WO2022153792A1

WO2022153792A1 - Approach avoidance system and galvanic vestibular stimulation device

Info

Publication number: WO2022153792A1
Application number: PCT/JP2021/046900
Authority: WO
Inventors: 信行久保井
Original assignee: ソニーセミコンダクタソリューションズ株式会社
Priority date: 2021-01-12
Filing date: 2021-12-20
Publication date: 2022-07-21
Also published as: JP2022108093A

Abstract

The present invention provides a technique enabling avoiding approaching surrounding moving objects.　Provided is an approach avoidance system including an imaging unit that generates an image of a surrounding environment of a subject at a time interval dT, a moving object analyzing unit that calculates a distance L between the subject and a moving object present in the surrounding environment and a relative velocity vector V of the moving object relative to the subject, and calculates, using the distance L and the relative velocity vector V, a time T required for the subject and the moving object to approach each other to a predetermined distance, a velocity calculation unit that extracts a moving object for which the time T is within a determination time Tj and calculates a velocity dV representing a magnitude and a direction of a movement the subject should make in order for a distance Lj between the subject and the extracted moving object after the determination time Tj to become a predetermined distance, an electrode unit for providing galvanic vestibular stimulation to the subject, and a current control unit that applies a current of a predetermined current value to the electrode unit to provide the galvanic vestibular stimulation to the subject to guide the subject to make the movement at the velocity dV.

Description

Approach avoidance system and vestibular electrical stimulator

This technology relates to an approach avoidance system and a vestibular electrical stimulator. More specifically, the present technology relates to an approach avoidance system capable of avoiding the approach of an object and a specific moving object, and a vestibular electrical stimulator constituting the approach avoidance system.

In recent years, various contents for smartphones using augmented reality (AR) technology have been provided. Examples of the content include a music video for smartphones, which allows users to enjoy immersive images by watching while walking, and a game for smartphones, which allows users to enjoy fusion with the real world by operating while walking. With the spread of such contents, the number of users who operate smartphones while walking is increasing. There are some users who are so absorbed in the screen of the smartphone that they encounter an accident in which they collide with or come into contact with a surrounding object. Therefore, many people are aware of the danger of using smartphones while walking, which has become a social problem.

In recent years, the spread of the new coronavirus infection (COVID-19) has become a social problem. As a measure to prevent the spread of infection, it is strongly recommended to avoid crowding and close contact, and it is required to keep a physical distance from the surrounding people and act accordingly.

As a countermeasure against these two social problems, it is considered useful to have a technique that can guide people to automatically avoid approaching surrounding moving objects. Conventionally, some techniques capable of inducing human movement have been proposed. For example, the techniques disclosed in the following Patent Documents 1 to 3 can be mentioned. In Patent Document 1 below, it is possible to guide a driver who drives a vehicle that changes direction by a balance motion by utilizing an electrical stimulation to the vestibular sensation. For example, the driver is guided to avoid obstacles. A driver assistance device capable of guiding is disclosed. In Patent Document 2 below, it is possible to induce human body movements by utilizing electrical stimulation to the vestibular sensation. For example, it is possible to present a direction for avoiding danger to a moving object and guide the person to an intended place. A capable body guidance device is disclosed. Patent Document 3 below discloses an animal guidance system capable of guiding an animal or the like that is difficult to communicate by language by stimulating the vestibular sensation.

Japanese Unexamined Patent Publication No. 2006-298012 Japanese Unexamined Patent Publication No. 2004-254790 Japanese Unexamined Patent Publication No. 2006-296221

However, the technique disclosed in Patent Document 1 is a collision avoidance technique corresponding to one moving object, and is intended for a person who drives a vehicle such as a bicycle or a motorcycle that changes its direction by a balanced operation. .. Therefore, in the technique disclosed in Patent Document 1, it is difficult to avoid a plurality of moving objects, and the number of target persons is limited. With the technique disclosed in Patent Document 2, it is difficult to acquire information on surrounding moving objects and guide body movements based on the information in real time. In the technique disclosed in Patent Document 3, the moving direction of the animal is visually determined by a human being who is the instructor. Therefore, the technique disclosed in Patent Document 3 cannot be said to be a technique capable of guiding a person to automatically avoid approaching a surrounding moving object.

Therefore, the main purpose of this technology is to provide a technology that can avoid approaching moving objects existing in the surroundings.

The present inventor has found that the above-mentioned problems can be solved by an approach avoidance system having a specific configuration, and has completed the present technique.

That is, this technology
An imaging unit that generates an image of the surrounding environment of the target at time intervals dT,
The distance L between the target and the moving body existing in the surrounding environment and the relative velocity vector V of the moving body with respect to the target are calculated, and the target and the moving body are used using the distance L and the relative velocity vector V. A moving object analysis unit that calculates the time T required for and to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the target should take a predetermined distance so that the distance Lj between the target and the extracted moving body becomes a predetermined distance after the judgment time Tj. A speed calculation unit that calculates the speed dV that represents the magnitude and direction of movement,
An electrode part for applying vestibular electrical stimulation to the subject,
Provided is an approach avoidance system including a current control unit that applies a vestibular electrical stimulus to the object in order to induce the object to operate at the speed dV by passing a current of a predetermined current value through the electrode unit. do.
The approach avoidance system searches a current value database that holds information on the speed dV of the operation induced when a current of the current value I flows through the electrode portion, and searches for a current value database corresponding to the predetermined speed dV. It may further include a current value acquisition unit for acquiring
The current control unit may pass a current having the current value I through the electrode unit.
The approach avoidance system may further include a result confirmation unit that confirms the distance Lr between the object and the extracted moving object after the current control unit applies the vestibular electrical stimulus to the object.
The result confirmation unit may update the current value database when the distance Lr satisfies a predetermined condition.
The imaging unit may include a TOF imagen sensor and / or a millimeter wave image sensor.
The imaging unit may further include a visible light image sensor.
The approach avoidance system may include a pair of vestibular electrical stimulators.
Each of the pair of vestibular electrical stimulators may include the imaging unit, the moving object analysis unit, the velocity calculation unit, the electrode unit, and the current control unit.
The approach avoidance system may include a pair of vestibular electrical stimulators and a mobile terminal.
The pair of vestibular electrical stimulators and the mobile terminal may be communicably connected.
Each of the pair of vestibular electrical stimulators may include the imaging unit, the moving object analysis unit, the electrode unit, and the current control unit.
The mobile terminal may include the speed calculation unit.
The approach avoidance system may include a pair of vestibular electrical stimulators and an information processing device.
The pair of vestibular electrical stimulators and the information processing device may be communicably connected.
Each of the pair of vestibular electrical stimulators may include the imaging unit, the moving object analysis unit, the electrode unit, and the current control unit.
The information processing device may include the speed calculation unit.
The approach avoidance system may include a mobile terminal.
The mobile terminal may include the imaging unit.
The approach avoidance system may include a mobile terminal.
The mobile terminal may include the imaging unit, the moving object analysis unit, the speed calculation unit, and the current value acquisition unit.
The approach avoidance system may further include an audio output unit that outputs audio.
The approach avoidance system may further include an image display unit that displays an image.
A position information acquisition unit in which the approach avoidance system acquires the current position information of the target, and
A route selection unit that selects a route until the target reaches the destination based on the map information and the position information and acquires information about the route from the map information may be further included.
The speed calculation unit may use information about the route when calculating the speed dV.
The approach avoidance system acquires a field of view information that can identify the field of view of the target, and a field of view information acquisition unit.
A field of view display unit that displays the field of view information and
A current value setting unit that sets a current value determined by a third party other than the target that monitors the visibility display unit as the predetermined current value may be included.
The approach avoidance system may include a plurality of a pair of vestibular electrical stimulators.
The pair of existing vestibular electrical stimulators may be communicatively connected to each other.
Each of the plurality of objects may be fitted with the pair of vestibular electrical stimulators.
The pair of vestibular electrical stimulators includes a recognition signal generator that generates a recognition signal that causes the other pair of vestibular electrical stimulators to recognize their own vestibular electrical stimulator, and a transmission / reception unit that transmits and receives the recognition signal. Well,
The speed calculation unit may calculate the speed dV based on the recognition signal from the other pair of vestibular electrical stimulators received by the transmission / reception unit.
The approach avoidance system
Based on the recognition signal from the other pair of vestibular electrical stimulators, the behavior history is obtained from the behavior history database that holds the behavior history information of the other target wearing the other pair of vestibular electrical stimulators. Information acquisition department to acquire information and
A behavior prediction unit that predicts the behavior of the other target and calculates the prediction speed vector Vp based on the acquired behavior history information may be included.
The speed calculation unit may calculate the speed dV using the predicted speed vector Vp of the other object.
In the approach avoidance system, the target may be a person, and the moving object existing in the surrounding environment may also be a person. The approach avoidance system secures a predetermined distance between the people and causes the person. It may be used to avoid crowding and closeness.

