Guidance device, guidance system and program

Abstract

To provide a guidance device capable of supporting the movement of a visually impaired person in the real world even if a marker to be read by a user terminal is not provided in the real world. [Solution] A management computer 11 is equipped with a processor 15 that generates guidance information for guiding a visually impaired person P1 from their current location to their destination, and is capable of transmitting the guidance information to a smartphone 12. The processor 15 is configured to execute the following processes: a first process of generating a digital map represented in a virtual space; a second process of creating a virtual path within the digital map that corresponds to an actual path; a third process of creating a guidance path within the digital map for guiding the visually impaired person; a fourth process of determining whether the current location of the visually impaired person P1 has reached the end of the guidance path; and a fifth process of notifying the smartphone 12 that the current location of the visually impaired person P1 has reached the end of the guidance path when the current location of the visually impaired person P1 has reached the end of the guidance path.

Description

[Technical Field]

[0001] The present disclosure relates to a guidance device, a guidance system, and a program for assisting visually impaired people in moving around in the real world. [Background technology]

[0002] An example of a guidance system for assisting visually impaired people in moving around in the real world is described in Patent Document 1. The mobile terminal (guidance device) described in Patent Document 1 is a mobile terminal that provides route guidance from a current location to a destination, and has an imaging unit that reads recognition codes displayed on warning blocks provided on the ground or floor, and a control unit that obtains warning block identification information for identifying the warning block from the recognition code read by the imaging unit.

[0003] The control unit is also configured to acquire location information corresponding to the warning block identification information, identify the current location from the acquired location information, and output a guidance direction based on route information consisting of the location information of each recognition code from the current location to the destination, the order in which each recognition code exists between the departure point and the destination, and the direction between the recognition codes. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6688926 Summary of the Invention [Problem to be solved by the invention]

[0005] The inventors of the present application recognized a problem with the technology described in Patent Document 1, in that the physical markers that can be read by user terminals used by visually impaired people can only be used in areas where they are installed in the real world.

[0006] The object of the present disclosure is to provide a guidance device, guidance system, and program that can assist visually impaired people in moving around in the real world, even if there are no physical markers in the real world that can be read by a user terminal. [Means for solving the problem]

[0007] This embodiment discloses a guidance device that has a processor that generates guidance information including sound information in order to guide a visually impaired person who carries a user terminal and moves in the real world from their current location to a destination in the real world, and that is capable of transmitting the generated guidance information to the user terminal.In order to generate the guidance information, the processor performs the following steps: a first process of generating a digital map that represents, in a virtual space, the real world in which the visually impaired person can move; a second process of creating, within the digital map, a virtual passage that corresponds to the real passage in which the visually impaired person can move in the real world; a third process of creating, within the digital map, a guidance passage for guiding the visually impaired person moving along the real passage, inside the virtual passage; and a fourth process of setting the width of the guidance passage to be less than the width of the virtual passage. [Effects of the Invention]

[0008] According to one embodiment of the present disclosure, it is possible to assist visually impaired people in moving around in the real world even if there are no physical markers in the real world that can be read by a user terminal. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 2 is a diagram illustrating an example of the configuration of a management computer that is a part of the guidance system. [Figure 2] FIG. 1 is a diagram illustrating an example of the configuration of a smartphone that is a part of a guidance system. [Figure 3] 1 is a flowchart illustrating a guidance method performed by the guidance system. [Figure 4] FIG. 1 is a schematic diagram showing an example of a digital map generated by a management computer. [Figure 5]FIG. 1 is a schematic diagram illustrating an example of a digital map displayed on a smartphone display. DETAILED DESCRIPTION OF THE INVENTION

[0010] (Guidance system overview) 1 and 2 show an embodiment of a guidance system. The guidance system 10 may include a management computer 11 and a smartphone 12. The management computer 11 and the smartphone 12 are communicatively connected to each other via a network 13. Furthermore, the management computer 11 may be communicatively connected to an external computer 27 via the network 13.

[0011] The network 13 is a communication line that transmits various types of information. The various types of information may include information itself, data, commands, requests, and signals. The network 13 is a communication line realized by, for example, the Internet, an intranet, a local area network, etc. The communication line may include wireless communication and wired communication. The network 13 may be configured by a base station, a radio tower, a communication antenna, a communication circuit, a communication cable (copper wire, optical fiber), etc.

[0012] The smartphone 12 is a portable computer that can be carried by a visually impaired person P1 and used to move around the real world. The visually impaired person P1, as a user in the real world, can move around by wearing the smartphone 12 on a part of his or her body. The management computer 11 provides various information to the smartphone 12 to guide and support the visually impaired person P1 in moving from his or her current location to a destination in the real world. The management computer 11 is operated by an administrator P2.

[0013] (Management Computer Configuration) The management computer 11 is a computer realized by various hardware and software. The software includes an operating system and applications. The management computer 11 may have hardware such as a main body (casing), a ROM (Read Only Memory) 14, a processor 15, a main memory device 16, an auxiliary memory device 17, an input device 18, an output device 19, and a communication device 20. The ROM 14 is a read-only memory into which data is written during manufacturing and remains unchanged. The ROM 14 stores programs, such as an IPL (Initial Program Loader), that are executed first when the management computer 11 is started. The ROM 14 is a non-volatile storage device.

[0014] The processor 15 is provided in the main body of the management computer 11, and may be configured as a central processing unit (CPU (Central Processing Unit)) that integrates an arithmetic unit (arithmetic circuit) and a control unit (control circuit). The processor 15 is communicably connected to the ROM 14, main memory device 16, auxiliary memory device 17, input device 18, output device 19, communication device 20, etc. via a communication bus 21. The processor 15 comprehensively controls other devices and circuits provided inside the main body and devices and circuits provided outside the main body.

[0015] Instead of or in addition to a central processing unit, the processor 15 may include a processing circuit such as a digital signal processor, an application-specific integrated circuit (ASIC), a graphics processing unit (GPU), or a microprocessing unit (MPU). A GPU is a processing device with advanced parallel processing capabilities and is used not only for graphics processing but also for general-purpose calculations (GPGPU). The processing performed by the GPU includes, for example, learning and inference using a learning model used by the artificial intelligence unit 26, scientific and technological calculations such as simulations using the Monte Carlo method, and processing of image information and sound information. Here, image information may include still images, videos, two-dimensional images, and three-dimensional images, and sound information may include artificial sounds, music, and artificial voices.

[0016] The processor 15 executes various processes by running non-transitory programs. The processes executed by the processor 15 include calculation, judgment, learning, comparison, identification, classification, analysis, inference, regression, proposal, control, generation, etc. The processes executed by the processor 15 may include reading a program from the auxiliary storage device 17, running the program read from the auxiliary storage device 17 in the main storage device 16, and retrieving information, etc. from the auxiliary storage device 17 in accordance with the program and processing it.

[0017] In addition, the processing performed by the processor 15 may include processing of information input by the input device 18, processing of controlling the output device 19, processing of information obtained from the external computer 27, processing of storing information in the auxiliary storage device 17, processing of information obtained from the smartphone 12, and processing of information to be sent to the smartphone 12.

[0018] The various types of information processed by the processor 15 may include information itself, data, commands, requests, and signals. The information processed by the processor 15 may include image information, sound information, text data, file data, etc. Image information includes moving images and still images. Sound information includes voice and music.

[0019] The main memory device 16 is a volatile memory device and may be realized by, for example, RAM (Random Access Memory). The main memory device 16 functions as a work area and a buffer area for storing programs, instructions, etc. when the processor 15 processes and executes the programs, instructions, etc. retrieved from the auxiliary memory device 17. The main memory device 16 is a non-transitory storage medium.

