Surrounding object recognition support device, surrounding object recognition support system, and surrounding object recognition support method

Abstract

The surrounding object recognition support device (1), which assists the user in recognizing obstacles (5) that are surrounding objects around a moving body (2), comprises a communication unit (11), which is a surrounding information transmission unit that transmits surrounding information regarding the position of obstacles (5) that are surrounding objects around the moving body (2), and a transmission unit (14) that outputs stimuli corresponding to the surrounding information regarding the position of obstacles (5) that are surrounding objects around the moving body (2) transmitted by the communication unit (11) and transmits them to the user.

Description

Technical Field

[0001] The present disclosure relates to a surrounding object recognition support device, a surrounding object recognition support system, and a surrounding object recognition support method for assisting a user in recognizing an object.

Background Art

[0002] A moving object such as a drone may approach an obstacle as it moves. Therefore, if information about the objects around the moving object can be provided to the user who is the operator of the moving object, the operability of the moving object by the user is improved.

[0003] The object position presentation system described in Patent Document 1 includes an obstacle sensor that measures the distance and direction to an obstacle, and calculates the distance and direction to the obstacle according to a signal from the obstacle sensor, and presents the distance and direction to the obstacle to a visually impaired person using a tactile stimulus. It has a glasses-type tactile stimulus presentation device to convey.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the technology of Patent Document 1 described above, since the obstacle sensor and the glasses-type tactile stimulus presentation device are arranged in the same device, there is a problem that only information about the objects around the user can be provided to the user.

[0006] The present disclosure has been made in view of the above, and an object thereof is to obtain a surrounding object recognition support device that can provide a user with detailed information about a remote object away from the user.

Means for Solving the Problems

[0007] To solve the aforementioned problems and achieve the objective, the surrounding object recognition support device of this disclosure is a surrounding object recognition support device that assists a user in recognizing surrounding objects around a moving object, comprising: a surrounding information transmission unit that transmits surrounding information relating to the position of surrounding objects relative to the moving object; and a device that outputs stimuli corresponding to the surrounding information transmitted by the surrounding information transmission unit and transmits them to the user. multiple It includes a transmission unit. The surrounding information includes distance information between the moving object and surrounding objects. If the position of a surrounding object included in the surrounding information corresponds to the inter-transmission unit position, which is the position between the first and second transmission units among the multiple transmission units, the first transmission unit outputs a stimulus of transmission quantity corresponding to the magnitude of the distance between the moving body and the surrounding object and the magnitude of the distance between the inter-transmission unit position and the first transmission unit, and the second transmission unit outputs a stimulus of transmission quantity corresponding to the magnitude of the distance between the moving body and the surrounding object and the magnitude of the distance between the inter-transmission unit position and the second transmission unit. [Effects of the Invention]

[0008] The surrounding object recognition support device described herein has the effect of providing the user with detailed information about objects located far away from the user. [Brief explanation of the drawing]

[0009] [Figure 1] A diagram illustrating the concept of the surrounding object recognition support system according to the embodiment. [Figure 2] This figure shows the schematic configuration of the surrounding object recognition support device according to the embodiment. [Figure 3] Block diagram showing the configuration of the surrounding object recognition support system according to the embodiment. [Figure 4] Block diagram showing the configuration of the surrounding object recognition support device according to the embodiment. [Figure 5] A flowchart showing the processing procedure for determining whether the surrounding object recognition support device according to the embodiment communicates the object direction and proximity distance to the user. [Figure 6] A flowchart showing the processing procedure of the communication process performed by the surrounding object recognition support device according to the embodiment. [Figure 7] A diagram illustrating the amount of information transmitted by the surrounding object recognition support device according to this embodiment. [Figure 8] This figure shows another example configuration of the surrounding object recognition support system according to the embodiment. [Figure 9] This figure shows an example of the configuration of a processing circuit when the processing circuit of the surrounding object recognition support device according to the embodiment is implemented using a processor and memory. [Figure 10] This figure shows an example of the configuration of the processing circuit when the processing circuit of the surrounding object recognition support device according to the embodiment is configured with dedicated hardware. [Modes for carrying out the invention]

