Output control program, output control method and navigation device

Abstract

To perform route guidance understandable for a visually handicapped person.SOLUTION: An output control program of an embodiment causes a computer to execute processing of performing specification and processing of performing control. The processing of performing specification specifies a position of a terminal device. The processing of performing control performs control for outputting first guide sound whose sound varies according to a distance with a first passage point at the closest distance to the terminal device among one or more passage points including a first destination shown in route information and having directivity according to a direction of the first passage point to the terminal device from a speech output device worn by a user of the terminal device, stopping output of the first guide sound when the terminal device reaches the first passage point, and outputting second guide sound whose sound varies according to a distance with a second passage point at the closest distance to the terminal device except the first passage point among the one or more passage points, and having directivity according to a direction of the second passage point to the terminal device from the speech output device, on the basis of the specified position of the terminal device.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] Embodiments of the present invention relate to an output control program, an output control method, and a navigation device.

Background Art

[0002] Conventionally, when visually impaired people go out, they need to rely on Braille blocks and the sounds of acoustic signal lights at crosswalks to walk. However, facilities such as Braille blocks and acoustic signal lights need to be installed. Also, even if they are installed, for example, acoustic signal lights have restrictions such as installing speakers in the upper center with respect to the width of the crosswalk, and maintenance such as dealing with the wear of Braille blocks is required.

[0003] As a conventional technique for guiding a path for visually impaired people without installing such special facilities, there is known one that notifies path information by voice via a portable terminal such as glasses.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when notifying path information by voice as in the above conventional technique, descriptions of the surrounding situation by words such as direction, sense of distance, and what is there become complicated in content, and there is a problem that it is difficult for visually impaired people to understand.

[0006] On one aspect, an object is to provide an output control program, an output control method, and a navigation device that enable easy-to-understand path guidance for visually impaired people.

Means for Solving the Problems

[0007] In one aspect, the output control program causes a computer to execute a specifying process and a controlling process. The specifying process specifies the position of the terminal device. The controlling process changes the sound according to the distance between the terminal device and the first passing point, which is the closest to the terminal device among one or more passing points including the first destination indicated in the route information, based on the specified position of the terminal device, and outputs a first guidance sound having a directivity according to the direction of the first passing point with respect to the terminal device from the voice output device worn by the user of the terminal device. Further, when the terminal device reaches the first passing point, the controlling process stops the output of the first guidance sound, and changes the sound according to the distance between the terminal device and the second passing point, which is the closest to the terminal device among the one or more passing points other than the first passing point, and outputs a second guidance sound having a directivity according to the direction of the second passing point with respect to the terminal device from the voice output device.

Advantages of the Invention

[0008] According to one embodiment, easy-to-understand route guidance can be provided to visually impaired persons.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 6

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Figure 8

Figure 9

Figure 10

Figure 11

[0010] Hereinafter, an output control program, an output control method, and a navigation device according to the embodiment will be described with reference to the drawings. In the embodiment, components having the same function are denoted by the same reference numerals, and redundant descriptions are omitted. Note that the output control program, the output control method, and the navigation device described in the following embodiments are merely examples and do not limit the embodiments. Also, the following embodiments may be appropriately combined within a non - conflicting range.

[0011] FIG. 1 is a block diagram showing a functional configuration example of the navigation device according to the embodiment. As shown in FIG. 1, the navigation device 1 includes a communication unit 10, an input unit 20, a photographing unit 30, a display unit 40, an audio output unit 50, a storage unit 60, and a control unit 70.

[0012] The navigation device 1 is a portable terminal device used by a user, and in addition to a smartphone, a wearable terminal worn on the body (e.g., the head, etc.) can be applied. In the present embodiment, the navigation device 1 is a smartphone carried by a user who is visually impaired.

[0013] The communication unit 10 is a communication interface or the like that performs data communication with an external device under the control of the control unit 70. Note that the communication unit 10 may have a receiving function for receiving GPS signals from GPS satellites in order to perform position measurement by GPS (Global Positioning System).

[0014] The input unit 20 receives operations from the user. For example, the input unit 20 receives input of information regarding the setting of a guidance route from the user.

[0015] The imaging unit 30 performs imaging using a digital camera provided on the housing (rear / front) of the navigation device 1 under the control of the control unit 70. The display unit 40 displays various information under the control of the audio output unit 50.