[0020] The auxiliary storage device 17 is a non-transitory storage medium. The auxiliary storage device 17 may also be understood as a storage. The auxiliary storage device 17 may be provided inside the main body, or may be provided outside the main body and connected to the communication bus 21 by wireless or wired communication. The auxiliary storage device 17 operates in response to input and output instructions from the processor 15.

[0021] The auxiliary storage device 17 is configured using one or more of the following methods: magnetic storage, optical storage, magneto-optical storage, semiconductor storage, etc. The magnetic storage method is realized by a hard disk, floppy disk, magnetic tape, etc. The optical storage method is configured to irradiate the surface of the storage medium (media) 17A with laser light to record data using light or heat, and read the reflected laser light with an optical head.

[0022] The optical storage method is realized by an optical drive and storage medium 17A. Optical drives include combo drives, super combo drives, multi drives, super multi drives, hyper drives, etc. Storage medium 21A includes compact discs, digital video discs, Blu-ray discs, etc. The magneto-optical method is realized by, for example, a magneto-optical disc.

[0023] The magnetic storage method and the optical storage method have a head and a storage medium 17A. The storage medium 17A may be configured to be attachable to and detachable from the main body. The semiconductor storage method may be defined as a flash memory. Examples of flash memory include an SD memory card, a USB flash drive, and a solid state drive. The flash memory can also be understood as the storage medium 17A configured to be attachable to and detachable from the main body. The auxiliary storage device 17 stores non-transitory programs run by the processor 15, various information used in the processing of the processor 15, etc.

[0024] 1 by running a non-transitory program and cooperating with various pieces of hardware that make up the management computer 11. The processor 15 may implement, for example, a base data management unit 22, a user information management unit 23, a current location management unit 24, a guidance information management unit 25, an artificial intelligence unit 26, and the like.

[0025] The base data management unit 22 cooperates with the artificial intelligence unit 26 and the auxiliary storage device 17 to process base data input via the input device 18, base data stored in the removable storage medium 17A, base data acquired from the external computer 27, etc., and has the function of storing the processing results in the auxiliary storage device 17. Details of the base data will be described later.

[0026] The user information management unit 23 processes the user information acquired from the smartphone 12 to perform user registration, and stores the user information and the result of the user registration in the auxiliary storage device 17. Details of the user information will be described later.

[0027] The current location management unit 24 has a function of determining the current location of the smartphone 12 in the real world, i.e., the current location of the visually impaired person P1 who owns the smartphone 12 in the real world, and reflecting the determined current location of the visually impaired person P1 on the digital map included in the infrastructure data. The current location management unit 24 also has a function of determining the actual movement route of the visually impaired person P1 in the real world, and reflecting the determined movement route of the visually impaired person P1 on the digital map included in the infrastructure data. Furthermore, the current location management unit 24 has a function of storing the determined current location of the visually impaired person P1 in the real world and the actual movement route in the auxiliary storage device 17, in association with user information.

[0028] The guidance information management unit 25 has a function to generate guidance information in cooperation with the artificial intelligence unit 26 and the auxiliary storage device 17, and to provide the guidance information to the smartphone 12. The guidance information is information provided from the smartphone 12 to the visually impaired person P1 to assist the visually impaired person P1 in moving around in the real world. Specific examples of guidance information will be described later. The guidance information management unit 25 also has a function to associate the guidance information with user information and store it in the auxiliary storage device 17.

[0029] Furthermore, when the program is run and input data is acquired, the artificial intelligence unit 26 may execute a learning process (learning stage) and an inference process (inference stage). The learning process performed by the artificial intelligence unit 26 is, for example, machine learning processing, which processes input learning target data with a learning model to generate output data, thereby training the learning model.

[0030] The machine learning performed by the artificial intelligence unit 26 may include three types: supervised learning, unsupervised learning, and reinforcement learning. In supervised learning, the artificial intelligence unit 26 uses a loss function to calculate the error between output data and correct answer data, and trains a learning model based on the error. Specifically, the artificial intelligence unit 26 adjusts weights, biases, etc. to reduce the error. The artificial intelligence unit 26 trains the learning model by comparing the output data with correct answer data (correct answer label).

[0031] In the supervised learning performed by the artificial intelligence unit 26 in this embodiment, learning target data including the current location and destination of the smartphone 12 may be processed using a learning model, and candidate guided routes to be proposed to the smartphone 12 may be generated as output data. The artificial intelligence unit 26 may generate guided routes using graph theory. For example, a first node and a second node located at different positions on a graph may be set as the current location and destination, the first node and the second node may be connected, and multiple types of routes may be output as guided routes. Each of the multiple types of routes has a different cost. The cost includes items such as the time required to travel from the first node to the second node, the travel distance from the first node to the second node, and the cost required to travel from the first node to the second node. The meaning of the candidate guided routes will be described later.

[0032] In the supervised learning performed by the artificial intelligence unit 26 in this embodiment, learning target data including image information of a real passageway may be processed by a learning model, and the protrusion amount of a protrusion object relative to a building may be generated as output data. The meaning of the protrusion amount of a protrusion object relative to a building will be described later.

[0033] The unsupervised learning performed by the artificial intelligence unit 26 is a method of learning using learning data that does not include a correct answer. The unsupervised learning performed by the artificial intelligence unit 26 may include a method of classifying the learning target data into groups of data with similar feature amounts.

[0034] In the unsupervised learning performed by the artificial intelligence unit 26 in this embodiment, the learning target data, which includes image information of a real passageway, may be processed using a learning model and classified into groups of data with similar features, such as the width of the real passageway and the congestion rate in the real passageway for each specified time period of the day.

[0035] In the unsupervised learning performed by the artificial intelligence unit 26 in this embodiment, learning target data including image information of a real corridor may be processed using a learning model and classified into groups of data having similar feature values ​​such as the shape and position of protrusions installed near the building. In the unsupervised learning performed by the artificial intelligence unit 26 in this embodiment, the acquired image information may be processed to extract visual feature points such as building corners, windows, signs, patterns, etc.

[0036] The reinforcement learning performed by the artificial intelligence unit 26 is a method of training the learning model so as to obtain output data that can maximize the reward for the task by repeatedly processing learning data with the learning model to obtain output data. In this embodiment, the reinforcement learning performed by the artificial intelligence unit 26 is a process of generating candidate guide routes that satisfy the desired conditions of the visually impaired person P1 when moving the visually impaired person P1 from the current position to the destination by processing learning target data such as the current position and destination of the visually impaired person P1 with the learning model.

[0037] In the inference process, the artificial intelligence unit 26 processes the inference target data using a learning model and outputs an inference result. In this embodiment, the inference target data input to the artificial intelligence unit 26 may include the current location of the visually impaired person P1, the destination, and the desired conditions of the visually impaired person P1. In this embodiment, the inference result output from the artificial intelligence unit 26 is candidate guide routes, return guide lines, etc. Details of the return guide lines will be described later.

[0038] The artificial intelligence unit 26 can use a neural network as a learning model to achieve machine learning. A neural network has an input layer, an intermediate layer (hidden layer), and an output layer. The intermediate layer is configured to convert input information into a form that is useful for the output layer. The artificial intelligence unit 26 can also perform deep learning to realize the neural network intermediate layer. In deep learning, the intermediate layer is multi-layered with multiple types of stages (nodes), and weights and biases are assigned to functions (features) contained in the information. Deep learning automatically indicates the functions (features) that the intermediate layer focuses on, making it possible to reduce noise in the information and data input to the learning model.

[0039] Furthermore, the artificial intelligence unit 26 may perform processes such as converting input sound information into text data using a large-scale language model, parsing and analyzing the text data using a large-scale language model, and automatically generating prompts by analyzing the text data using a large-scale language model.