[0010] The surrounding object recognition support device, surrounding object recognition support system, and surrounding object recognition support method according to embodiments of the present disclosure will be described in detail below with reference to the drawings. The embodiments will be described in detail below with reference to the drawings as appropriate. However, descriptions that are more detailed than necessary may be omitted. For example, detailed descriptions of already well-known matters or redundant descriptions of substantially identical configurations may be omitted. This is to avoid the following description becoming unnecessarily verbose and to facilitate understanding by those skilled in the art. The applicant provides the accompanying drawings and the following description so that those skilled in the art can fully understand the present disclosure, and not intends to limit the subject matter described in the claims by means of them.

[0011] Embodiment. Figure 1 is a diagram illustrating the concept of a surrounding object recognition support system according to an embodiment. The surrounding object recognition support system 100 comprises a mobile body 2, an operating device 3, and a surrounding object recognition support device 1.

[0012] Mobile device 2 is a mobile device such as a drone or a remotely operated miniature vehicle. Operating device 3 is a device that remotely controls mobile device 2 by user U, who is the operator of mobile device 2. Operating device 3 can be, for example, a controller, keyboard, mouse, or smartphone.

[0013] The surrounding object recognition support device 1 is a device that assists user U in recognizing surrounding objects present around the mobile body 2. Figure 1 shows user U, surrounding object recognition support device 1, mobile body 2, and operating device 3 as viewed from above.

[0014] In the following, a case where the surrounding object of the moving body 2 is the obstacle 5 will be described. However, the surrounding object that the surrounding object recognition support system 100 causes the user U to recognize may be an object other than the obstacle 5. Further, the number of obstacles 5 that the surrounding object recognition support system 100 causes the user U to recognize is not limited to one, and may be plural.

[0015] The surrounding object recognition support device 1 is, for example, a head-mounted wearable device. In the embodiment, a case where the surrounding object recognition support device 1 is a head-mounted device will be described. However, the surrounding object recognition support device 1 may be a device worn on a part of the user U other than the head.

[0016] The surrounding object recognition support device 1 supports the user U in recognizing the obstacle 5 while the user U wears the surrounding object recognition support device 1. The moving body 2 has an imaging unit 21 such as a camera. The imaging unit 21 captures an image or video in the front direction of the moving body 2 or the like. In the following, a case where the imaging unit 21 captures video (illustrated as camera video 51 in FIG. 1) will be described. However, the imaging unit 21 may capture at least one of an image and video. The imaging unit 21 generates imaging information including information on the captured video.

[0017] Further, the moving body 2 has at least one detection unit 22 that detects surrounding information, which is information around the moving body 2. The surrounding information includes position information indicating the position of the obstacle 5. That is, the surrounding information includes information regarding the position of the surrounding object (obstacle 5) with respect to the moving body 2.

[0018] In the moving body 2, the detection unit 22 is arranged at a position where an obstacle 5 other than the front direction, which is the direction in which the imaging unit 21 captures an image, can be detected. That is, in the moving body 2, the detection unit 22 is arranged at a position where an obstacle 5 in a direction not displayed on the display screen 32 of the operation device 3 can be detected.

[0019] The detection unit 22 is positioned in a plane parallel to the horizontal plane when the moving body 2 is stopped on the ground parallel to the horizontal plane. Alternatively, the detection unit 22 may be positioned in a plane perpendicular to the horizontal plane when the moving body 2 is stopped on the ground parallel to the horizontal plane.

[0020] The detection unit 22 may be positioned on the top, bottom, or side of the moving body 2. User U recognizes, for example, obstacles 5 in the direction in front of the moving body 2 via the display screen 32, and recognizes obstacles 5 in directions other than in front of the moving body 2 via the surrounding object recognition support device 1.

[0021] The detection unit 22 is, for example, a sensor. The detection unit 22 detects the position information of obstacles 5 that are present around the detection unit 22. The detection unit 22 detects the position information (3D coordinates) of obstacles 5 in 3D space.