In addition, this technology
A pair of vestibular electrical stimulators
Each of the pair of vestibular electrical stimulators
An imaging unit that generates an image of the surrounding environment of the target at time intervals dT,
The distance L between the target and the moving body existing in the surrounding environment and the relative velocity vector V of the moving body with respect to the target are calculated, and the target and the moving body are used using the distance L and the relative velocity vector V. A moving object analysis unit that calculates the time T required for and to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the target should take a predetermined distance so that the distance Lj between the target and the extracted moving body becomes a predetermined distance after the judgment time Tj. A speed calculation unit that calculates the speed dV that represents the magnitude and direction of movement,
An electrode part for applying vestibular electrical stimulation to the subject,
The pair of vestibular electrical stimuli, including a current control unit that supplies a vestibular electrical stimulus to the subject in order to induce the subject to operate at the speed dV by passing a current of a predetermined current value through the electrode portion. Equipment is also provided.
The pair of vestibular electrical stimulators may be a pair of ear-hook wearable devices.
Each of the pair of vestibular electrical stimulators may include the imaging unit including one or more image sensors and the electrode unit including three electrodes.

Note that the effects described in this specification are merely examples and are not limited, and other effects may be obtained. That is, the techniques according to the present disclosure may exhibit other effects apparent to those skilled in the art from the description herein, in addition to or in place of the above effects.

It is a figure which shows an example of the whole structure of an approach avoidance system. It is a figure which shows an example of the whole structure of a GVS apparatus. It is a figure which shows another example of the whole structure of a GVS apparatus. It is a figure which shows an example of the hardware composition of the main body part. It is a figure which shows an example of the functional structure of a GVS apparatus. It is a flowchart which shows an example of the process which a GVS apparatus executes. It is a schematic diagram for demonstrating an example of the image generated by the imaging unit. It is a schematic diagram which shows the distance L, the relative velocity vector V, and the time T. It is a schematic diagram for demonstrating an example of a process executed by a speed calculation unit. It is a schematic diagram which shows an example of the information of the current value I and the velocity dV held by the current value database. It is a schematic diagram which shows three electrodes arranged near the right ear of a user, and the direction of a user. It is a figure which shows an example of the whole structure of the approach avoidance system of 2nd Embodiment. It is a figure which shows an example of the functional structure of the approach avoidance system which concerns on 2nd Embodiment. It is a figure which shows an example of the whole structure of the approach avoidance system of 3rd Embodiment. It is a figure which shows an example of the functional structure of the approach avoidance system of 3rd Embodiment. It is a figure which shows an example of the whole structure of the approach avoidance system of 6th Embodiment. It is a figure which shows an example of the functional structure of the approach avoidance system of 6th Embodiment. It is a flowchart which shows an example of the process which a GVS apparatus executes. It is a figure which shows an example of the whole structure of the approach avoidance system of 7th Embodiment. It is a figure which shows an example of the functional structure of the approach avoidance system of 7th Embodiment. It is a flowchart which shows an example of the process executed by a GVS apparatus and an operation terminal apparatus. It is a figure which shows an example of the whole structure of the approach avoidance system of 8th Embodiment. It is a figure which shows an example of the functional structure of the approach avoidance system of 8th Embodiment. It is a figure which shows an example of the whole structure of the approach avoidance system of 9th Embodiment. It is a figure for demonstrating the cause of motion sickness. It is a schematic diagram for demonstrating an example of the motion sickness suppression system of a modification.

Hereinafter, a suitable mode for carrying out this technique will be described with reference to the drawings. The embodiments described below show typical embodiments of the present technology, and the scope of the present technology is not limited to these embodiments. The present technique will be described in the following order.

1. 1. Outline of this technology 2. First Embodiment (Example including a vestibular electrical stimulator)
3. 3. Second embodiment (first example including vestibular electrical stimulator and mobile terminal)
4. Third embodiment (second example including vestibular electrical stimulator and mobile terminal)
5. Fourth Embodiment (Third Example Including Vestibular Electrical Stimulator and Mobile Terminal)
6. Fifth Embodiment (Example including vestibular electrical stimulator and information processing device)
7. Sixth embodiment (example of using map information)
8. Seventh embodiment (example of remote control by a third party)
9. Eighth embodiment (example of mutual communication between vestibular electrical stimulators)
10. Ninth embodiment (example of using action history)
11. Tenth embodiment (system for avoiding crowding and closeness of people)
12. Modification example (vehicle sickness suppression system)

1. 1. Outline of this technology

The approach avoidance system of the present technology performs the operation of the target (for example, a person) of the system so as to secure a predetermined distance from the moving body existing in the surrounding environment and avoid the approach to the moving body. It induces. In order to induce the movement of the target, the vestibular electrical stimulation (Galvanic Vestibular Stimulation, hereinafter also referred to as GVS) is used in the approach avoidance system of the present technology. GVS is a technique for inducing body movement by stimulating the vestibule, which is an organ in the inner ear that receives acceleration, with an electric current.

When a change occurs in the vestibular sensation, a person tries to reflexively control the balance of the center of gravity of the body and steps in the direction in which the balance can be achieved. Therefore, for example, when the vestibule is stimulated by an electric current during walking, the action of correcting the balance is induced and the walking direction changes. By utilizing this phenomenon, walking can be guided in any direction by controlling the direction and amount of the electric current applied to the vestibule. Therefore, by using the GVS technique, the approach avoidance system can guide the target so as to secure a predetermined distance from the surrounding moving body.

In this specification, "moving body" means a moving object. Examples of the moving body include humans, animals other than humans, and vehicles such as automobiles, motorcycles, and bicycles. The number of moving objects that can be avoided by the approach avoidance system of the present technology is one or more, and in particular, a plurality.

In the present specification, "approach" is a concept that includes contact and collision in addition to approach.