[0040] Large-scale language models (LLMs) are a type of generative artificial intelligence specialized for natural language processing (NLP). Large-scale language models are language models that realize advanced natural language generation (LNG) and are constructed through deep learning of massive amounts of text data. Natural language processing processes natural language by combining processes such as morphological analysis, syntactic analysis, semantic analysis, context analysis, and intent analysis, enabling machine translation, text summarization, speech recognition, and more.

[0041] The artificial intelligence unit 26 functions as a generative artificial intelligence unit, thereby realizing text generation, image generation, video generation, and voice generation. Text generation is a function that, when a prompt (in text format), such as an instruction or question, is input, analyzes the content and intent of the prompt and uses information and data stored in the auxiliary storage device 17 to automatically generate a response (in text format) to the prompt. Because a large-scale language model is used, natural and highly accurate responses can be obtained.

[0042] Image generation is a function that automatically generates an original image that is close to the image of the input prompt (text format) by using information and data stored in the auxiliary storage device 17. Known examples of artificial intelligence that generates images include Stable Diffusion, Mid Journey, and Dali-2.

[0043] Video generation is a function that automatically generates an original video that closely matches the image of an input prompt (text format) by utilizing information and data stored in the auxiliary storage device 17. Gentoo, for example, is a known example of an artificial intelligence that generates videos.

[0044] The voice generation function uses information and data stored in the auxiliary storage device 17 to automatically generate original voice data in response to an input prompt (voice or text format).

[0045] The input device 18 is a device operated by the administrator P2, and may include devices such as a keyboard 18A, a mouse 18B, a microphone 18C, a camera 18D, and a display 18E. The display 18E may be implemented, for example, by a liquid crystal display or an organic electroluminescence display. Images, figures, characters, operation buttons, operation tabs, and the like are displayed on the screen of the display 18E. The display 18E may also be considered a monitor. The administrator P2 may input various information and data and various commands to the management computer 11 by operating one or more of the keyboard 18A, the mouse 18B, and the operation buttons and operation tabs displayed on the screen of the display 18E.

[0046] The microphone 18C is an electronic component that converts acquired sound data into an electrical signal and outputs it. The microphone 18C is connected to the communication bus 21 via either a wireless or wired communication system. The sound data acquired by the microphone 18C is processed by the processor 15 and stored in the auxiliary storage device 17.

[0047] Camera 18D is connected to communication bus 21 via either a wireless or wired communication system. Camera 18D captures an image of an object to generate video information. The video information includes video, still images, photographs, etc. The video information generated by camera 18D is processed by processor 15 and stored in auxiliary storage device 17.

[0048] The output device 19 may include devices such as a display 18E, a printer 19A, and an audio information output device 19B. The display 18E is common to the display 18E of the input device 18. The printer 19A prints and outputs information and data on paper using toner or ink. The audio information output device 19B is a device that converts electrical signals contained in the information and data into audio information and outputs it. The audio information output device 19B is realized by a speaker, headphones, earphones, etc. The audio information output device 19B is connected to the communication bus 21 by wireless communication or wired communication.

[0049] The auxiliary storage device 17 also stores various types of information input from the input device 18, various types of information acquired from the smartphone 12, various types of information acquired from the external computer 27, etc. As shown in FIG. 1 , the auxiliary storage device 17 implements a program storage unit 31, a user information storage unit 32, a model storage unit 33, a base data storage unit 34, a guidance information storage unit 35, a various information storage unit 36, etc. The program storage unit 31 stores non-transient applications operated by the processor 15. The non-transient applications include non-transient programs, manuals, setting files, files for storing data, data, various libraries, etc. The non-transient programs stored in the program storage unit 31 include programs for the management computer 11 to execute the guidance method.

[0050] The user information storage unit 32 stores user information and registration information acquired from the smartphone 12. The model storage unit 33 stores learning models and large-scale language models, etc., for the artificial intelligence unit 26 to execute processing. The base data storage unit 34 stores base data. The base data is a database used by the base data management unit 22 when generating guidance information to support the movement of the visually impaired person P1.

[0051] The guidance information storage unit 35 stores guidance information generated by the guidance information management unit 25. The various information storage unit 36 ​​may store various information and data used by the base data management unit 22 to generate base data, various information and data used by the guidance information management unit 25 to generate guidance information, various information and data used by the artificial intelligence unit 30 to perform learning processing and inference processing, and databases, etc.

[0052] The communication device 20 includes devices, equipment, and standards that connect the management computer 11 to the smartphone 12 and the external computer 27 via the network 13 by at least one of a wireless communication system and a wired communication system. The hardware that constitutes the communication device 20 may be configured by, for example, a communication circuit, a LAN (Local Area Network) card, a network adapter, a network interface card, a communication cable, a communication antenna, a communication port, etc.

[0053] (Smartphone configuration) 2 shows an example of the configuration of the smartphone 12. The smartphone 12 includes a main body (casing), a ROM 39, a processor 40, a main memory device 41, an auxiliary memory device 42, an input device 43, an output device 44, a GPS (Global Positioning System) sensor 45, an inertial sensor 46, an electronic compass (magnetic sensor) 61, a vibrator 47, a communication device 48, a power supply unit 60, and the like.

[0054] The ROM 39 is a memory for reading data only, and data is written to the ROM 39 at the time of manufacturing and is not changed after that. The ROM 39 stores programs, such as an IPL (Initial Program Loader), that are executed first when the smartphone 12 is started up.

[0055] The processor 40 may be provided inside the main body and configured as a central processing unit (CPU) in which an arithmetic unit (arithmetic circuit) and a control unit (control circuit) are integrated. The processor 40 may also have any of a GPU, a TPU (Tensor Processing Unit), and an NPU (Neural network Processing Unit) in addition to the central processing unit. The processor 40 is communicatively connected to a main memory device 41, an auxiliary memory device 42, an input device 43, an output device 44, a GPS sensor 45, an inertial sensor 46, a vibrator 47, and a communication device 48 via a communication bus 49. The processor 40 is configured to comprehensively control other devices and circuits provided inside the main body and devices and circuits provided outside the main body.

[0056] The processor 40 processes various types of information by running non-transitory programs stored in the auxiliary storage device 42. The various types of information processed by the processor 40 may include information, data, signals, and commands. Specifically, the processor 40 processes sound information, image information, text data, control signals, commands, etc. The sound information may include voice and music. The image information may include video, still images, photographs, etc. The text data may include letters, numbers, sentences, symbols, graphics, etc. The processing performed by the processor 40 includes processing, calculation, judgment, comparison, control, etc.

[0057] The processing executed by the processor 40 may include processing of various information input from the input device 43, processing of controlling the output device 44, and processing of reading out various information from the auxiliary storage device 42. The processing executed by the processor 40 may also include processing of various information acquired from the management computer 11, processing of storing various information in the auxiliary storage device 42, and processing of sending various information processed by the processor 40 to the management computer 11. Furthermore, the processor 40 executes processing of outputting a control signal for displaying various information on the display 43C, processing of outputting a control signal for outputting sound information from the sound information output device 44A, processing of outputting a control signal for vibrating the vibrator 47, and the like.

[0058] The main memory device 41 is a volatile memory device and may be realized by, for example, RAM (Random Access Memory). The main memory device 41 functions as a work area and a buffer area for storing programs, data, instructions, etc. retrieved from the auxiliary memory device 42. The main memory device 41 is a non-transitory storage medium.

[0059] The auxiliary storage device 42 is a non-transitory storage medium, and is realized by, for example, a flash memory. Flash memory is a type of semiconductor memory, and examples of flash memory include a NAND flash memory built into the main body and an SD memory card externally attached to the main body. The processor 40 can write various information to the auxiliary storage device 42 and read various information from the auxiliary storage device 42.