[0016] The audio output unit 50 is an audio output device such as a speaker or earphone (wearable speaker worn by the user) that outputs audio to the user of the navigation device 1 under the control of the control unit 70. Here, the audio output unit 50 adjusts the audio output of a plurality of speakers or earphones (L, R) corresponding to the left and right ears under the control of the control unit 70. As a result, the audio output unit 50 can perform stereophonic sound reproduction with directivity corresponding to the direction of that position so that audio is reproduced from a predetermined position (audio reproduction at sound image localization of a predetermined position). This stereophonic sound is also called, for example, 3D sound / 3D audio / three-dimensional audio.

[0017] The storage unit 60 has map information 61 and route information 62. For example, the storage unit 60 is realized by a memory or the like.

[0018] The map information 61 is map information within the area targeted for route guidance. Specifically, the map information 61 includes the three-dimensional position information, name, and description text of each of various objects included within the area targeted for route guidance. The map information 61 that includes the three-dimensional position information of each of such various objects is prepared and provided by an administrator using an external service such as Immersal Mapper (registered trademark) or Matterport (registered trademark) provided by Immersal, Inc.

[0019] FIG. 2 is an explanatory diagram for explaining the preparation of the map information 61. As shown in FIG. 2, the administrator H1 photographs the target area R1 for route guidance (S1). Subsequently, the administrator H1 generates point cloud data D1 corresponding to the three-dimensional positions of objects such as desks and walls within the target area R1 using Immersal Mapper based on the photographed image (S2).

[0020] Subsequently, the administrator H1 tags the object D2 (destination candidate) on the point cloud data D1 with a name and description (library, schedule, meeting, Team A, Team B), etc. (S3).

[0021] Also, the administrator H1 sets a walkable area D3 (NavMesh) for passages between the point cloud data D1. Further, the administrator H1 sets an obstacle object (no-entry area) for the obstacle D4 on the object on the point cloud data D1 (S5). In this way, the administrator H1 prepares (S6) and pre-registers a 3D map in which the object D2, walkable area D3, and obstacle D4 on the point cloud data D1 within the target area R1 are set as the map information 61.

[0022] Regarding the map information 61, after specifying the shooting position at the time of the above preparation using GPS or the like, the three-dimensional position of the point cloud data D1 with respect to the shooting position may be specified. Thereby, in the map information 61, the positional relationship between the position of the navigation device 1 by GPS and the three-dimensional positions of the objects included in the map information 61 can be specified.

[0023] Returning to FIG. 1, the route information 62 is information indicating the route set by the user. Specifically, the route information 62 is an enumeration of one or more destinations selected from among the objects D2 (destination candidates) within the target area R1 in the order of guidance.

[0024] The control unit 70 is a computer realized by a processor and controls various operations related to route guidance and the like of the navigation device 1. Specifically, the control unit 70 includes a route setting unit 71, a position specifying unit 72, a guidance processing unit 73, and a warning processing unit 74.

[0025] The route setting unit 71 is a processing unit that sets a guidance route (route) based on the operation input of the user via the input unit 20. For example, the route setting unit 71 sets, as the route information 62, the route of one or more destinations selected from among the objects D2 (destination candidates) within the target area R1 by screen operation or the like. Also, the route setting unit 71 may set, as the route information 62, the route of one or more destinations selected from among the objects D2 (destination candidates) within the target area R1 by voice input.

[0026] The position specifying unit 72 is a processing unit that specifies the position of the navigation device 1. Specifically, the position specifying unit 72 collates the image captured by the imaging unit 30 with the map information 61 using the function of the Immersal SDK (registered trademark) provided by Immersal. That is, the position specifying unit 72 specifies the position and orientation of the navigation device 1 by collating the object included in the captured image with the three-dimensional position information (point cloud data D1) of each object within the target area R1 of the imaging unit 30.

[0027] Note that the position specifying unit 72 may specify the position and orientation of the navigation device 1 based on the GPS and the image captured by the imaging unit 30 outdoors where the GPS can be used.

[0028] The guidance processing unit 73 is a processing unit that outputs route guidance voice to the user via the voice output unit 50 based on the position of the navigation device 1 specified by the position specifying unit 72. Specifically, the guidance processing unit 73 specifies, from the map information 61, a first passing point that is the closest to the navigation device 1 among one or more passing points including the final destination on the route of the route information 62, based on the position of the navigation device 1. Next, the guidance processing unit 73 outputs, via the voice output unit 50, a first voice that has a directivity corresponding to the direction of the first passing point with respect to the navigation device 1 and whose sound changes according to the distance to the first passing point, to the user.

[0029] Also, when the navigation device 1 reaches the first passing point, the guidance processing unit 73 stops the output of the first voice. Next, the guidance processing unit 73 specifies, from the map information 61, a second passing point that is the closest to the navigation device 1 among the one or more passing points other than the first passing point. Next, the guidance processing unit 73 outputs, via the voice output unit 50, a second voice that has a directivity corresponding to the direction of the second passing point with respect to the navigation device 1 and whose sound changes according to the distance to the second passing point, to the user.