2. First Embodiment (Example including a vestibular electrical stimulator)

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

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

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

(2) Configuration and operation of the vestibular electrical stimulator

(2-1) Overall configuration of vestibular electrical stimulator

The overall configuration of the GVS device 100 will be described with reference to FIG. The GVS device 100 shown in FIG. 1 is for the right ear, but since the GVS device for the left ear may have the same configuration, the terms for the right ear, the right ear side, the right side, and the like are omitted in the following description. May be done.

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

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

The number of image sensors included in the imaging unit 120 is one or more per ear. That is, each of the pair of GVS devices used in this embodiment includes an imaging unit 120 including one or more image sensors. The number of the image sensors is preferably two or more per ear, and more preferably three or more per ear in order to expand the imaging range of the surrounding environment. If the number of image sensors is too large, the manufacturing cost will be high. Therefore, for example, the number of image sensors may be three per ear. The number of the image sensor on the right ear side and the image sensor on the left ear side are preferably the same because they generate images of the surrounding environment without left-right bias.

The arrangement of the image sensor in the imaging unit 120 may be appropriately selected by those skilled in the art so that the surrounding environment can be captured, preferably all directions of the surrounding environment. As an example, the imaging unit 120 may be composed of three

image sensors

121, 122, 123 as shown in FIG. The image sensor 121 is arranged near the right temple of the user U when the GVS device 100 is attached to the right ear, and generates an image of the right front environment of the surrounding environment of the user U. The image sensor 122 is arranged near the upper part of the ear of the user U when the GVS device 100 is attached to the right ear, and generates an image of the right side environment of the surrounding environment of the user U. The image sensor 123 is arranged near the back of the ear of the user U when the GVS device 100 is attached to the right ear, and generates an image of the right rear environment of the surrounding environment of the user U. The GVS device for the left ear (not shown) also generates images of the left anterior environment, the left lateral environment, and the left posterior environment. Such left and right GVS devices can generate omnidirectional images of the user U's surrounding environment.

The image sensor constituting the imaging unit 120 preferably includes an image sensor capable of measuring the distance between the user U and a moving object existing in the surrounding environment, and is preferably a TOF (Time of Flight) image sensor and / or millimeter. It is more preferable to include a wave image sensor. The TOF image sensor is a TOF type distance image sensor, and can measure the distance to an object by using the time difference between irradiating the object with light and detecting the reflected light by the sensor. The millimeter wave image sensor is a sensor that images the power intensity of the millimeter wave by recording the magnitude of the detected millimeter wave energy as the shading of the image, emits the millimeter wave to the object, and measures the return time. Therefore, the distance to the object can be measured. Since millimeter waves have a higher transmittance of substances than visible light, millimeter wave image sensors can be used in environments where there are obstacles between the object and the image sensor, and in bad weather such as rain, snow, and fog. It is suitable for image generation in an environment with reduced visibility. Therefore, by using the millimeter wave image sensor, it is possible to improve the measurement accuracy of the distance in these environments.

The image sensor preferably further includes a visible light image sensor. By imaging the surrounding environment with a visible light image sensor, more detailed information about the surrounding environment can be acquired, so that the detection accuracy of moving objects existing in the surrounding environment can be improved.

When the imaging unit 120 includes two or more image sensors per ear, these image sensors may be part or all of the same type of image sensor, or all of them may be of different types of image sensors. ..

The GVS device 100 further includes an electrode unit 130 for giving GVS to the user U. As shown in FIG. 1, the electrode portion 130 preferably has three

electrodes

131, 132, 133. These three electrodes, respectively, when the GVS device 100 is attached to the right ear, are located near the temple on the right side of the user U, near the skin on the mastoid process behind the right ear, and on the right neck muscle (for example, the mastoid process on the right side). It can be placed in three places (about 6 cm below). The GVS device for the left ear (not shown) also has three similar electrodes, and these three electrodes are also arranged at three locations. That is, each of the pair of GVS devices used in the present technique can include an electrode portion 130 including the above three

electrodes

131, 132, 133, whereby the vestibule of the user U can be stimulated by an electric current.

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

(2-2) Configuration of the main body

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

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

(2-3) Functional configuration of vestibular electrical stimulator

The functional configuration of the GVS device 100 will be described with reference to FIG. FIG. 5 is a diagram showing an example of the functional configuration of the GVS device 100. As shown in FIG. 5, the GVS device 100 includes a moving object analysis unit 111, a speed calculation unit 112, a current value acquisition unit 113, a current control unit 114, a result confirmation unit 115, a transmission / reception unit 116, an imaging unit 120, and an electrode unit. It may include 130. The moving object analysis unit 111, the speed calculation unit 112, the current value acquisition unit 113, the current control unit 114, and the result confirmation unit 115 are mainly realized by the processor 11 executing a program stored in the memory 12. The transmission / reception unit 116 is mainly realized by the processor 11 executing a program stored in the memory 12 and controlling the wireless communication interface 14. The imaging unit 120 is realized by the processor 11 executing a program stored in the memory 12 and controlling the

image sensors

121, 122, 123. The electrode unit 130 is mainly realized by the processor 11 executing a program stored in the memory 12 and controlling the

electrodes

131, 132, 133.

(2-4) Operation of vestibular electrical stimulator

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

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

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

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

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

When the predetermined distance is zero, the time T is, in other words, the time until the user U and the moving object come into contact with each other or collide with each other. The predetermined distance may be stored in the memory 12 in advance, or may be updated at any time, for example.

The distance L, the relative velocity vector V, and the time T will be described with reference to FIG. FIG. 8 is a schematic diagram showing a distance L, a relative velocity vector V, and a time T. The upper left PIC3 and the lower left PIC4 in FIG. 8 are schematic views of images including moving objects M1 to M4 generated by the imaging unit 120 at a time interval dT. U in PIC3 and PIC4 schematically indicates the position of the user. L in PIC3 and PIC4 indicates the distance L between the user U and the moving body M4. The PIC5 on the right side of FIG. 8 includes an arrow schematically showing the relative velocity vectors V of the moving objects M1 to M4. For example, the arrow on the moving body M1 in the PIC 5 indicates the relative velocity vector V1 of the moving body M1 calculated by the moving body analysis unit 111. The arrow on the moving body M2 in the PIC 5 indicates the relative velocity vector V2 of the moving body M2 calculated by the moving body analysis unit 111. T1 in PIC5 means the time required for the user U and the moving body M1 to approach each other to a predetermined distance. Similarly, T2 in PIC5 means the time required for the user U and the moving body M2 to approach each other to a predetermined distance.

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

Returning to FIG. 6, step S14 will be described. The velocity calculation unit 112 extracts a moving body whose time T is within the determination time Tj (step S14).

The determination time Tj may be, for example, a time during which the user U and the moving object are predicted to approach each other under a predetermined situation. Specifically, the user U and the moving object collide with each other and come into contact with each other under a predetermined situation. Or it may be the time expected to approach a predetermined distance. As a result, the speed calculation unit 112 collides with, contacts, or a predetermined distance with the user U from among the moving bodies for which the time T is calculated in step S13. It is possible to extract moving objects that are expected to approach. For example, if the user U is walking at a speed of 4 km / h and there is a pedestrian walking toward the user U at a speed of 4 km / h within a range of 4.4 m from the user U, the user U and the pedestrian are after 2 seconds. It is expected to collide. The determination time Tj may be 2 seconds, which is the time until the collision. The determination time Tj may be stored in the memory 12 in advance, or may be updated at any time, for example.