[0060] The auxiliary storage device 42 stores non-transient applications that are run by the processor 40. The non-transient applications stored in the auxiliary storage device 42 include non-transient programs, manuals, setting files, files for storing data, data, various libraries, etc. An application that receives a guidance service provided by the management computer 11 may be installed in the auxiliary storage device 42. The auxiliary storage device 42 also stores various information acquired from the management computer 11, information before being processed by the processor 40, processing results performed by the processor 40, etc.

[0061] The input device 43 is operated and used by visually impaired persons P1 and the like when inputting various information into the smartphone 12, when executing various processes on the smartphone 12, when sending various information from the smartphone 12 to the management computer 11, when the smartphone 12 obtains various information via the network 13, etc.

[0062] The input device 43 may be realized by a microphone 43A, a camera 43B, and a display 43C. The microphone 43A is an electronic component that converts acquired sound information into an electrical signal and outputs the electrical signal. The sound information acquired by the microphone 43A is stored in the auxiliary storage device 42. The smartphone 12 may transmit the sound information to the management computer 11.

[0063] The camera 43B is connected to the communication bus 49 by either a wireless or wired communication system. The camera 43B may be configured to be built into the smartphone 12, or may be configured to be an external device provided separately from the smartphone 12 and capable of communicating with the smartphone 12. The camera 43B built into the smartphone 12 captures an image in front of the visually impaired person P1. The camera 43B externally attached to the smartphone 12 captures an image of the floor of the passageway and the feet of the visually impaired person P1. The camera 43B captures an image of the area around the smartphone 12 and generates image information. The image information generated by the camera 43B is processed by the processor 40 and stored in the auxiliary storage device 42. The smartphone 12 may also transmit the image information to the management computer 11.

[0064] The display 43C is realized by, for example, a liquid crystal display or an organic electroluminescence display. The screen of the display 43C displays digital maps, images, videos, figures, characters, operation buttons, operation tabs, etc. The display 43C may be understood as a monitor. The visually impaired person P1 or the like can input various information into the smartphone 12 by operating or using the input device 43.

[0065] Furthermore, when the VoiceOver or TalkBack function of the smartphone 12 is activated, if the visually impaired person P1 touches the screen of the display 43C with his / her finger and swipes his / her finger from right to left, the smartphone 12 can sequentially output the functions of the various icons displayed on the screen corresponding to various applications as sound information from the sound information output device 44A. When the name of the application the visually impaired person P1 is looking for is read out, the visually impaired person P1 can double-tap the screen to launch the application. In other words, the application of this embodiment, which realizes a guidance system, can be used. Furthermore, the operations performed on the screen by the visually impaired person P1 are also output as sound information from the sound information output device 44A. The processor 40 controls the display 43C to display the digital map obtained from the management computer 11.

[0066] The output device 44 is a user interface including a display 43C and a sound information output device 44A. The display 43C is common to the display 43C of the input device 43. The sound information output device 44A is a device that outputs sound information included in various information. The sound information output device 44A is realized by a speaker, headphones, earphones, etc. The sound information output device 44A is connected to the communication bus 49 by wireless communication or wired communication. The processor 40 controls the sound information output device 44A to output the sound information acquired from the management computer 11.

[0067] The GPS sensor 45 is an example of a GNSS (Global Navigation Satellite System) receiver. The GPS sensor 45 detects the current position of the smartphone 12 in the real world by latitude, longitude, and altitude, and outputs information on the detected current position to the processor 40. Specifically, the GPS sensor 45 receives radio waves, including their respective transmission times, from multiple GPS satellites, and calculates the latitude, longitude, and altitude of the reception point based on the multiple transmission times included in the multiple received radio waves. The smartphone 12 may transmit the signal output from the GPS sensor 45 to the management computer 11.

[0068] The inertial sensor 46 is realized by, for example, a three-axis gyro sensor and a three-axis acceleration sensor. The inertial sensor 46 detects angular velocity and acceleration in each of the X-axis, Y-axis, and Z-axis directions applied to the three-axis gyro sensor and the three-axis acceleration sensor, and transmits the detection results to the processor 40. The processor 40 may process the signal from the inertial sensor 46 to determine the direction and speed of movement of the smartphone 12 within the digital map. The smartphone 12 may transmit the signal from the inertial sensor 46 to the management computer 11.

[0069] The electronic compass 61 is a magnetic compass that electrically indicates direction, and the signal from the electronic compass 61 is processed by the processor 40 to estimate the direction in which the smartphone 12 is facing. The vibrator 47 is provided on the main body of the smartphone 12. The vibrator 47 is configured by attaching a weight to the rotating shaft of an electric motor. The center of gravity of the electric motor is set at a position eccentric to the rotating shaft. When power is supplied from the power supply unit 60 to the electric motor and the rotating shaft is rotated, the smartphone 12 vibrates.

[0070] The communication device 48 connects the smartphone 12 to the network 13 via a wireless communication system. The communication device 48 may be realized by a communication circuit, a communication port, or a communication antenna. The smartphone 12 transmits various types of information, signals, commands, etc. from the communication device 48 to the management computer 11. The smartphone 12 obtains various types of information, signals, commands, etc. sent from the management computer 11 via the communication device 48.

[0071] The power supply unit 60 is a secondary battery provided in the main body. The smartphone 12 is provided with electronic and electrical components. The processor 40 controls the supply of power from the power supply unit 60 to the electronic and electrical components. The power supply unit 60 is configured, for example, by a lithium ion battery, a lithium polymer battery, a nickel-cadmium battery, or the like.

[0072] (An example of a guidance method used in a guidance system) FIG. 3 shows an example of a guidance method performed by the guidance system 10. In step S10, the management computer 11 may execute a process of constructing basic data to support the movement (walking) of the visually impaired person P1. The basic data may include information on the digital map D1 to be provided to the smartphone 12, sound information to be output from the sound information output device 44A, information for vibrating the vibrator 47, etc. The digital map represents a virtual space (virtual world) configured in two or three dimensions using map data. The process of step S10 includes a process of providing a virtual guidance line and a virtual path along the virtual guidance line within the digital map. FIG. 4 shows an example of the digital map D1 in a planar view, i.e., in two dimensions.

[0073] The real world contains infrastructure such as roads, buildings, sidewalks, crosswalks, bridges, footbridges, underpasses, concourses, stairs, public transportation stations, and public transportation tracks, and map data contains all such infrastructure. Visually impaired person P1 moves (walks) by using all real-world pathways that are safe to move (walk) on, such as sidewalks, crosswalks, bridges, footbridges, underpasses, and concourses.

[0074] The digital map D1 has virtual passages 50 that correspond to real passages. Note that FIG. 4 does not show environments in the real world where the visually impaired person P1 does not move, such as roadways, buildings, public transportation stations, and public transportation tracks. The position of the virtual passage 50, the shape of the virtual passage 50 in a planar view, and the width of the virtual passage 50 correspond to the real passages. In addition, a virtual guide line A1 is provided that passes through the center of the width of the virtual passage 50. The virtual guide line A1 is represented by a straight line, a curve, or the like, that follows the planar shape of the virtual passage 50. The virtual guide line A1 is a highly reliable piece of infrastructure that exists permanently, regardless of the current location and destination of the visually impaired person P1.