[0030] The warning processing unit 74 is a processing unit that outputs a warning voice regarding an obstacle to the user via the voice output unit 50 during route guidance, based on the position of the navigation device 1 specified by the position specifying unit 72. Specifically, the warning processing unit 74 detects, based on the image of the surroundings of the navigation device 1 captured by the imaging unit 30, that the navigation device 1 and an obstacle included in the map information 61 are facing each other at a distance less than a predetermined distance. Next, when the warning processing unit 74 detects that the navigation device 1 and the obstacle are facing each other at a distance less than a predetermined distance, it outputs a warning voice to the user via the voice output unit 50.

[0031] Here, the operation of the navigation device 1 will be described in detail. First, the route setting performed prior to route guidance will be described.

[0032] FIG. 3 is a flowchart showing an example of the route setting process of the navigation device 1 according to the embodiment. As shown in FIG. 3, when the process starts, the position specifying unit 72 reads the map information 61 (S10).

[0033] Next, the position specifying unit 72 starts photographing the surroundings of the navigation device 1 by the photographing unit 30 (S11). Next, the position specifying unit 72 collates the video of the surroundings of the navigation device 1 photographed by the photographing unit 30 and the data of the point cloud map (point cloud data D1 included in the map information 61) using the function of the Immersal SDK. Thereby, the position specifying unit 72 captures (specifies) the position and orientation of the navigation device 1 (S12). Thereafter, the position specifying unit 72 periodically collates the photographed video of the surroundings of the navigation device 1 with the map information 61 to update the information on the position and orientation of the navigation device 1.

[0034] Next, the route setting unit 71 presents the object D2 (destination candidate) included in the route setting unit 71 to the user and accepts the selection of the destination (S13). Next, when the route setting unit 71 receives the pressing of the guidance start button (S14), it holds the information of the selected destination (S15).

[0035] Next, the route setting unit 71 calculates the distances between all the selected destinations and the user (the position of the navigation device 1) respectively (S16), rearranges all the selected destinations in ascending order of proximity to the user, and holds them as the route information 62 (S17), and ends the process.

[0036] FIG. 4 is an explanatory diagram for explaining the outline of route generation. As shown in FIG. 4, the user U1 holds and uses the navigation device 1 so that the camera of the photographing unit 30 can photograph the surroundings, for example, by putting the navigation device 1 in a chest pocket or the like. Further, the user U1 wears the earphones 50R and 50L of the audio output unit 50 on both ears to enable viewing of the above-described stereophonic audio reproduction.

[0037] First, the position identification unit 72 of the navigation device 1 photographs the surroundings of the user U1 (S11) and compares them with the data of the point cloud map (S12). As a result, the position identification unit 72 identifies the position of the navigation device 1 and the direction in which the navigation device 1 faces.

[0038] Next, the route setting unit 71 receives information on destinations (the desks of Team A, the library, the schedule board) on the route based on the voice input of the user U1, etc. (S13, S14).

[0039] Next, the route setting unit 71 calculates the distances between the received destinations D2a, D2b, D2c and the user U1 respectively, and generates a route in which all the destinations D2a, D2b, D2c are arranged in ascending order of proximity to the user U1 (S15, S16, S17). In this route generation, the points (turning corners) where the moving direction is changed are set as waypoints D5a, D5b while passing through the walkable area D3 included in the map information 61 and reaching all the destinations D2a, D2b, D2c.

[0040] Based on the route information 62 of the generated route, the navigation device 1 starts the guidance process for the user U1. FIGS. 5A and 5B are flowcharts showing an example of the guidance process of the navigation device according to the embodiment.

[0041] As shown in FIG. 5A, when the guidance process is started, the guidance processing unit 73 sets the nth destination included in the route information 62 as the guidance destination (S20). Note that n = 0 for the first time.

[0042] Next, the guidance processing unit 73 performs loop processing of S21 to S35 while the distance between the guidance destination and the user U1 based on the position of the navigation device 1 specified by the position identification unit 72 is farther than the proximity determination threshold.

[0043] Specifically, the guidance processing unit 73 calculates the route from the position of the navigation device 1 specified by the position identification unit 72 to the guidance destination (S22) and determines the number of turning corners (waypoints) on the route (S23).

[0044] In the determination of S23, when there is no turning angle, the guidance processing unit 73 plays a directional guidance sound (for example, a beep sound such as "pin, pin..." with a predetermined period and volume) directed from the position of the destination of the guidance destination to the navigation device 1 to the user U1 (S24), and proceeds to S27 for processing.