Step S15 will be described with reference to FIG. The speed calculation unit 112 represents a speed dV indicating the magnitude and direction of the motion to be taken by the user U so that the distance Lj between the user U and the extracted moving object becomes a predetermined distance after the determination time Tj. Is calculated (step S15).

Specifically, the predetermined distance in step S15 may be a distance at which the user U and the extracted moving object do not approach each other after the determination time Tj, and more specifically, the user U after the determination time Tj. It can be a distance at which the extracted moving body does not collide with, touch with, or approach a predetermined distance. As a result, the velocity calculation unit 113 makes the user U approach the extracted moving object after the determination time Tj (more specifically, the user U collides with the extracted moving object after the determination time Tj, and comes into contact with the extracted moving object. It is possible to calculate the magnitude and direction of the movement that can avoid (or approaching a predetermined distance). The value of the predetermined distance may be stored in the memory 12 in advance, or may be updated at any time, for example.

The speed dV represents the magnitude and direction of the action that the user U should take so that the distance Lj between the user U and the extracted moving object becomes a predetermined distance after the determination time Tj. Specifically, the velocity dV represents the magnitude and direction of the operation that can prevent the user U from approaching the extracted moving body after the determination time Tj. More specifically, the velocity dV represents the magnitude and direction of movement that can prevent the user U from colliding with, touching, or approaching a predetermined distance with the extracted moving object after the determination time Tj. When there are a plurality of extracted moving objects, the velocity dV is calculated so that the distance between the user U and all the extracted moving objects is a predetermined distance. This makes it possible to induce an operation by GVS that can avoid approaching all the extracted moving objects.

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

Step S14 and step S15 will be further described with reference to FIG. FIG. 9 is a schematic diagram for explaining an example of the processing executed by the speed calculation unit 112. The left side of FIG. 9 schematically shows that the time T1 required for the user U and the moving body M1 to approach each other to a predetermined distance calculated in step S13 is within 1 second. Further, the left side of FIG. 9 schematically shows that the time T2 required for the user U and the moving body M2 to approach each other to a predetermined distance, which is similarly calculated in step S13, is more than 2 seconds.

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

On the right side of FIG. 9, the relative velocity vector V1 of the moving object M1 calculated by the moving object analysis unit 111 in step S13 and the velocity dV representing the magnitude and direction of the motion to be taken by the user U calculated by the velocity calculating unit 112 in step S14. And are shown schematically. It is predicted that the moving body M1 moving by the relative velocity vector V1 approaches the user U to a predetermined distance within 1 second. In step S15, the speed calculation unit 112 calculates the speed dV of the operation that the user U should take so that the user U can secure a predetermined distance from the moving body M1 after 2 seconds. The right side of FIG. 9 shows an example in which the direction of the velocity dV is set in the direction perpendicular to the relative velocity vector V1 of the moving body M1.

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

The current value database may be provided in the GVS device 100, or may be located outside the GVS device 100 such as a cloud database.

The initial construction of the current value database can be performed, for example, by using the correspondence between the current value I obtained by the experimental method and the velocity dV. That is, the experiment of applying a current of the current value I to the electrode portion of the GVS device with a specific target equipped with the GVS device as a subject and recording the information of the speed dV of the operation induced at that time is repeated. The correspondence between the current value I and the velocity dV thus obtained can be used for constructing the current value database. The information held in the constructed current value database may be updated at any time.

Since the effect of GVS may differ depending on the target, the speed dV of the operation induced by the current value I may differ depending on the target. As one of the factors, it is considered that even if the current value I flowing through the electrode portion 130 is the same, the magnitude of the current that actually stimulates the vestibule differs due to the influence of the size of the head and the like. One of the other factors is that even if the magnitude of the current that stimulates the vestibule is the same, the magnitude of the perceived stimulus is different. In order to reduce the influence of such individual differences, the current value database unique to the user U can be preferably used as the current value database. As a result, the accuracy of correspondence between the current value I and the speed dV can be improved, and the difference in the effect of GVS due to individual differences can be reduced. As a result, since the operation of the user U can be guided by GVS with high accuracy, the accuracy of avoiding approach with a moving object in the approach avoidance system of the present embodiment can be improved. The unique current value database of the user U can be constructed by associating the current value I with the velocity dV based on the result of the user U using the approach avoidance system of the present embodiment.

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

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

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

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

The current control unit 114 can select, for example, an electrode through which a current having a current value I is passed from among the three

electrodes

131, 132, and 133 constituting the electrode unit 130.

With reference to FIG. 11, the relationship between the induced operation of the user U and the electrode through which the current is passed will be described. FIG. 11 is a schematic view showing three

electrodes

131, 132, 133 arranged near the right ear of the user U and the directions (X, Y, and Z directions) of the user U. In FIG. 11, the electrode 131 is arranged near the temple on the right side, the electrode 132 is arranged near the skin on the mastoid process on the right side, and the electrode 133 is arranged near the neck muscle portion on the right side. Similar three electrodes are also arranged near the left ear of the user U (not shown). In FIG. 11, the X direction indicates the front-back direction of the user U, the Y direction indicates the left-right direction of the user U, and the Z direction indicates the up-down direction of the user U.

In the case of GVS that induces the user U to operate in the front-rear direction X, the current control unit 114 passes a current through electrodes arranged near the skin on the left and right mastoid processes. In the case of GVS that induces the user U to move in the left-right direction Y, the current control unit 114 passes a current through an electrode arranged near the skin on the mastoid process and an electrode arranged near the temple. .. For example, when inducing to the right, the current control unit 114 passes a current through an electrode arranged near the skin on the mastoid process on the right side and an electrode arranged near the temple on the right side. For example, when inducing to the left, the current control unit 114 passes a current through an electrode arranged near the skin on the mastoid process on the left side and an electrode arranged near the temple on the left side. Further, in the case of GVS that induces the user U to move in the vertical direction Z, the current control unit 114 includes electrodes arranged near the skin on the left and right mastoid processes and electrodes arranged on the left and right mastoid muscles. Apply current to.

When a current of a predetermined current value (current value I) is passed through the electrode unit 130, the current control unit 114 gradually increases the current value, and after a lapse of a predetermined time, the predetermined current value (current value I). It is preferable to adjust so as to be. This makes it possible to prevent the user U from feeling the stimulus when the current is applied.

The approach avoidance system of the present embodiment can induce the user U to perform an operation that can avoid approaching a moving object existing in the surroundings by executing the above step S17 and giving the user U a GVS. As a result, the user U can avoid approaching the moving objects existing in the surroundings. The moving body is not limited to one, and may be two or more.

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

User U is guided by GVS to move (velocity dV) so that a distance Lj can be secured between the extracted moving body and the moving body. Therefore, the user U can avoid approaching the extracted moving object if it operates at a speed of dV. However, since the effect of GVS is not always constant, the user U given GVS may not operate at the above speed dV. In this case, the user U may not be able to avoid approaching the extracted moving object. That is, the actual operation induced by GVS may differ from the assumed operation. Therefore, the step for confirming the result of the actual operation is the above step S18.