[0075] The guide passage 51 is a virtual passageway that guides the visually impaired person P1, with the virtual guide line A1 as its centerline. The guide passageway 51 is formed between a pair of virtual walls B1 that are spaced apart on both sides of the virtual guide line A1. The spacing between the pair of virtual walls B1 is constant. The pair of virtual walls B1 constitute the widthwise ends of the guide passageway 51. The guide passageway 51 has a predetermined width L2. Unlike obstacles that exist in the real world, the virtual walls B1 have no physical presence. The predetermined width L2 is less than the predetermined width L1 of the virtual passageway 50. The management computer 11 may set the difference L3 between the predetermined width L1 and the predetermined width L2 to a range of 1.0 m to 2.0 m in the real world. The difference L3 may be set based on predetermined conditions. In this manner, the guide passageway 51 is provided overlapping the virtual passageway 50 and is provided inside the virtual passageway 50.

[0076] In the real world, a utility pole is installed near a real passageway, and a metal wire is installed to support the utility pole. One end of the wire is buried in the ground, so the wire is stretched at an angle relative to the utility pole. Also, in the real world, the stairs of a footbridge are installed near the real passageway. In the real world, a building may be installed facing the real passageway. Also, in the real world, there may be a protruding object that protrudes beyond the exterior of the building toward the real passageway. Examples of protruding objects include a bay window on a building, a sign attached to a building, and a distribution board installed on a building.

[0077] When a visually impaired person P1 walks along a real passageway in the real world, it is desirable to avoid coming into contact with obstacles such as metal wires supporting utility poles, steps on footbridges, and protruding objects from buildings. The management computer 11 may determine the maximum value of the range (area) occupied by the obstacles from the large amount of data stored in the auxiliary storage device 17, and set the difference L3 between the predetermined width L1 and the predetermined width L2 to a value exceeding the maximum value. The maximum value may be set by verifying the size of obstacles in the real world. The sound information included in the base data may include artificial sounds and voices. The sound information is used to enable the visually impaired person P1 to recognize various guidance items using their hearing.

[0078] In step S20, the smartphone 12 runs an application to access the management computer 11, or accesses the management computer 11 by specifying a predetermined URL on the network 13. When the smartphone 12 is in a state where the management computer 11 is being accessed by the smartphone 12, the smartphone 12 may transmit user information to the management computer 11.

[0079] The user information may include the name, home address, telephone number, user account, frequently used destinations, etc. of the visually impaired person P1. The user account may be configured with a password and email address. A able-bodied person who is an acquaintance of the visually impaired person P1 may operate the smartphone 12 to input the user information and send the user information to the management computer 11. When the smartphone 12 accesses the management computer 11, the identifier of the smartphone 12 is notified to the management computer 11. The identifier of the smartphone 12 is unique and identifies the smartphone 12 on the network 13, and is specifically an IP (Internet Protocol) address.

[0080] The management computer 11 may acquire user information and perform user registration in step S11 after step S10. The management computer 11 stores the user information in the auxiliary storage device 17. Furthermore, the management computer 11 may transmit basic data to the smartphone 12 in step S11.

[0081] In step S21 after step S20, the smartphone 12 may acquire the base data from the management computer 11. Then, the smartphone 12 outputs a voice message indicating that the digital map D1 has been acquired. Note that the smartphone 12 does not have to display the digital map D1, and may instead display the digital map D1 in a planar view on the display 43C as shown in FIG. 5. When the digital map D1 is displayed on the display 43C, the visually impaired person P1 can show the display 43C to a person with normal vision and ask them to confirm his or her current location or destination.

[0082] Furthermore, the smartphone 12 may execute a process of automatically setting the current location of the smartphone 12 within the digital map D1 in step S21. For example, the current location of the smartphone 12 may be roughly determined by processing a signal from the GPS sensor 45, measuring the intensity of radio waves received from surrounding Wi-Fi (registered trademark) access points, etc. Furthermore, if the smartphone 12 is in an area where a VPS (Visual Positioning System) is available, the smartphone 12 may perform a process of identifying the position and posture (orientation) of the visually impaired person P1 by comparing the three-dimensional digital map D1 acquired from the management computer 11 with an image captured by the camera 43B of the smartphone 12, thereby estimating the current location with higher accuracy.

[0083] 5, when the digital map D1 is displayed on the display 43E, the current location of the visually impaired person P1 is displayed by a mark M1 within the digital map D1. The visually impaired person P1 may also input the current location by voice into the smartphone 12 in step S21. The current location of the smartphone 12 is also the current location of the visually impaired person P1. The current location may be the address (lot number), the address of the home, the name of a famous building, the name of a public transportation station, etc.

[0084] Furthermore, the visually impaired person P1 may touch and swipe the display 43E with a finger to launch the application of this embodiment while the VoiceOver function or TalkBack function is activated on the smartphone 12, and then input a destination in step S21. Note that the visually impaired person P1 may also input the destination into the smartphone 12 by voice in step S21. The destination may be a location, the name of a famous building, the name of a train station, or the like.

[0085] Furthermore, the visually impaired person P1 may touch the display 43E of the smartphone 12 with his / her fingers and use the above-mentioned VoiceOver function or TalkBack function to input desired conditions for the guided route in step S21. Note that the visually impaired person P1 may also input desired conditions for the guided route into the smartphone by voice in step S21. The guided route is a route from the current location to the destination.

[0086] The desired conditions for the guide route may be, for example, a guide route with escort zones at crosswalks, a guide route with acoustic traffic lights at crosswalks, a route with fewer crosswalks than other guide routes, a shorter travel distance than other guide routes, a lower pedestrian congestion rate than other guide routes, a wider route than other guide routes, fewer changes of direction than other guide routes, a route with fewer elevation changes than other guide routes, a guide route that has been used in the past by the visually impaired person P1, etc.

[0087] In step S12, the management computer 11 acquires the current location and destination identified by the smartphone 12 in step S21, and reflects, for example, displays, the current location and destination of the smartphone 12 on the digital map D1 stored in the auxiliary storage device 17. In addition, the management computer 11 may store, in the auxiliary storage device 17, information including the desired conditions for the guided route acquired from the smartphone 12 in step S12, the guided route proposed to the smartphone 12, etc., in association with the user information of the visually impaired person P1.

[0088] Furthermore, in step S13 following step S12, the management computer 11 extracts candidates for a guide route from the current location to the destination. Here, if the management computer 11 has acquired desired conditions for a guide route from the smartphone 12, the management computer 11 extracts candidates for a guide route that match the desired conditions for a guide route.

[0089] On the other hand, if the management computer 11 has not acquired desired conditions for a guided route from the smartphone 12, it may extract one or more candidate guided routes in step S13 based on the digital map D1 and various conditions stored in the auxiliary storage device 17. The guided route extracted by the management computer 11 when desired conditions for a guided route have not been acquired from the smartphone 12 may be a guided route corresponding to standard conditions stored in the auxiliary storage device 17. Note that the items included in the standard conditions may be the same as the items included in the desired conditions described above. In step S13, the management computer 11 transmits a control signal to the smartphone 12 so that candidates for guided routes from the current location to the destination are output by voice from the smartphone 12.

[0090] In step S22 after step S21, the smartphone 12 may acquire candidates for the guide route from the management computer 11. The smartphone 12 may output the acquired candidates for the guide route as sound from the sound information output device 44A. The smartphone 12 may also display the candidates for the guide route on the display 43C and use the VoiceOver function described above. Noh Alternatively, the candidate guide routes may be output from the sound information output device 44A by the TalkBack function. In step S22, the visually impaired person P1 may input a command to not select any of the candidate guide routes proposed by the management computer 11 or to select any of the candidate guide routes by voice through the microphone 43A of the smartphone 12 and transmit the command to the management computer 11.

[0091] Furthermore, the visually impaired person P1 can use the VoiceOver function described above to issue a command not to select any of the proposed guide route candidates from the management computer 11, or to select any of the proposed guide route candidates. Noh Alternatively, the TalkBack function may be used to input commands on the display 43C, and the input commands may be transmitted to the management computer 11.

