture of the cane device 10, and the drive unit adjusts the direction of the camera 34 so as to constantly image a front image. For example, as shown in fig. 11, shooting may be performed using a wide-angle camera 34A capable of omnidirectional shooting at 360 degrees.

Also, in the above description, the following scheme has been described: the grip portion 14 of the cane device 10 has a substantially box shape, and the longitudinal direction thereof extends in the front-rear direction of the cane device 10. However, the grip portion 14 is not limited to the shape and configuration shown in fig. 2B to 2F. As an example, fig. 12A, 12B, and 12C show the grip portion 70 having a substantially long shape, the longitudinal direction of which is inclined toward the rear side of the cane device 10 with respect to the longitudinal direction of the cane portion 12.

In the grip portion 70 shown in fig. 12A, 12B, and 12C, the camera 34 and the range sensor 36 are disposed on the front side in the vicinity of the lower end portion as an engaging portion with the wand portion 12. On the front side near the upper end of the grip 70, a speaker of the audio output unit 50 is placed. An emergency button 48 is provided on the front side of the intermediate portion of the grip portion. On the back surface of the grip portion 70, a plurality of concave portions 72 are formed at positions where the user's fingers are located when the user grips the grip portion 70, and the vibrators 52A of the vibration generating unit 52 are respectively placed at positions corresponding to the bottoms of the concave portions 72. Inside the grip portion 70, a substrate 74 and a battery 46 are provided. The grip portion 70 of the cane device 10 may have such a configuration.

Although the scheme of notifying the user by sound and vibration has been described above, the present invention is not limited to this scheme. The user may be notified by other means, such as heating with a hot wire.

The cane system 20 included in the grip portion 14 of the cane device 10 is not limited to the configuration shown in fig. 1. For example, infrared sensors, thermometers, microphones, etc. may be mounted on the cane system 20. The cane system 20 may also include an interface that can connect with external sensors, such as photometers and hygrometers, for example, or may include functionality to notify a user of information through a connection to a device, such as a headset.

In the above description, the following schemes have been described: a cane system 20 serving as an information processor according to the present invention is incorporated into the grip portion 14 of the cane device 10 including the cane portion 12. However, the present invention is not limited to this scheme. A mobile terminal such as a smart phone can be made to function as the information processor according to the present invention.