The predetermined condition in step S18 can be, for example, a condition that can confirm that the user U has been able to avoid colliding with, contacting, or approaching a predetermined distance with a moving object as a result of an actual operation. Specifically, the predetermined condition may be, for example, that the Lr matches the Lj. As a result, it can be confirmed that the actual distance (distance Lr) between the user U and the moving object after being given the GVS and moving and the assumed distance (distance Lj) match. The predetermined condition may be, for example, that the difference between the distance Lr and the distance Lj is within the predetermined value, and thereby it can be confirmed that the error between the distance Lr and the distance Lj is within the predetermined value. .. The predetermined condition may be, for example, that the distance Lr is a predetermined value, and thereby it can be confirmed that the actual distance is a predetermined value and the predetermined distance is actually secured. The predetermined condition may be, for example, that the distance Lr is not zero, which can confirm that no collision or contact actually occurred.

In step S19 above, the result confirmation unit 115 updates the current value database when the distance Lr satisfies a predetermined condition. The result confirmation unit 115 updates the current value database, for example, when it is confirmed that the user U can avoid colliding with, touching, or approaching a predetermined distance as a result of the actual operation. can do. By executing the process of step S19, the result of using the approach avoidance system of the present embodiment by the user U can be reflected in the current value database, so that the user U's unique current value database can be constructed. Such a user-specific current value database can contribute to improving the approach avoidance accuracy in the approach avoidance system.

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

The approach avoidance system according to the second embodiment of the present technology includes a pair of GVS devices and a mobile terminal. The pair of GVS devices and the mobile terminal can be communicably connected. The approach avoidance system of the present embodiment is mainly different from the first embodiment in that the mobile terminal includes an imaging unit and the GVS device includes other functional units. Hereinafter, the approach avoidance system of the present embodiment will be mainly described as being different from the first embodiment. Regarding the configuration of the approach avoidance system of the present embodiment, those to which the same description as that of the first embodiment is applied are designated by the same reference numerals as those of the first embodiment.

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

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

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

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

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

4. Third embodiment (second example including vestibular electrical stimulator and mobile terminal)

The approach avoidance system according to the third embodiment of the present technology includes a pair of GVS devices and a mobile terminal. The pair of GVS devices and the mobile terminal can be communicably connected. In the approach avoidance system of the present embodiment, the mobile terminal includes an imaging unit, a moving object analysis unit, a speed calculation unit, and a current value acquisition unit, and the GVS device includes other functional units. The main difference is. Hereinafter, the approach avoidance system of the present embodiment will be mainly described in that it differs from the first or second embodiment. Regarding the configuration of the approach avoidance system of the present embodiment, those to which the same description as that of the first or second embodiment is applied are designated by the same reference numerals as those of the first or second embodiment.

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

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

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

As shown in FIG. 15, the mobile terminal 200B may include an imaging unit 201, a moving object analysis unit 202, a speed calculation unit 203, a current value acquisition unit 204, and a wireless communication unit 205 as functional units. The GVS device 100B may include a current control unit 114, a result confirmation unit 115, a transmission / reception unit 116, and an electrode unit 130 as functional units.

The flow of processing executed by the approach avoidance system 1B may be generally the same as the flow of processing executed by the approach avoidance system 1 of the first embodiment described above with reference to FIG. .. In the approach avoidance system 1B of the present embodiment, the GVS device 100B executes the processes of steps S17 to S19 shown in FIG. 6, and the mobile terminal 200B executes the processes of other steps, that is, the first embodiment. This is the main difference from the approach avoidance system 1. Further, in the approach avoidance system 1B of the present embodiment, the current value database searched by the current value acquisition unit 204 of the mobile terminal 200B in step S16 shown in FIG. 6 is the current value database shown in FIGS. 14 and 15. It is 500 (cloud database).

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

The approach avoidance system according to the fourth embodiment of the present technology includes a pair of GVS devices and a mobile terminal. The pair of GVS devices and the mobile terminal can be communicably connected. The approach avoidance system of the present embodiment is mainly different from the first embodiment in that the mobile terminal includes a speed calculation unit and the GVS device includes other functional units.

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

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

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

6. Fifth Embodiment (Example including vestibular electrical stimulator and information processing device)

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

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

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

The information processing device used in the present embodiment includes the same functional unit as the mobile terminal described in the fourth embodiment, and specifically includes a speed calculation unit and a wireless communication unit. Each of the pair of GVS devices used in the present embodiment has an imaging unit, a moving object analysis unit, a current value acquisition unit, a current control unit, and a result confirmation unit as functional units, similarly to the GVS equipment of the fourth embodiment. , Transmission / reception unit, and electrode unit may be included.

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

7. Sixth embodiment (example of using map information)

The approach avoidance system according to the sixth embodiment of the present technology includes a pair of GVS devices. The approach avoidance system of the present embodiment is different from the first embodiment in that it uses position information and map information. Hereinafter, the approach avoidance system of the present embodiment will be mainly described as being different from the first embodiment. Regarding the configuration of the approach avoidance system of the present embodiment, those to which the same description as that of the first embodiment is applied are designated by the same reference numerals as those of the first embodiment.

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

As shown in FIG. 16, the approach avoidance system 1C holds a pair of left and right GVS devices including a right ear GVS device 100C and a left ear GVS device (not shown), and map information. The map information database 600 to be used is included. The map information database 600 can be, for example, a cloud database.

The hardware configuration of the main body 110C of the GVS device 100C shown in FIG. 16 includes a position information acquisition device in addition to the hardware components of the main body 110 of the first embodiment described with reference to FIG. include. The position information acquisition device is composed of, for example, a GPS (Global Positioning System) receiver or the like, and acquires the current position information of the GVS device 100C, that is, the current position information of the user U.

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

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

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

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

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

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

The speed calculation unit 112 can use the information related to the route when calculating the speed dV (step S15C). The method for calculating the speed dV is as described in step S15 in the first embodiment.

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

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

The approach avoidance system according to the seventh embodiment of the present technology includes a pair of GVS devices. The approach avoidance system of the present embodiment further includes an operation terminal device used by a third party other than the user, and the third party can remotely control the GVS device. It's different. More specifically, the third party can remotely control the GVS device worn by the user while monitoring the user's visual field information by using the approach avoidance system of the present embodiment. Hereinafter, the approach avoidance system of the present embodiment will be mainly described as being different from the first embodiment. Regarding the configuration of the approach avoidance system of the present embodiment, those to which the same description as that of the first embodiment is applied are designated by the same reference numerals as those of the first embodiment.

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

As shown in FIG. 19, the approach avoidance system 1D includes a pair of left and right GVS devices including a right ear GVS device 100 and a left ear GVS device (not shown), and a device other than the user U. Includes an operating terminal device 300 used by a third party. The pair of GVS devices and the operation terminal device 300 can be communicably connected to each other. The operation terminal device 300 may be a device capable of remotely controlling a pair of GVS devices.

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

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

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

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

In the approach avoidance system 1D of the present embodiment, the field of view information acquisition unit 301 acquires the field of view information that can specify the field of view of the user U (step S31). The field of view information may be, for example, image information capable of confirming a range that the user U can see with his / her eyes. Specifically, the field of view information may be image information capable of confirming a moving object existing in a range that the user U can see with his / her eyes. The field of view information may be, for example, information acquired by the imaging unit 120 of the GVS device 100, or information acquired by a wearable device other than the GVS device 100 mounted on the user U.