[0092] When the management computer 11 receives a voice from the smartphone 12 indicating that the guide route has not been selected, it repeats the process of step S13. When the management computer 11 receives a command from the smartphone 12 indicating that one of the guide route candidates has been selected, it reflects the selected guide route Y1 on the digital map D1 in step S14, as shown in Fig. 4. The guide route Y1 is represented by a straight line or a curved line corresponding to the shape of the virtual passage 50.

[0093] The guide route Y1 displayed on the digital map D1 by the management computer 11 is superimposed on a portion of the virtual guide line A1. When the visually impaired person P1 selects a guide route and moves in the real world, a process is performed in which the mark M1 moves within the digital map D1. Note that the management computer 11 may associate information including the candidate guide route selected on the smartphone 12 with the current location, destination, and user information of the visually impaired person P1, and store the information in the auxiliary storage device 17 in step S14.

[0094] Furthermore, when the visually impaired person P1 changes direction, for example, turns right or left, while moving along a real passage in the real world, the management computer 11 may execute the following process in step S14: The process performed by the management computer 11 in step S14 is a process for supporting the visually impaired person P1 in making natural and smooth changes of direction (turns) in the real world.

[0095] The management computer 11 generates a connection section 51A in a portion of the guide path 51 of the digital map D1 using a "clothoid curve." The connection section 51A is a portion of the guide path 51 that connects the straight line section 51B and the straight line section 51C, and is curved in a planar view of the digital map D1. In a planar view of the digital map D1, the first direction in which the straight line section 51B extends is different from the second direction in which the straight line section 51C extends. FIG. 5 shows an example in which the virtual guide line A1 corresponding to the straight line section 51B and the virtual guide line A1 corresponding to the straight line section 51C intersect at a 90-degree angle. In addition, the portion of the guide path Y1 that corresponds to the connection section 51A is curved in the same way as the connection section 51A.

[0096] After selecting one of the candidate guide routes in step S22, the visually impaired person P1 may start moving (walking) in the real world from his / her current location to his / her destination while carrying the smartphone 12. In step S22, the GPS sensor 45 and the inertial sensor 46 output predetermined signals. The camera 43B captures images of the surroundings of the visually impaired person P1. The microphone 43A acquires sound information of the surroundings of the visually impaired person P1. In step S22, the smartphone 12 transmits various information, including the signals of the GPS sensor 45 and the inertial sensor 46, the images captured by the camera 43B, and sound information, to the management computer 11.

[0097] After the visually impaired person P1 starts moving, the management computer 11 processes various information from the smartphone 12 in step S14 and performs various judgments and processes. The management computer 11 may process signals from the GPS sensor 45 and the inertial sensor 46 to determine the current position of the visually impaired person P1 on the digital map D1, i.e., the position of the mark M1 on the digital map D1.

[0098] When the visually impaired person P1 moves in the real world, the management computer 11 performs processing to move the mark M1 in the digital map D1. When the visually impaired person P1 stops in the real world, the management computer 11 performs processing to stop the mark M1 in the digital map D1. When the visually impaired person P1 changes direction in the real world, the management computer 11 performs processing to change the direction of the mark M1 in the digital map D1.

[0099] Furthermore, the management computer 11 may execute a first support process and a second support process in step S14. The first support process is executed while a mark M1 representing a visually impaired person P1 is moving within the virtual passage 50. For example, when the mark M1 is positioned on the virtual guide line A1, a control signal is transmitted from the management computer 11 to the smartphone 12 so that the smartphone 12 generates a high-tempo beep sound.

[0100] Furthermore, when the mark M1 deviates from the virtual guide line A1 within the guide passage 51 and approaches the virtual wall B1, a control signal is transmitted from the management computer 11 to the smartphone 12 so as to generate a low-tempo beep sound on the smartphone 12. Furthermore, the management computer 11 may determine whether the mark M1 has come into contact with the virtual wall B1 within the guide passage 51.

[0101] When the management computer 11 determines that the mark M1 has come into contact with the virtual wall B1, the management computer 11 transmits a control signal to the smartphone 12 so that a sound notifying the fact is output from the smartphone 12. Note that when the management computer 11 determines that the mark M1 has not come into contact with the virtual wall B1, the management computer 11 does not transmit a control signal to cause the smartphone 12 to output a sound notifying the fact.

[0102] The first support process performed by the management computer 11 in step S14 may include a process of transmitting a control signal from the management computer 11 to the smartphone 12 so as to vibrate the vibrator 47. When the mark M1 is located on the virtual guide line A1, the management computer 11 may determine whether the mark M1 has deviated from the virtual guide line A1 within the guide passage 51 and approached the virtual wall B1, or whether the mark M1 has come into contact with the virtual wall B1 within the guide passage 51.

[0103] Then, when it is determined that the mark M1 has deviated from the virtual guide line A1 within the guide passage 51 and approached the virtual wall B1, or when it is determined that the mark M1 has come into contact with the virtual wall B1 within the guide passage 51, a control signal may be transmitted from the management computer 11 to the smartphone 12 so as to notify the fact by vibrating the vibrator 47 of the smartphone 12. Here, when it is determined that the mark M1 has deviated from the virtual guide line A1 within the guide passage 51 and approached the virtual wall B1, and when it is determined that the mark M1 has come into contact with the virtual wall B1 within the guide passage 51, the vibrator 47 is vibrated at different frequencies or different amplitudes (vibration amounts).

[0104] In addition, if the management computer 11 does not determine that the mark M1 has deviated from the virtual guide line A1 within the guide passage 51 and approached the virtual wall B1, or if it does not determine that the mark M1 has come into contact with the virtual wall B1 within the guide passage 51, the management computer 11 does not send a control signal to the smartphone 12 to vibrate the vibrator 47.

[0105] The second support process performed by the management computer 11 in step S14 is a "return mode" that is executed when the current position of the mark M1 in the digital map D1 goes outside the guided path 51, as shown in Figure 5. This is performed to eliminate the risk that the visually impaired person P1 will stray from the real path in the real world and be unable to reach his / her destination. In the second support process, the management computer 11 first transmits a control signal from the management computer 11 to the smartphone 12 to cause the smartphone 12 to output a voice message urging the visually impaired person P1 to "stop moving in the real world because your current position has deviated from the guided path."

[0106] Furthermore, in the second support processing, the management computer 11 generates a return guide line F1 on the digital map D1 as shown in Fig. 5 in order to guide the visually impaired person P1 from the current position of the mark M1 on the digital map D1 to a point on the selected guide route Y1 that is the shortest distance away. Then, the management computer 11 transmits a control signal from the management computer 11 to the smartphone 12 so that audio guidance for moving the visually impaired person P1 from the current position along the return guide line F1 is output from the smartphone 12.

[0107] Furthermore, in the second support process, the management computer 11 may send a control signal to the smartphone 12 so as to output guidance information by voice on the smartphone 12. The guidance information may include the estimated time required for the visually impaired person P1 to arrive at the destination from the current location, or the estimated time of arrival at the destination, or the estimated distance to travel from the current location to the destination, or the fact that the visually impaired person P1 has arrived at the destination, etc.

[0108] In addition, the management computer may store the various information obtained from the smartphone in step S14 and the various control signals sent to the smartphone in step S14 in an auxiliary storage device, in association with the current location, destination, and user information of the visually impaired person.

[0109] In step S23, the smartphone 12 may acquire the various information and control signals output from the management computer 11 in step S14. The smartphone 12 may execute various processes and controls in response to the various information and control signals acquired in step S23. For example, the smartphone 12 may execute one or more of the following controls: a control to output sound information from the sound information output device 44A; and a control to vibrate the vibrator 47. Furthermore, a digital map D1 on which a mark M1 of the visually impaired person P1 is displayed may be displayed on the display 43E.