[0022] The position information detected by the detection unit 22 includes information on the direction of the obstacle 5 relative to the detection unit 22 and information on the distance from the detection unit 22 to the obstacle 5. Hereinafter, the information on the direction of the obstacle 5 relative to the detection unit 22 will be referred to as direction information, and the information on the distance from the detection unit 22 to the obstacle 5 will be referred to as distance information. In this embodiment, the information on the direction of the obstacle 5 relative to the detection unit 22 will be referred to as direction information, and the direction of the obstacle 5 relative to the moving body 2 will be referred to as the object direction.

[0023] The detection unit 22 may also detect ambient information other than location information. In addition to location information, ambient information may include at least one of the following pieces of information. • Information on the fuels necessary for the movement of mobile unit 2, such as gasoline and batteries, installed in mobile unit 2. • GPS (Global Positioning System) information • Information on the positional relationship between the moving object 2 and the moving target (target object) that was previously set by user U. • Information on the positional relationship between mobile object 2 and the hazardous area. • Information on the ambient temperature around mobile device 2 • Information on atmospheric pressure around mobile object 2 • Information about the gas surrounding mobile object 2 • Information on the speed of mobile object 2 • Information on the acceleration of moving object 2 • Vibration information of mobile unit 2 • Magnetic information of mobile unit 2 • Information on the current used to drive the drive unit (motor, etc.) of the mobile unit 2. • Voltage information for driving the drive unit of the mobile unit 2 • Information on the temperature of mobile unit 2

[0024] If the detection unit 22 detects surrounding information other than location information, the moving object 2 transmits the surrounding object recognition support device 1 with the surrounding information including location information. This allows the surrounding object recognition support device 1 to acquire the surrounding information including location information. The following explanation mainly describes the case where the surrounding information includes only location information, but as mentioned above, the surrounding information may also include information other than location information.

[0025] The direction indicated by the direction information is a single direction. That is, in the embodiment, the direction is one direction, such as north or west, and not two directions, such as south and north, east and west, or north and east.

[0026] In this embodiment, for example, the east direction is defined as the X-axis direction, the north direction as the Y-axis direction, and the vertical direction as the Z-axis direction. That is, in this embodiment, the horizontal plane is the XY plane, and the two axes in the plane parallel to this horizontal plane that are orthogonal to each other are defined as the X-axis and the Y-axis. The vertical direction perpendicular to the horizontal plane is defined as the Z-axis, which is an axis orthogonal to the X-axis and the Y-axis. The detection unit 22 uses its own position as the origin and detects the position (3D coordinates) of the obstacle 5 relative to this origin.

[0027] The mobile body 2 has one or more detection units 22. When the mobile body 2 has multiple detection units 22, the detection units 22 are arranged at various positions on the mobile body 2 in order to detect the position information of the obstacle 5 at various positions.

[0028] Alternatively, the detection unit 22 may detect distance information between itself and the obstacle 5, and the moving body 2 may calculate the direction information of the obstacle 5 from the distance information. In this case, the moving body 2 has multiple detection units 22, and each of the multiple detection units 22 detects distance information between itself and the obstacle 5. The moving body 2 then calculates the direction information based on the distance information detected by each detection unit 22 and the arrangement information of the detection units 22.

[0029] Directional information may also be calculated by the surrounding object recognition support device 1. In this case, the surrounding object recognition support device 1 calculates directional information and obtains positional information based on the distance information detected by each detection unit 22 and the arrangement information of the detection units 22.

[0030] Alternatively, the detection unit 22 may detect the direction information of the obstacle 5, and the moving body 2 may calculate distance information from the direction information. In this case, the moving body 2 has multiple detection units 22, and each of the multiple detection units 22 detects the direction information. The moving body 2 then calculates distance information based on the direction information detected by each detection unit 22 and the information on the arrangement of the detection units 22.

[0031] The distance information to obstacle 5 may be calculated by the surrounding object recognition support device 1. In this case, the surrounding object recognition support device 1 calculates the distance information and obtains the position information based on the direction information detected by each detection unit 22 and the arrangement information of the detection units 22.