[0045] In the determination of S23, when there is one or more turning angles, the guidance processing unit 73 holds the turning angle closest to the user U1 (navigation device 1) as a waypoint (S25). Then, the guidance processing unit 73 plays a directional guidance sound directed from this waypoint to the navigation device 1 to the user U1 (S26).

[0046] Next, the guidance processing unit 73 determines whether the distance between the reproduction position of the guidance sound (waypoint or destination) and the user U1 becomes closer or farther based on the position of the navigation device 1 specified by the position specifying unit 72 (S27).

[0047] In the determination of S27, when it becomes farther, the guidance processing unit 73 decreases the volume of the guidance sound according to the amount of change in distance (increase). Also, the guidance processing unit 73 increases the reproduction interval of the guidance sound by a predetermined interval (for example, 10%) every time it becomes a predetermined distance (for example, 1 m) farther. Then, the guidance processing unit 73 returns to S27 for processing.

[0048] In the determination of S27, when it becomes closer, the guidance processing unit 73 determines whether the distance between the reproduction position of the guidance sound (waypoint or destination) and the user U1 is closer than a threshold value for determining that it has reached (proximity determination) (S30).

[0049] In the determination of S30, when it is not closer than the proximity determination threshold value, the guidance processing unit 73 increases the volume of the guidance sound according to the amount of change in distance (decrease). Also, the guidance processing unit 73 shortens the reproduction interval of the guidance sound by a predetermined interval (for example, 10%) every time it becomes a predetermined distance (for example, 1 m) closer. Then, the guidance processing unit 73 returns to S27 for processing.

[0050] When it becomes closer than the proximity determination threshold value in the determination of S30, the guidance processing unit 73 determines whether the target approached by the user U1 (navigation device 1) is the destination of the guidance or a waypoint (S33).

[0051] When it is a waypoint in the determination of S33, the guidance processing unit 73 plays the arrival sound of the waypoint (for example, a beep sound of "Pon") for the user U1 (S34), and returns the process to S22.

[0052] When it is the destination of the guidance in the determination of S33, the guidance processing unit 73 plays the arrival sound of the destination (for example, a beep sound of "Pon, Pon" or the name of the reached destination, etc.) for the user U1 (S36).

[0053] Next, the guidance processing unit 73 refers to the route information 62 and determines whether there is a destination to be guided next (S37). When there is one or more destinations in the determination of S37, the guidance processing unit 73 plays the voice of "Start guiding to the next destination" for the user U1 (S38). Next, the guidance processing unit 73 sets the (n + 1)-th destination included in the map information 61 as the guidance destination (S39), and returns the process to S21.

[0054] When there is no destination in the determination of S37, the guidance processing unit 73 plays the voice of the end of guidance for the user U1 (S40), and ends the process.

[0055] FIG. 6 is an explanatory diagram for explaining the volume change of the guidance sound. As shown in FIG. 6, the volume of the guidance sound for the user U1 becomes larger as the distance between the user U1 and the guidance destination is closer, and becomes smaller as the distance between the user U1 and the guidance destination (destination or waypoint) is farther. Thereby, the user U1 can perceive the distance to the guidance destination by the magnitude of the volume.

[0056] Next, the operation of the warning process performed by the warning processing unit 74 during the reproduction of the above guidance sound will be described. FIG. 7 is a flowchart showing an example of the warning process of the navigation device 1 according to the embodiment.

[0057] As shown in FIG. 7, when the process starts, while the guidance sound is being played, the warning processing unit 74 performs loop processing (S50 to S55).

[0058] Specifically, based on the image around the navigation device 1 captured by the imaging unit 30, the warning processing unit 74 determines whether the navigation device 1 and an obstacle included in the map information 61 are facing each other at a distance less than a predetermined distance. Thereby, the warning processing unit 74 determines whether there is a close face-to-face situation between the user U1 and the obstacle object (S51).

[0059] If there is no close face-to-face situation with the obstacle object in the determination of S51, the warning processing unit 74 proceeds to S55. If there is a close face-to-face situation with the obstacle object in the determination of S51, the warning processing unit 74 continues to play a warning sound such as a buzzer sound to the user U1 (S52).

[0060] Next, the warning processing unit 74 determines whether there is a close face-to-face situation between the user U1 and the obstacle object in the same manner as S51 (S53). If there is a face-to-face situation, the process returns to S52. If there is no face-to-face situation in the determination of S53, the warning processing unit 74 stops the reproduction of the warning sound (S54) and proceeds to S55.