[0110] In step S14, the management computer 11 can realize the VPS function by comparing the image captured by the camera 43B with the digital map D1. Specifically, the management computer 11 first processes the image captured in real time by the camera 43B to extract visual feature points such as building corners, windows, signs, and patterns. Next, the management computer 11 compares the feature points with the three-dimensional digital map D1 and performs a matching process. If the matching process is successful, the management computer 11 returns to the smartphone 12 its highly accurate position (latitude, longitude, and altitude) to the nearest few centimeters, as well as the current orientation of the smartphone 12.

[0111] The current orientation of the smartphone 12 is expressed in 6Dof (six dof), that is, by the movement of its position in three-dimensional space (x-axis, y-axis, z-axis) and the rotation around three axes (pitching, rolling, yawing). By performing the above process, the management computer 11 can identify absolute coordinates including the current position of the smartphone 12 and the direction in which the visually impaired person P1 is moving, with extremely high accuracy over a short distance, for example, within 10 cm. This process enables accurate guidance of the visually impaired person P1 even in urban areas or indoors where GPS is not effective.

[0112] Furthermore, in step S14, the management computer 11 may realize an augmented reality (AR) function by comparing the image captured by the camera 43B with the digital map D1. Here, the management computer 11 realizes the augmented reality function by overlaying the digital map D1 on the image captured by the camera 43B based on information including the position and posture (orientation) of the visually impaired person P1 obtained by the VPS function. For example, the management computer 11 may execute a process to accurately overlay the positions of the virtual guide line A1 and the virtual wall B1 on the virtual passage 50 based on the current position identified by the VPS function. Furthermore, the management computer 11 may correct the difference L3 between the predetermined width L1 and the predetermined width L2 in real time based on information obtained by processing the image captured by the camera 43B.

[0113] Furthermore, by comparing the images captured by the camera 43B with the results of analysis of those images by the artificial intelligence unit 26 and the digital map D1, the management computer 11 can determine the presence or absence of obstacles in the virtual passage 50, such as protrusions on the exterior of buildings in the real world, grooves in the road surface of the real passage, steps in the road surface of the real passage, obstacles placed in the real passage for a limited time, construction work being carried out on the real passage for a limited time, etc. By processing the images captured by the camera 43B, the management computer 11 can determine the area (range) of the obstacle, the protrusion amount of the protrusion, the width and length of the grooves in the road surface, the height of the steps in the road surface, etc. The information and data used to generate the digital map D1 do not include detailed information about the obstacles in the virtual passage 50.

[0114] In step S14, the management computer 11 processes the image captured by the camera 43B, thereby being able to determine the specific position and size of an obstacle environment that exists in the real passageway in the real world. Based on the result of processing the image captured by the camera 43B, the management computer 11 may transmit a control signal to the smartphone 12 in step S14 so that guidance information such as a voice informing the visually impaired person P1 that an obstacle environment exists, or a voice instructing the visually impaired person P1 to avoid the obstacle environment, is output from the smartphone 12.

[0115] In addition, the visually impaired person P1 may operate the smartphone 12 in step S21 to input a voice from the microphone 43A to independently select a guide route, and transmit the selected guide route to the management computer 11. Furthermore, when the application of this embodiment is launched, a "Guidance Route Setting" may be displayed on the screen of the display 43C as a usage menu. When the visually impaired person P1 touches the screen of the display 43C with his / her finger and swipes his / her finger, a guide route candidate may be output as sound information from the sound information output device 44A. When a predetermined guide route candidate is read out, the visually impaired person P1 may double-tap the screen, thereby selecting the guide route candidate and transmitting it to the management computer 11. Then, the management computer 11 skips step S13 and executes the processing of step S14.

[0116] (Effects of the embodiment) In this embodiment, the management computer 11 determines whether or not the mark M1 indicating the current position of the visually impaired person P1 in the digital map D1 has reached, i.e., touched, the virtual wall B1 located at the end of the width direction of the guided passage 51. When the management computer 11 determines that the mark M1 in the digital map D1 has touched the virtual wall B1, a notification is sent to the smartphone 12 that the current position of the visually impaired person P1 in the digital map D1 has touched the virtual wall B1. Therefore, even if a physical marker is not provided on the real passage along which the visually impaired person P1 moves in the real world, the visually impaired person P1 can move from his / her current position to his / her destination along the guided route Y1.

[0117] Furthermore, if the current location of the visually impaired person P1 deviates from the guide route Y1, audio guidance to return the visually impaired person P1 to the guide route Y1 is output from the smartphone 12. Therefore, the visually impaired person P1 can avoid panicking and feel at ease.

[0118] Furthermore, the straight section 51B and the straight section 51C of the guide passage 51 are connected by a curved connecting section 51A. Therefore, when the visually impaired person P1 moves while changing direction in the real world, the direction can be changed smoothly. Also, it is possible to prevent other people coming from behind the visually impaired person P1 in the real world from coming into contact with the visually impaired person P1.

[0119] (Other explanations) In this embodiment, the smartphone 12 may have the configuration and functions of the management computer 11. In this case, the smartphone 12 can execute the guidance method executed by the management computer 11 in Fig. 3, that is, the processes of steps S10, S11, S13, and S14. Therefore, the same effects as those described above can be obtained.

[0120] An example of the technical meaning described in this embodiment is as follows: The guidance system 10 is an example of a guidance system. The management computer 11 is an example of a computer and a guidance device. The smartphone 12 is an example of a computer, a user terminal, and a guidance device. The processors 15 and 40 are an example of a processor. The output device 44 and the vibrator 47 are an example of an output device. The digital map D1 is an example of a digital map. The virtual passage 50 is an example of a virtual passage. The guidance passage 51 is an example of a guidance passage. The virtual wall B1 is an example of an end portion in the width direction of the guidance passage 51.

[0121] Step S10 in FIG. 3 is an example of the first process and the second process. Step S14 is an example of the third process, the fourth process, the fifth process, the sixth process, the seventh process, the eighth process, and the ninth process. Step S23 is an example of the fifth process. Width L1 is an example of the width of the virtual passage, and width L2 is an example of the width of the guide passage. Difference L3 is an example of the difference between the width of the guide passage and the width of the virtual passage. Straight section 51B is an example of a first straight section. Straight section 51C is an example of a second straight section. Connection section 51A is an example of a connection section. The base data, the sound information output from sound information output device 44A, the control signal that causes sound information output from sound information output device 44A, and the control signal that causes vibrator 47 to vibrate are examples of guidance information. The first direction and the second direction are examples of predetermined directions. The program disclosed in this embodiment can also be understood as a program product.

[0122] The present embodiment discloses the following subject matter: A first subject matter is a non-transitory storage medium storing a non-transitory program that generates guidance information including sound information and causes a computer capable of transmitting the generated guidance information to the user terminal to execute processing in order to guide a visually impaired person who is carrying a user terminal and moving in the real world from a current location to a destination in the real world.

[0123] The program in the first subject matter is configured to cause the computer to generate the guidance information by executing the following processes: a first process of generating a digital map that represents in a virtual space the real world in which a visually impaired person can move; a second process of creating within the digital map a virtual passage that corresponds to a real passage that a visually impaired person can move through in the real world; a third process of creating within the digital map a guidance passage inside the virtual passage for guiding the visually impaired person moving along a real passage; a fourth process of determining whether the current position of the visually impaired person within the digital map has reached the end in the width direction of the guidance passage; and a fifth process of notifying the user terminal that the current position of the visually impaired person within the digital map has reached the end in the width direction of the guidance passage, if it is determined that the current position of the visually impaired person within the digital map has reached the end in the width direction of the guidance passage.