[0032] The mobile unit 2 transmits imaging information generated by the imaging unit 21 to the control device 3. The mobile unit 2 also controls its movement based on the operation information transmitted from the control device 3. The operation information transmitted from the control device 3 corresponds to the actions performed by user U on the control device 3. This operation information is for controlling the mobile unit 2 and includes information such as the direction and speed of movement of the mobile unit 2.

[0033] In this manner, the mobile body 2 is controlled by the operating device 3 and transmits imaging information to the operating device 3. The mobile body 2 also transmits surrounding information, including position information, to the surrounding object recognition support device 1. Alternatively, the mobile body 2 may transmit surrounding information, including position information, to the operating device 3.

[0034] Alternatively, the mobile unit 2 may transmit the distance information detected by each detection unit 22 to the operating device 3. In this case, the operating device 3 calculates direction information based on the distance information detected by each detection unit 22 and the arrangement information of the detection units 22, and obtains position information.

[0035] Alternatively, the moving body 2 may transmit the direction information detected by each detection unit 22 to the operating device 3. In this case, the operating device 3 calculates distance information based on the direction information detected by each detection unit 22 and the arrangement information of the detection units 22, and obtains position information.

[0036] The operating device 3 receives imaging information from the moving object 2 and displays it on the display screen 32. The imaging information displayed on the display screen 32 corresponds to the scenery in the direction in front of the moving object 2. The operating device 3 also displays ambient information on the display screen 32. The operating device 3 may also derive ambient information by calculation. For example, the operating device 3 may calculate the acceleration information of the moving object 2 based on the velocity information of the moving object 2. The operating device 3 may also display either distance information or direction information on the display screen 32.

[0037] The operating device 3 has operating buttons, an operating dial, a directional pad, etc. When the operating buttons, operating dial, directional pad, etc. are operated by user U, the operating device 3 generates operation information corresponding to the user U's operation and transmits it to the mobile body 2. As a result, the mobile body 2 moves according to the user U's operation.

[0038] The surrounding object recognition support device 1 is worn by user U. The surrounding object recognition support device 1 is worn by user U so that the front direction of the surrounding object recognition support device 1 and the front direction of user U coincide. The surrounding object recognition support device 1 receives surrounding information, including position information, from the moving object 2. The surrounding object recognition support device 1 provides stimuli such as pressing to user U from a position corresponding to the position information (surrounding information).

[0039] The surrounding object recognition support device 1 has at least three transmission units 14 that are not arranged in a straight line. The transmission units 14 are arranged on the surrounding object recognition support device 1 so that they are aligned in a plane parallel to the horizontal plane when the user U is wearing the surrounding object recognition support device 1 with the top of their head facing upwards. An example of a transmission unit 14 is a vibration motor that transmits information to the user U through touch.

[0040] For example, in the surrounding object recognition support device 1, if at least three transmission units 14 are arranged in the same plane, the surrounding object recognition support device 1 can transmit the position (2D coordinates) of an obstacle 5 in a direction parallel to this plane to the user U.

[0041] Furthermore, the surrounding object recognition support device 1 may have, for example, at least four transmission units 14 that are not arranged in the same plane. In this case, the surrounding object recognition support device 1 can transmit the three-dimensional coordinates of the obstacle 5 to the user U.

[0042] Furthermore, when the surrounding object recognition support device 1 is attached to the user U, the transmission units 14 may be arranged such that at least three transmission units 14 that are not aligned in a straight line are aligned in the horizontal plane (XY plane), at least three transmission units 14 that are not aligned in a straight line are aligned in the horizontal plane (YZ plane), and at least three transmission units 14 that are not aligned in a straight line are aligned in the horizontal plane (ZX plane). In this case, the surrounding object recognition support device 1 can transmit the three-dimensional coordinates of the obstacle 5 to the user U regardless of its position relative to the moving body 2.

[0043] The surrounding object recognition support device 1 selects a transmission unit 14 from among several transmission units 14 that is located at a position corresponding to the location information. The surrounding object recognition support device 1 causes the selected transmission unit 14 to output a stimulus, thereby transmitting the stimulus corresponding to the location information to the user U via the transmission unit 14. If there are multiple obstacles 5, the surrounding object recognition support device 1 selects multiple transmission units 14 and causes the selected multiple transmission units 14 to output stimuli.