[0061] FIGS. 8 to 10 are explanatory diagrams for explaining the outline of route guidance by the navigation device according to the embodiment. The route guidance in FIGS. 8 to 10 is assumed to be performed based on the route information 62 by the route setting (destination D2a → via point D5a → via point D5b → destination D2b → destination D2c) illustrated in FIG. 4.

[0062] As shown in FIG. 8, when the route guidance starts, a directional guidance sound directed from the nearest destination D2a to the user U1 is played to the user U1 (S60). Thereby, the user U1 perceives that "it can be heard from the front left obliquely" and turns the body in the direction of the destination D2a.

[0063] Specifically, user U1 faces destination D2a forward (S61). As a result, user U1 can proceed toward destination D2a.

[0064] In addition, when user U1 deviates and proceeds from the direction toward destination D2a (S62), user U1 can perceive, for example, that "it is heard from the left rear" through the guiding sound with directivity from destination D2a. As a result, user U1 can resume proceeding toward destination D2a.

[0065] Next, when user U1 reaches destination D2a, a reaching sound is played (S63), and user U1 can know that user U1 has reached destination D2a. Next, a guiding sound with directivity from the nearest waypoint D5a to user U1 is played toward user U1 (S64). As a result, user U1 can proceed toward the next waypoint D5a on the route (S65).

[0066] Here, since the guiding sound changes (volume or playback interval) as user U1 approaches destination D2a and waypoint D5a, user U1 can easily grasp the distances to destination D2a and waypoint D5a.

[0067] Next, when user U1 reaches waypoint D5a, a guiding sound with directivity from the nearest waypoint D5b to user U1 is played toward user U1 (S66). As a result, user U1 can proceed toward the next waypoint D5b on the route.

[0068] At this time, when user U1 faces obstacle D4 at a distance less than a predetermined distance, a warning sound is played (S67). As a result, user U1 can easily know that there is obstacle D4 in the face and can avoid approaching obstacle D4.

[0069] Next, when user U1 reaches destination D2b, an arrival sound is played (S68), and user U1 can know that they have reached destination D2b. Then, a directional guidance sound directed from the nearest destination D2c to user U1 is played (S69). Based on this guidance sound, when user U1 reaches destination D2c, an arrival sound is played (S70), and user U1 can know that they have reached destination D2c. Here, when user U1 reaches destination D2b, the directional guidance sound directed from destination D2c to user U1 may be stopped, and a voice guidance corresponding to destination D2b may be output. And after the output of the voice guidance, the directional guidance sound directed from destination D2c to user U1 may be played. Thereby, while adding voice guidance for the destinations passed through on the way in the route, the navigation for the passing points in the subsequent route is continued.

[0070] Note that as shown in FIG. 10, the guidance sound and the arrival sound may be voice messages corresponding to each of destinations D2a, D2b, and D2c in addition to the beep sound described above. Specifically, the voice message may be the name, detailed description, etc. of each of destinations D2a, D2b, and D2c. However, in any aspect, it is more preferable that the guidance sound and the arrival sound, especially the guidance sound, are sounds that are easy to distinguish from environmental sounds (not easily confused with environmental sounds).

[0071] Here, the computer configuration related to the navigation device 1 will be described. FIG. 11 is a block diagram showing a computer configuration example of the navigation device 1 according to the embodiment.

[0072] As shown in FIG. 11, a computer 200 includes a CPU 201, an input device 202, a display 203, a communication device 204, an interface device 205, a RAM 206, and a non-volatile memory 207, which are connected to a bus 208.

[0073] The CPU 201 (CPU: Central Processing Unit) executes various arithmetic operations. The input device 202 includes a keyboard, a touch panel, a camera for shooting, etc. The display 203 is a liquid crystal display or the like. The communication device 204 is a communication device for communicating with external devices, a GPS device for performing position measurement using radio waves, etc. The interface device 205 is a device for inputting and outputting sound via a microphone, earphone, etc. and for performing data communication via USB or the like.

[0074] The RAM 206 (RAM: Random Access Memory) temporarily stores various information. The non-volatile memory 207 stores various programs such as a route setting program 207a, a position identification program 207b, a guidance processing program 207c, and a warning processing program 207d.

[0075] Also, the CPU 201 reads out each program 207a to 207d and expands it in the RAM 206.

[0076] The route setting program 207a functions as a route setting process 206a. The position identification program 207b functions as a position identification process 206b. The guidance processing program 207c functions as a guidance processing process 206c. The warning processing program 207d functions as a warning processing process 206d.