[0124] The second subject matter is a non-transitory storage medium storing a non-transitory program that generates guidance information for guiding a visually impaired person from their current location to their destination in the real world and causes a computer to execute processing that causes the generated guidance information to be output from an output device.

[0125] The program in the second subject matter is configured to cause the computer to generate the guidance information by executing the following processes: a first process of generating a digital map that represents in a virtual space the real world in which a visually impaired person can move; a second process of creating within the digital map a virtual passage that corresponds to a real passage that a visually impaired person can move through in the real world; a third process of creating within the digital map a guidance passage inside the virtual passage for guiding the visually impaired person moving along a real passage; a fourth process of determining whether the current position of the visually impaired person within the digital map has reached the end in the width direction of the guidance passage; and a fifth process of outputting from the output device, if it is determined that the current position of the visually impaired person within the digital map has reached the end in the width direction of the guidance passage, that the current position of the visually impaired person within the digital map has reached the end in the width direction of the guidance passage. [Industrial Applicability]

[0126] This embodiment can be used as a guidance device, a guidance system, and a program for assisting visually impaired people in moving around in the real world. [Explanation of symbols]

[0127] 10...guidance system, 11...management computer, 12...smartphone, 15, 40...processor, 44...output device, 50...virtual path, 51...guided path, 51A...connection section, 51B, 51C...straight section, D1...digital map, L1, L2...width, L3...difference

Claims

1. A guidance device that includes a processor that generates guidance information including sound information in order to guide a visually impaired person who carries a user terminal and moves in the real world from a current location to a destination in the real world, and that is capable of transmitting the generated guidance information to the user terminal, The processor, in order to generate the guidance information, a first process for generating a digital map in a virtual space that represents a real world in which the visually impaired person can move and the visually impaired person's current location in the real world; a second process of providing in the digital map virtual paths corresponding to real paths that can be traveled by a visually impaired person in the real world; a third process of providing a guide path for guiding a visually impaired person traveling along a real path inside the virtual path in the digital map; a fourth process for determining whether the current position of the visually impaired person in the digital map has reached an end of the guide passage in the width direction; a fifth process of notifying the user terminal that the current position of the visually impaired person in the digital map has reached the end of the guide passage in the width direction when it is determined that the current position of the visually impaired person in the digital map has reached the end of the guide passage in the width direction; a sixth process of setting a difference between the width of the guide passage and the width of the virtual passage to a value exceeding a protrusion amount of a protrusion that exists in the real world and protrudes toward the real passage from an outer surface of a building facing the real passage; An induction device configured to perform the above.

2. The guidance device according to claim 1, a seventh process in which the processor acquires an image of a real passage from the user terminal; an eighth process of estimating a protrusion amount of the protrusion object by processing an image acquired from the user terminal; An induction device that performs the above.

3. The guidance device according to claim 1, the guide path provided by the processor in the third process includes a first straight line portion extending in a predetermined direction as part of the guide path within the digital map, and a second straight line portion extending in a direction different from that of the first straight line portion within the digital map; The processor: The guidance device is configured to, when the guidance route selected by the visually impaired person is obtained from the user terminal, further execute a ninth process of connecting the first straight section and the second straight section with a curved connecting section within the digital map for the guidance passage corresponding to the selected guidance route.

4. a processor that generates guidance information for guiding a visually impaired person from a current location to a destination in the real world; an output device that outputs the generated guidance information; Equipped with A guidance device carried when moving around the real world, The processor, in order to generate the guidance information, a first process for generating a digital map representing a real world in which a visually impaired person can navigate in a virtual space; a second process of providing in the digital map virtual paths corresponding to real paths that can be traveled by a visually impaired person in the real world; a third process of providing a guide path for guiding a visually impaired person traveling along a real path inside the virtual path in the digital map; a fourth process for determining whether the current position of the visually impaired person in the digital map has reached an end of the guide passage in the width direction; a fifth process for outputting, by the output device, information that the current position of the visually impaired person in the digital map has reached the end of the guide passage in the width direction when it is determined that the current position of the visually impaired person in the digital map has reached the end of the guide passage in the width direction; a sixth process of setting a difference between the width of the guide passage and the width of the virtual passage to a value exceeding a protrusion amount of a protrusion that exists in the real world and protrudes toward the real passage from an outer surface of a building facing the real passage; An induction device configured to perform the above.

5. a user terminal carried by a visually impaired person; a computer that generates guidance information including sound information and transmits the generated guidance information to the user terminal in order to guide a visually impaired person who is carrying a user terminal and moving around in the real world from a current location to a destination in the real world; A guidance system having: In order to generate the guidance information, the computer a first process for generating a digital map representing a real world in which a visually impaired person can navigate in a virtual space; a second process of providing in the digital map virtual paths corresponding to real paths that can be traveled by a visually impaired person in the real world; a third process of providing a guide path for guiding a visually impaired person traveling along a real path inside the virtual path in the digital map; a fourth process for determining whether the current position of the visually impaired person in the digital map has reached an end of the guide passage in the width direction; a fifth process of notifying the user terminal that the current position of the visually impaired person in the digital map has reached the end of the guide passage in the width direction when it is determined that the current position of the visually impaired person in the digital map has reached the end of the guide passage in the width direction; a sixth process of setting a difference between the width of the guide passage and the width of the virtual passage to a value exceeding a protrusion amount of a protrusion that exists in the real world and protrudes toward the real passage from an outer surface of a building facing the real passage; A guidance system configured to perform the above.

6. A non-transitory program that causes a computer to execute processing, the non-transitory program comprising a processor that generates guidance information including sound information, in order to guide a visually impaired person who is carrying a user terminal and moving around in the real world from a current location to a destination in the real world, and that is capable of transmitting the generated guidance information to the user terminal, To cause the computer to generate the guidance information, a first process for generating a digital map representing a real world in which a visually impaired person can navigate in a virtual space; a second process of providing in the digital map virtual paths corresponding to real paths that can be traveled by a visually impaired person in the real world; a third process of providing a guide path for guiding a visually impaired person traveling along a real path inside the virtual path in the digital map; a fourth process for determining whether the current position of the visually impaired person in the digital map has reached an end of the guide passage in the width direction; a fifth process of notifying the user terminal that the current position of the visually impaired person in the digital map has reached the end of the guide passage in the width direction when it is determined that the current position of the visually impaired person in the digital map has reached the end of the guide passage in the width direction; a sixth process of setting a difference between the width of the guide passage and the width of the virtual passage to a value exceeding a protrusion amount of a protrusion that exists in the real world and protrudes toward the real passage from an outer surface of a building facing the real passage; A program that is configured to run.

7. A non-transitory program that causes a computer to execute processing to generate guidance information for guiding a visually impaired person from a current location to a destination in the real world and output the generated guidance information from an output device, To cause the computer to generate the guidance information, a first process for generating a digital map representing a real world in which a visually impaired person can navigate in a virtual space; a second process of providing in the digital map virtual paths corresponding to real paths that can be traveled by a visually impaired person in the real world; a third process of providing a guide path for guiding a visually impaired person traveling along a real path inside the virtual path in the digital map; a fourth process for determining whether the current position of the visually impaired person in the digital map has reached an end of the guide passage in the width direction; a fifth process for outputting from the output device, when it is determined that the current position of the visually impaired person in the digital map has reached the end in the width direction of the guide passage, the fact that the current position of the visually impaired person in the digital map has reached the end in the width direction of the guide passage; a sixth process of setting a difference between the width of the guide passage and the width of the virtual passage to a value exceeding a protrusion amount of a protrusion that exists in the real world and protrudes toward the real passage from an outer surface of a building facing the real passage; A program is a configuration that executes a program.

Images