The field of view display unit 302 displays the field of view information of the user U acquired in step S31 (step S32). The field of view display unit 302 may display the field of view information on an output device (for example, a display) of the operation terminal device 300, for example. The third party can monitor the field of view display unit 302, whereby the field of view of the user U can be captured over time.

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

The current value setting unit 303 can set the current value determined by the third party who monitors the field of view display unit 302 as the current value I (or as a predetermined current value) (step S34). In step S17 executed after step S34, the current control unit 114 causes the current of the current value set by the current value setting unit 303 to flow to the electrode unit 130.

An application example of the approach avoidance system 1D of the present embodiment will be described. For example, a person (eg, a child, a visually impaired person, or a dementia patient) who is considered to have a relatively high risk of colliding with or coming into contact with surrounding moving objects while walking is a user of the approach avoidance system 1D. It may be. For example, when a third party monitors the visibility information of the user by using the approach avoidance system 1D of the present embodiment and determines that the user may collide with a moving object, a predetermined value is determined. It is possible to set a current value to guide the user to avoid approaching a moving object. As a result, a third party can support safe walking while watching over the user from a remote location. The target of the approach avoidance system 1D of the present embodiment is not limited to the above-mentioned human beings, and may be, for example, another human being or an animal other than a human being.

A modified example of the approach avoidance system 1D of the present embodiment will be described. In the modification, the GVS device worn by the user may include a microphone that acquires sounds such as the user's voice and ambient environmental sounds. In addition, the user may wear a pressure sensor on his finger. On the other hand, the operation terminal device operated by a third party other than the user may be provided with a microphone for acquiring sound and a speaker for outputting sound, and the third party may wear a pressure sensor on his / her finger. The GVS device, the pressure sensor, and the operation terminal device are configured to be able to communicate with each other wirelessly (for example, Bluetooth®). With such a configuration, a third party can control the user's operation while feeling the user's surrounding environment in real time while being remote. Therefore, this modification can also be applied to entertainment applications such as remote travel or dating.

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

The approach avoidance system according to the eighth embodiment of the present technology includes a plurality of a pair of GVS devices. A plurality of pairs of GVS devices can be connected to each other so as to be able to communicate with each other. Hereinafter, the approach avoidance system of the present embodiment will be mainly described in that it differs from the first embodiment.

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

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

As shown in FIG. 23, the GVS device 100a includes a recognition signal generation unit 119a, and the GVS device 100b includes a recognition signal generation unit 119b. These recognition signal generation units 119a and 119b are different from the GVS device 100 used in the first embodiment. Among the functional units shown in FIG. 23, the functional units other than the recognition signal generation units 119a and 119b are as described in the first embodiment.

The recognition signal generation unit 119a of the GVS device 100a generates a recognition signal for causing another GVS device 100b to recognize its own GVS device 100a. Similarly, the recognition signal generation unit 119b of the GVS device 100b generates a recognition signal for causing another GVS device 100a to recognize its own GVS device 100b. As described above, in the approach avoidance system 10 of the present embodiment, each of the pair of

GVS devices

100a and 100b includes a recognition signal generation unit that generates a recognition signal that causes another GVS device to recognize its own GVS device. The recognition signal can include, for example, information about its own GVS device, and specifically can include information about the magnitude and direction of the user's movements guided by its own GVS device.

The

GVS devices

100a and 100b include transmission / reception units 116a and 116b for transmitting and receiving the recognition signal, respectively. The recognition signal may be, for example, an RF signal, and in this case, the transmission / reception units 116a and 116b may be RF transmission / reception units.

By receiving the recognition signals of other GVS devices, the

GVS devices

100a and 100b used in the present embodiment can use the recognition signals to avoid approaching each other. Specifically, the speed calculation unit 112a of the GVS device 100a can calculate the speed dV based on the recognition signal from the other GVS device 100b received by the transmission / reception unit 116a. Similarly, the speed calculation unit 112b of the GVS device 100b can calculate the speed dV based on the recognition signal from the other GVS device 100a received by the transmission / reception unit 116b. The method of calculating the speed dV is as described in step S15 in the first embodiment. When the recognition signal includes information on the magnitude and direction of the user's movement as described above, the speed dV is calculated using the recognition signal from another GVS device to avoid approaching another user. A possible speed dV can be obtained.

10. Ninth embodiment (example of using action history)

The approach avoidance system according to the ninth embodiment of the present technology includes a plurality of a pair of GVS devices. A plurality of pairs of GVS devices can be connected to each other so as to be able to communicate with each other. The approach avoidance system of the present embodiment further includes an action history database, and the use of the action history database is the main difference from the eighth embodiment. Hereinafter, the approach avoidance system of the present embodiment will be mainly described as being different from the eighth embodiment. Regarding the configuration of the approach avoidance system of the present embodiment, those to which the same description as that of the eighth embodiment is applied are designated by the same reference numerals as those of the eighth embodiment.

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

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

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

The

GVS devices

100a and 100b used in the present embodiment include functional parts of the

GVS devices

100a and 100b in the eighth embodiment described with reference to FIG. 23, respectively. Further, each of the

GVS devices

100a and 100b used in the present embodiment includes an information acquisition unit as a functional unit. The information acquisition unit acquires the behavior history of the other user from the behavior history database that holds the behavior history of the other user wearing the other GVS device based on the recognition signal from the other GVS device. I can do it. For example, the information acquisition unit of the GVS device 100a can obtain the action history of another user Ub wearing the other GVS device 100b based on the recognition signal from the other GVS device 100b from the action history database. The action history of the user Ub can be acquired.

The action history management device 700 may include an action prediction unit as a functional unit. The behavior prediction unit can predict the user's behavior and calculate the prediction speed vector Vp based on the behavior history information. The behavior prediction unit can be realized by machine learning such as deep learning.

Each information acquisition unit of the

GVS devices

100a and 100b can acquire the predicted speed vector Vp from the action prediction unit of the action history management device 700. For example, the GVS device 100a can acquire the predicted speed vector Vp of another user Ub who wears the other GVS device 100b. In this case, the speed calculation unit 112a of the GVS device 100a can calculate the speed dV by using the predicted speed vector Vp of the other user Ub. In this way, by calculating the speed dV using the predicted speed vector Vp of the other user, it is possible to avoid approaching the other user more accurately.

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

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

The approach avoidance system for avoiding crowding and closeness of people can be used, for example, for a service to prevent crowding and close contact when a child is exercising or playing. Hereinafter, an example of the service will be described.

It is assumed that the above services will be implemented in specific areas such as parks, school playgrounds, and amusement parks. The user of the service enters the necessary information on the website for applying for the service, or goes to the place where the service is provided and fills in the necessary items on the paper, regarding the service provider and the use of the service. We signed a contract. As a result, the service is started to be provided. The devices and services provided to users are operated by, for example, GVS devices, regular maintenance of approach avoidance systems, current value databases of GVS devices, behavior history databases of other users, and third parties (especially parents of children). It can be a control tool and video or game content that can be viewed by AR goggles, VR goggles, or a head-mounted display.

The above services can prevent crowding and closeness in places where children tend to be dense, such as parks, school playgrounds, and amusement parks.