[0077] The processing of the route setting process 206a corresponds to the processing of the route setting unit 71. The processing of the position identification process 206b corresponds to the processing of the position identification unit 72. The processing of the guidance processing process 206c corresponds to the processing of the guidance processing unit 73. The processing of the warning processing process 206d corresponds to the processing of the warning processing unit 74.

[0078] Note that for each of the programs 207a to 207d, it is not necessarily required to store them in the non-volatile memory 207 from the beginning. For example, store each program in a "portable physical medium" such as a flexible disk (FD), CD-ROM, DVD, magneto-optical disk, or IC card that can be read by the computer 200. Then, the computer 200 may read and execute each of the programs 207a to 207d.

[0079] As described above, the navigation device 1 identifies the position of the navigation device 1 with respect to the route to the first destination. Based on the identified position of the navigation device 1, the navigation device 1 outputs to the user U1 a first voice having a directivity corresponding to the direction of the first passing point with respect to the navigation device 1 and whose sound changes according to the distance between the navigation device 1 and the first passing point, which is the closest among one or more passing points including the first destination on the route. When the navigation device 1 reaches the first passing point, the navigation device 1 stops outputting the first voice and outputs to the user U1 a second voice having a directivity corresponding to the direction of the second passing point with respect to the navigation device 1 and whose sound changes according to the distance between the navigation device 1 and the second passing point, which is the closest among one or more passing points other than the first passing point.

[0080] Thereby, the navigation device 1 can clearly inform the user U1 such as a visually impaired person who relies on voice of the distance and direction with respect to the passing point on the route closest to the user U1 by voice, and can easily provide route guidance along the passing point.

[0081] For example, when visually impaired people who rely on voice listen to an explanation of route information like a conventional navigation device in words, they may miss the ambient environmental sounds by paying attention to the explanation content. Also, in the mode of outputting the explanation of route information in words, it is necessary to prepare a plurality of voice patterns for explanations corresponding to a variety of situations, and there is a problem that it is not versatile. In contrast, in the navigation device 1, the distance and direction with respect to the passing points on the route become easy to understand, and it is possible to prevent missing the ambient environmental sounds. In other words, in the navigation device 1, by guiding the user U1 to the destination and waypoints by changes in sound (such as the volume of sound, pronunciation interval, direction, etc.) using stereophonic sound, it is possible to easily provide route guidance along the passing points without relying on voice explanations. Also, the navigation device 1 does not need to prepare a plurality of voice patterns for explanations, and can be realized by general-purpose processing.

[0082] Also, the one or more passing points include a second destination other than the first destination. When the navigation device 1 reaches the first destination, it stops the output of the first voice and outputs voice guidance corresponding to the first destination to the user U1. When the navigation device 1 reaches the second destination, it stops the output of the first voice, outputs a guidance voice corresponding to the second destination, and then outputs the second voice to the user U1. Thereby, when the navigation device 1 arrives at the first destination and the second destination, it can provide voice guidance for the first destination and the second destination to the user U1. Also, the navigation device 1 can provide guidance regarding the second passing point to the user U1 following the second destination.

[0083] Also, the navigation device 1 identifies its own position by collating map information 61 including the three-dimensional position information of each of the objects included in the image captured by the navigation device 1 and the objects within the area including the route. Thereby, the navigation device 1 can identify its position even in an indoor environment where it is difficult to identify the position by GPS.

[0084] In addition, when the navigation device 1 detects, based on an image captured by the navigation device 1, that an object included in the image is an object regarded as an obstacle in the map information 61 and that the navigation device 1 and the object are facing each other at a distance less than a predetermined distance, the navigation device 1 outputs a warning sound to the user U1. As a result, the user U1 can easily know that they are facing an obstacle at a distance less than the predetermined distance.

[0085] The changes in the first sound and the second sound in the navigation device 1 are changes in volume or pronunciation interval according to the distance. As a result, the user U1 can easily know the distances to the first passing point and the second passing point based on the volume or the pronunciation interval.

[0086] Regarding the above embodiments, the following additional notes are further disclosed.

[0087] (Supplementary Note 1) Identify the position of the terminal device, Based on the identified position of the terminal device, perform control to output, from a voice output device worn by the user of the terminal device, a first guidance sound whose sound changes according to the distance to the first passing point, which is the passing point among one or more passing points including the first destination indicated in the route information and is the closest to the terminal device, and which has a directivity according to the direction of the first passing point with respect to the terminal device. When the terminal device reaches the first passing point, stop the output of the first guidance sound and perform control to output, from the voice output device, a second guidance sound whose sound changes according to the distance to the second passing point, which is the passing point other than the first passing point among the one or more passing points and is the closest to the terminal device, and which has a directivity according to the direction of the second passing point with respect to the terminal device. An output control program characterized by causing a computer to execute the processing.

[0088] (Supplementary Note 2) The one or more passing points include a destination other than the first destination, which is a second destination that passes before the first destination in the route information. When the terminal device reaches the first destination, the process for performing the control stops the output of the first guidance sound and outputs voice guidance corresponding to the first destination from the voice output device. When the terminal device reaches the second destination, after stopping the output of the first guidance sound and outputting guidance voice corresponding to the second destination, the second guidance sound is output from the voice output device. The output control program according to appended claim 1, characterized in that.

[0089] (Appended claim 3) The process for specifying is to collate the object included in the image captured by the terminal device with the map information including the three-dimensional position information of each object within the area including the route indicated by the route information, and specify the position of the terminal device. The output control program according to appended claim 1, characterized in that.

[0090] (Appended claim 4) When the process for performing the control detects, based on the image captured by the terminal device, that the object included in the image is an object regarded as an obstacle in the map information and the terminal device and the object are facing each other at a distance less than a predetermined distance, a warning voice is output from the voice output device. The output control program according to appended claim 3, characterized in that.

[0091] (Appended claim 5) The change in the sound is a change in volume or pronunciation interval according to the distance. The output control program according to appended claim 1, characterized in that.

[0092] (Appended claim 6) Specify the position of the terminal device. Based on the specified position of the terminal device, the sound changes according to the distance to the first passing point, which is the closest to the terminal device among one or more passing points including the first destination indicated by the route information, and control is performed to output a first guidance sound having directivity according to the direction of the first passing point with respect to the terminal device from the voice output device worn by the user of the terminal device. When the terminal device reaches the first passing point, the output of the first guiding sound is stopped, and the sound changes according to the distance between the terminal device and the second passing point, which is the closest to the terminal device among the one or more passing points other than the first passing point, and the voice output device outputs a second guiding sound having directivity according to the direction of the second passing point with respect to the terminal device for control. An output control method characterized in that a computer executes the process.

[0093] (Appendix 7) The one or more passing points include a destination other than the first destination, and include a second destination that passes before the first destination in the route information. When the terminal device reaches the first destination, the process for performing the control stops the output of the first guiding sound and outputs a voice guidance corresponding to the first destination from the voice output device. When the terminal device reaches the second destination, after stopping the output of the first guiding sound and outputting a guiding voice corresponding to the second destination, the second guiding sound is output from the voice output device. The output control method according to Appendix 6, characterized in that.

[0094] (Appendix 8) The process of specifying includes collating the object included in the image captured by the terminal device with map information including the three-dimensional position information of each object in the area including the route indicated in the route information to specify the position of the terminal device. The output control method according to Appendix 8, characterized in that.

[0095] (Appendix 9) When it is detected based on the image captured by the terminal device that the object included in the image is an object regarded as an obstacle in the map information and the terminal device and the object are facing each other at a distance less than a predetermined distance, a warning sound is output from the voice output device. The output control method according to Appendix 8, characterized in that.

[0096] (Appendix 10) The change in the sound is a change in volume or pronunciation interval according to the distance. The output control method according to appended note 6, characterized in that...

[0097] (Appended note 11) Identify the position of the terminal device, Based on the identified position of the terminal device, among one or more passing points including the first destination indicated in the route information, the sound changes according to the distance to the first passing point that is closest to the terminal device, and perform control to output a first guiding sound having a directivity corresponding to the direction of the first passing point with respect to the terminal device from the voice output device worn by the user of the terminal device, When the terminal device reaches the first passing point, stop the output of the first guiding sound, and among the one or more passing points, the sound changes according to the distance to the second passing point that is closest to the terminal device other than the first passing point, and perform control to output a second guiding sound having a directivity corresponding to the direction of the second passing point with respect to the terminal device from the voice output device. A navigation device characterized by including a control unit that executes processing.

[0098] (Appended note 12) The one or more passing points include a destination other than the first destination, which is a second destination that passes before the first destination in the route information, In the process of performing the control, when the terminal device reaches the first destination, stop the output of the first guiding sound and output a voice guidance corresponding to the first destination from the voice output device. When the terminal device reaches the second destination, stop the output of the first guiding sound, output a guiding voice corresponding to the second destination, and then output the second guiding sound from the voice output device. The navigation device according to appended note 11, characterized in that...

[0099] (Appended note 13) The process of identifying is to identify the position of the terminal device by comparing the object included in the image captured by the terminal device with the map information including the three-dimensional position information of each object in the area including the route indicated in the route information. The navigation device according to appended note 11, characterized in that...