12. Modification example (vehicle sickness suppression system)

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

The outline of the motion sickness suppression system of this modified example will be explained. The vehicle sickness suppression system is a technology for automobiles that is fully automated and has a full-screen display of the vehicle window, and aims to suppress vehicle sickness of a person occupying the vehicle. In this system, the imaging unit described in the above embodiment is configured as an infrared and visible light imaging unit. Then, this system uses the GVS device described in the above embodiment not for avoiding approaching a moving object but for suppressing sickness in a vehicle caused by a difference between an actual acceleration and an acceleration in an image.

The cause of the above-mentioned motion sickness will be described with reference to FIG. When looking at the image displayed on the entire surface of the vehicle window while boarding the above vehicle, the acceleration perceived by the passenger's front yard (actual acceleration) and the acceleration perceived by the passenger from visual information There may be a difference between them. That is, there may be inconsistencies between the information perceived by the vestibule and the information obtained visually. Such inconsistency between vestibular information and visual information can cause motion sickness.

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

The automobile 800 includes a visible light image sensor unit, an infrared image sensor unit, a complexion determination unit, a vehicle body acceleration sensor unit, a display image processing unit, and a motion analysis unit. The visible light image sensor unit identifies the face of the passenger (user U) by visible light imaging. The infrared image sensor unit determines the fluctuation of the amount of hemoglobin in the blood of the passenger by near-infrared imaging, and calculates the pulse change. A plurality of the visible light image sensor unit and the infrared image sensor unit may be mounted inside the automobile 800, respectively, whereby the states of the plurality of passengers can be individually determined.

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

The vehicle body acceleration sensor unit extracts the acceleration of the automobile 800. The display image processing unit extracts the acceleration in the image displayed on the display of the vehicle window. The motion analysis unit calculates the difference between the acceleration of the automobile 800 and the acceleration in the image. The GVS device 103 determines the current value applied to the electrodes in the device so as to make up for the difference. In the motion sickness suppression system of this modification, a database in which acceleration and current value are associated may be created, and the current value applied to the electrodes of the GVS device 103 may be determined using the database. good.

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

The present technology can also have the following configurations.
[1]
An imaging unit that generates an image of the surrounding environment of the target at time intervals dT,
The distance L between the target and the moving body existing in the surrounding environment and the relative velocity vector V of the moving body with respect to the target are calculated, and the target and the moving body are used using the distance L and the relative velocity vector V. A moving object analysis unit that calculates the time T required for and to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the target should take a predetermined distance so that the distance Lj between the target and the extracted moving body becomes a predetermined distance after the judgment time Tj. A speed calculation unit that calculates the speed dV that represents the magnitude and direction of movement,
An electrode part for applying vestibular electrical stimulation to the subject,
An approach avoidance system including a current control unit that applies a vestibular electrical stimulus to the object in order to induce the object to operate at the speed dV by passing a current of a predetermined current value through the electrode unit.
[2]
Acquire the current value I that corresponds to the predetermined speed dV by searching the current value database that holds the information of the speed dV of the operation induced when the current of the current value I flows through the electrode portion. Including the part
The approach avoidance system according to [1], wherein the current control unit causes a current having the current value I to flow through the electrode unit.
[3]
The current control unit further includes a result confirmation unit that confirms the distance Lr between the object and the extracted moving object after the vestibular electrical stimulation is applied to the object.
The approach avoidance system according to [2], wherein the result confirmation unit updates the current value database when the distance Lr satisfies a predetermined condition.
[4]
The approach avoidance system according to any one of [1] to [3], wherein the imaging unit includes a TOF imagen sensor and / or a millimeter wave image sensor.
[5]
The approach avoidance system according to [4], wherein the imaging unit further includes a visible light image sensor.
[6]
The approach avoidance system includes a pair of vestibular electrical stimulators.
Each of the pair of vestibular electrical stimulators includes the imaging unit, the moving object analysis unit, the speed calculation unit, the electrode unit, and the current control unit, in any one of [1] to [5]. The approach avoidance system described.
[7]
The approach avoidance system includes a pair of vestibular electrical stimulators and a mobile terminal.
The pair of vestibular electrical stimulators and the mobile terminal are communicably connected to each other.
Each of the pair of vestibular electrical stimulators includes the imaging unit, the moving object analysis unit, the electrode unit, and the current control unit.
The approach avoidance system according to any one of [1] to [6], wherein the mobile terminal includes the speed calculation unit.
[8]
The approach avoidance system includes a pair of vestibular electrical stimulators and an information processing device.
The pair of vestibular electrical stimulators and the information processing device are communicably connected to each other.
Each of the pair of vestibular electrical stimulators includes the imaging unit, the moving object analysis unit, the electrode unit, and the current control unit.
The approach avoidance system according to any one of [1] to [7], wherein the information processing device includes the speed calculation unit.
[9]
The approach avoidance system includes a mobile terminal.
The approach avoidance system according to any one of [1] to [8], wherein the mobile terminal includes the imaging unit.
[10]
The approach avoidance system includes a mobile terminal.
The approach avoidance system according to [2] or [3], wherein the mobile terminal includes the imaging unit, the moving object analysis unit, the speed calculation unit, and the current value acquisition unit.
[11]
The approach avoidance system according to any one of [1] to [10], further including an audio output unit that outputs audio.
[12]
The approach avoidance system according to any one of [1] to [11], further including an image display unit for displaying an image.
[13]
A position information acquisition unit that acquires the current position information of the target, and
A route selection unit that selects a route until the target reaches the destination based on the map information and the position information and acquires information about the route from the map information is further included.
The approach avoidance system according to any one of [1] to [12], wherein the speed calculation unit uses information about the route when calculating the speed dV.
[14]
A field of view information acquisition unit that acquires field of view information that can identify the field of view of the target, and
A field of view display unit that displays the field of view information and
Any one of [1] to [13], including a current value setting unit that sets a current value determined by a third party other than the target that monitors the visibility display unit as the predetermined current value. The approach avoidance system described in one.
[15]
The approach avoidance system includes a plurality of a pair of vestibular electrical stimulators.
The pair of existing vestibular electrical stimulators are connected to each other so as to be able to communicate with each other.
Each of the plurality of objects is fitted with the pair of vestibular electrical stimulators.
The pair of vestibular electrical stimulators includes a recognition signal generator that generates a recognition signal that causes the other pair of vestibular electrical stimulators to recognize their own vestibular electrical stimulator, and a transmission / reception unit that transmits and receives the recognition signal. ,
The speed dV is calculated based on the recognition signal from the other pair of vestibular electrical stimulators received by the transmission / reception unit, according to any one of [1] to [14]. Approach avoidance system.
[16]
The approach avoidance system
Based on the recognition signal from the other pair of vestibular electrical stimulators, the behavior history is obtained from the behavior history database that holds the behavior history information of the other target wearing the other pair of vestibular electrical stimulators. Information acquisition department to acquire information and
A behavior prediction unit that predicts the behavior of the other target and calculates a prediction speed vector Vp based on the acquired behavior history information is included.
The approach avoidance system according to [15], wherein the speed calculation unit calculates the speed dV using the predicted speed vector Vp of the other object.
[17]
The target is a human, and the moving body existing in the surrounding environment is also a human.
The approach avoidance system according to any one of [1] to [16], which is used to secure a predetermined distance between people and avoid crowding and close contact of people.
[18]
A pair of vestibular electrical stimulators
Each of the pair of vestibular electrical stimulators
An imaging unit that generates an image of the surrounding environment of the target at time intervals dT,
The distance L between the target and the moving body existing in the surrounding environment and the relative velocity vector V of the moving body with respect to the target are calculated, and the target and the moving body are used using the distance L and the relative velocity vector V. A moving object analysis unit that calculates the time T required for and to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the target should take a predetermined distance so that the distance Lj between the target and the extracted moving body becomes a predetermined distance after the judgment time Tj. A speed calculation unit that calculates the speed dV that represents the magnitude and direction of movement,
An electrode part for applying vestibular electrical stimulation to the subject,
The pair of vestibular electrical stimuli, including a current control unit that supplies a vestibular electrical stimulus to the subject in order to induce the subject to operate at the speed dV by passing a current of a predetermined current value through the electrode portion. Device.
[19]
The pair of vestibular electrical stimulators is a pair of ear-hook type wearable devices.
The pair of vestibular electrical stimulators according to [18], wherein each of the pair of vestibular electrical stimulators includes the imaging unit including one or more image sensors and the electrode unit including three electrodes.