[0100] (Appendix 14) The process for performing the control is to output a warning sound from the audio output device when it is detected based on the image captured by the terminal device that the object included in the image is an object regarded as an obstacle in the map information and the terminal device and the object are facing each other at a distance less than a predetermined distance. The navigation device according to Appendix 13, characterized by the above.

[0101] (Appendix 15) The change in the sound is a change in volume or pronunciation interval according to the distance. The navigation device according to Appendix 11, characterized by the above.

Explanation of Reference Numerals

[0102] 1... Navigation device 10... Communication unit 20... Input unit 30... Imaging unit 40... Display unit 50... Audio output unit 50R... Earphone 50L... Earphone 60... Storage unit 61... Map information 62... Route information 70... Control unit 71... Route setting unit 72... Position identification unit 73... Guidance processing unit 74... Warning processing unit 200... Computer 201... CPU 202... Input device 203... Display 204... Communication device 205... Interface device 206... RAM 206a... Route setting process 206b... Position identification process 206c... Guidance processing process 206d... Warning processing process 207... Non-volatile memory 207a…Route setting program 207b…Location identification program 207c…Guidance processing program 207d…Warning processing program 208…Bus D1…Point cloud data D2…Object D2a…Destination D2b…Destination D2c…Destination D3…Walkable area D4…Obstacle D5a…Waypoint D5b…Waypoint H1…Administrator R1…Target area U1…User

Claims

1. Identify the position of the terminal device, Based on the identified position of the terminal device, among one or more passing points including a first destination indicated in the route information, the sound changes according to the distance to the first passing point closest to the terminal device, and perform control to output a first guiding sound having a directivity corresponding to the direction of the first passing point with respect to the terminal device from a voice output device worn by the user of the terminal device, When the terminal device reaches the first passing point, stop the output of the first guiding sound, and among the one or more passing points, the sound changes according to the distance to the second passing point closest to the terminal device other than the first passing point, and perform control to output a second guiding sound having a directivity corresponding to the direction of the second passing point with respect to the terminal device from the voice output device, An output control program characterized by causing a computer to execute the process.

2. Among the one or more passing points, there is a destination other than the first destination, and includes a second destination that passes before the first destination in the route information, In the process of performing the control, when the terminal device reaches the first destination, stop the output of the first guiding sound and output a voice guidance corresponding to the first destination from the voice output device. When the terminal device reaches the second destination, stop the output of the first guiding sound, output a guiding voice corresponding to the second destination, and then output the second guiding sound from the voice output device, The output control program according to claim 1, characterized in that.

3. The process of identifying is to identify the position of the terminal device by comparing the object included in the image captured by the terminal device with map information including the three-dimensional position information of each object in the area including the route indicated in the route information, The output control program according to claim 1, characterized in that.

4. In the process of performing the control, based on the image captured by the terminal device, when it is detected that the object included in the image is an object regarded as an obstacle in the map information and the terminal device and the object are facing each other at a distance less than a predetermined distance, output a warning sound from the voice output device, The output control program according to claim 3, characterized in that.

5. The change in the sound is a change in volume or pronunciation interval according to the distance, The output control program according to claim 1, characterized in that.

6. Identify the position of the terminal device, Based on the identified position of the terminal device, among one or more passing points including the first destination indicated in the route information, the sound changes according to the distance to the first passing point that is closest to the terminal device, and the first guiding sound having a directivity corresponding to the direction of the first passing point with respect to the terminal device is output from the voice output device worn by the user of the terminal device, and perform control to output the sound, When the terminal device reaches the first passing point, stop the output of the first guiding sound, and among the one or more passing points, the sound changes according to the distance to the second passing point that is closest to the terminal device other than the first passing point, and perform control to output from the voice output device a second guiding sound having a directivity corresponding to the direction of the second passing point with respect to the terminal device, A computer executes the process, characterized in that it is an output control method.

7. Identify the position of the terminal device, Based on the identified position of the terminal device, among one or more passing points including the first destination indicated in the route information, the sound changes according to the distance to the first passing point that is closest to the terminal device, and the first guiding sound having a directivity corresponding to the direction of the first passing point with respect to the terminal device is output from the voice output device worn by the user of the terminal device, and perform control to output the sound, When the terminal device reaches the first passing point, stop the output of the first guiding sound, and among the one or more passing points, the sound changes according to the distance to the second passing point that is closest to the terminal device other than the first passing point, and perform control to output from the voice output device a second guiding sound having a directivity corresponding to the direction of the second passing point with respect to the terminal device, A navigation device characterized by including a control unit that executes the process.

Images