1 Approach avoidance system 100 Vestibular electrical stimulator 111 Dynamic body analysis unit 112 Velocity calculation unit 114 Current control unit 120 Imaging unit 130 Electrode unit

Claims

An imaging unit that generates an image of the surrounding environment of the target at time intervals dT,
The distance L between the target and the moving body existing in the surrounding environment and the relative velocity vector V of the moving body with respect to the target are calculated, and the target and the moving body are used using the distance L and the relative velocity vector V. A moving object analysis unit that calculates the time T required for and to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the target should take a predetermined distance so that the distance Lj between the target and the extracted moving body becomes a predetermined distance after the judgment time Tj. A speed calculation unit that calculates the speed dV that represents the magnitude and direction of movement,
An electrode part for applying vestibular electrical stimulation to the subject,
An approach avoidance system including a current control unit that applies a vestibular electrical stimulus to the object in order to induce the object to operate at the speed dV by passing a current of a predetermined current value through the electrode unit.
Acquire the current value I that corresponds to the predetermined speed dV by searching the current value database that holds the information of the speed dV of the operation induced when the current of the current value I flows through the electrode portion. Including the part
The approach avoidance system according to claim 1, wherein the current control unit causes a current having the current value I to flow through the electrode unit.
The current control unit further includes a result confirmation unit that confirms the distance Lr between the object and the extracted moving object after the vestibular electrical stimulation is applied to the object.
The approach avoidance system according to claim 2, wherein the result confirmation unit updates the current value database when the distance Lr satisfies a predetermined condition.
The approach avoidance system according to claim 1, wherein the imaging unit includes a TOF imagen sensor and / or a millimeter wave image sensor.
The approach avoidance system according to claim 4, wherein the imaging unit further includes a visible light image sensor.
The approach avoidance system includes a pair of vestibular electrical stimulators.
The approach avoidance system according to claim 1, wherein each of the pair of vestibular electrical stimulators includes the imaging unit, the moving object analysis unit, the speed calculation unit, the electrode unit, and the current control unit.
The approach avoidance system includes a pair of vestibular electrical stimulators and a mobile terminal.
The pair of vestibular electrical stimulators and the mobile terminal are communicably connected to each other.
Each of the pair of vestibular electrical stimulators includes the imaging unit, the moving object analysis unit, the electrode unit, and the current control unit.
The approach avoidance system according to claim 1, wherein the mobile terminal includes the speed calculation unit.
The approach avoidance system includes a pair of vestibular electrical stimulators and an information processing device.
The pair of vestibular electrical stimulators and the information processing device are communicably connected to each other.
Each of the pair of vestibular electrical stimulators includes the imaging unit, the moving object analysis unit, the electrode unit, and the current control unit.
The approach avoidance system according to claim 1, wherein the information processing device includes the speed calculation unit.
The approach avoidance system includes a mobile terminal.
The approach avoidance system according to claim 1, wherein the mobile terminal includes the imaging unit.
The approach avoidance system includes a mobile terminal.
The approach avoidance system according to claim 2, wherein the mobile terminal includes the imaging unit, the moving object analysis unit, the speed calculation unit, and the current value acquisition unit.
The approach avoidance system according to claim 1, further including an audio output unit that outputs audio.
The approach avoidance system according to claim 1, further including a video display unit for displaying video.
A position information acquisition unit that acquires the current position information of the target, and
A route selection unit that selects a route until the target reaches the destination based on the map information and the position information and acquires information about the route from the map information is further included.
The approach avoidance system according to claim 1, wherein the speed calculation unit uses information about the route when calculating the speed dV.
A field of view information acquisition unit that acquires field of view information that can identify the field of view of the target, and
A field of view display unit that displays the field of view information and
The approach avoidance system according to claim 1, further comprising a current value setting unit that sets a current value determined by a third party other than the target that monitors the visibility display unit as the predetermined current value.
The approach avoidance system includes a plurality of a pair of vestibular electrical stimulators.
The pair of existing vestibular electrical stimulators are connected to each other so as to be able to communicate with each other.
Each of the plurality of objects is fitted with the pair of vestibular electrical stimulators.
The pair of vestibular electrical stimulators includes a recognition signal generator that generates a recognition signal that causes the other pair of vestibular electrical stimulators to recognize their own vestibular electrical stimulator, and a transmission / reception unit that transmits and receives the recognition signal. ,
The approach avoidance system according to claim 1, wherein the speed calculation unit calculates the speed dV based on the recognition signal from the other pair of vestibular electrical stimulators received by the transmission / reception unit.
The approach avoidance system
Based on the recognition signal from the other pair of vestibular electrical stimulators, the behavior history is obtained from the behavior history database that holds the behavior history information of the other target wearing the other pair of vestibular electrical stimulators. Information acquisition department to acquire information and
A behavior prediction unit that predicts the behavior of the other target and calculates a prediction speed vector Vp based on the acquired behavior history information is included.
The approach avoidance system according to claim 15, wherein the speed calculation unit calculates the speed dV using the predicted speed vector Vp of the other object.
The target is a human, and the moving body existing in the surrounding environment is also a human.
The approach avoidance system according to claim 1, which is used to secure a predetermined distance between people and avoid crowding and close contact of people.
A pair of vestibular electrical stimulators
Each of the pair of vestibular electrical stimulators
An imaging unit that generates an image of the surrounding environment of the target at time intervals dT,
The distance L between the target and the moving body existing in the surrounding environment and the relative velocity vector V of the moving body with respect to the target are calculated, and the target and the moving body are used using the distance L and the relative velocity vector V. A moving object analysis unit that calculates the time T required for and to approach a predetermined distance,
The moving body whose time T is within the determination time Tj is extracted, and the target should take a predetermined distance so that the distance Lj between the target and the extracted moving body becomes a predetermined distance after the judgment time Tj. A speed calculation unit that calculates the speed dV that represents the magnitude and direction of movement,
An electrode part for applying vestibular electrical stimulation to the subject,
The pair of vestibular electrical stimuli, including a current control unit that supplies a vestibular electrical stimulus to the subject in order to induce the subject to operate at the speed dV by passing a current of a predetermined current value through the electrode portion. Device.
The pair of vestibular electrical stimulators is a pair of ear-hook type wearable devices.
The pair of vestibular electrical stimulators according to claim 18, wherein each of the pair of vestibular electrical stimulators comprises the imaging unit including one or more image sensors and the electrode unit including three electrodes.