[0044] In this embodiment, the front direction of the mobile body 2 corresponds to the direction in which the display screen 32 displays the scenery, and the direction in which the display screen 32 displays the scenery corresponds to the front direction of the user U and the surrounding object recognition support device 1. That is, the front direction of the mobile body 2 is the front direction of the user U and the surrounding object recognition support device 1. When the user U grasps the operating device 3 in the front direction, the front directions of the mobile body 2, the display screen 32, the user U, and the surrounding object recognition support device 1 coincide.

[0045] The surrounding object recognition support device 1 calculates the object direction, which is the direction of the obstacle 5 relative to the moving object 2. The surrounding object recognition support device 1 selects a transmission unit 14 located at a position corresponding to the object direction.

[0046] For example, if there is an obstacle 5 to the right of the moving object 2, the surrounding object recognition support device 1 selects a transmission unit 14 located to the right of the user U's frontal direction and generates a stimulus in this transmission unit 14. As a result, the surrounding object recognition support system 100 provides user U with feedback on the distance between the moving object 2 and the obstacle 5, and the direction of the obstacle 5 relative to the moving object 2, in response to user U's operation of the control device 3.

[0047] Figure 2 shows a schematic configuration of a surrounding object recognition support device according to an embodiment. The surrounding object recognition support device 1 is formed to be attachable to the head of user U. The surrounding object recognition support device 1 is attached to user U so as to be in contact with user U at least a portion of the forehead, the right side of the head, the back of the head, and the left side of the head.

[0048] Since the head is more sensitive to tactile stimuli than the waist or arms, when the surrounding object recognition support device 1 is attached to the head, the surrounding object recognition support device 1 can accurately transmit stimuli to the user U. Furthermore, since the central axis of the head is at the center of the user U's body, when the surrounding object recognition support device 1 is attached to the head, the surrounding object recognition support device 1 can allow the user U to intuitively recognize the direction of obstacles 5.

[0049] The transmission unit 14 of the surrounding object recognition support device 1 is located, for example, in at least a portion of the user U's forehead, the right side of the head, the back of the head, and the left side of the head. The transmission unit 14 may also be located on the top of the head.

[0050] The transmission unit 14 is positioned, for example, at a location corresponding to the position of the detection unit 22. The number of transmission units 14 and the number of detection units 22 may be the same or different.

[0051] The surrounding object recognition support device 1, when viewed from above, has, for example, a C-shape. In this case, the surrounding object recognition support device 1 is attached to user U so that the C-shaped surrounding object recognition support device 1 is symmetrical with respect to user U. That is, the surrounding object recognition support device 1 is attached to user U's head so that the open part of the C-shape of the surrounding object recognition support device 1 is at the forehead of user U.

[0052] The surrounding object recognition support device 1 may be annular in shape. Alternatively, the surrounding object recognition support device 1 may be helmet-shaped, covering the top of the user U's head. This allows the surrounding object recognition support device 1 to contact the top of the user U's head when worn by the user U. Furthermore, if the surrounding object recognition support device 1 is helmet-shaped, it becomes possible to arrange multiple detection units 22 on the device.

[0053] The transmission unit 14 provides stimulation to the user U, for example, by utilizing spatial recognition technology using haptics. The transmission unit 14 provides stimulation to the user U, such as pressing or vibrating, using an actuator, for example. In this case, the actuator is positioned so that it can be worn by the user U and so that it can transmit in both the horizontal and non-horizontal directions.

[0054] The transmission unit 14 is, for example, a pressing unit that applies pressure to the user U. The transmission unit 14 may also transmit stimuli other than pressing, including vibration, heat, sound, light, or voltage, or a combination of these. That is, the transmission unit 14 may transmit stimuli using only pressing, only vibration, only heat, only sound, only light, or only voltage, or it may transmit at least two stimuli of pressing, vibration, heat, sound, light, and voltage.

[0055] The transmission of stimulation by voltage is an electrical stimulus to the skin of the user U. When the transmission unit 14 transmits stimulation to the user U by light, it transmits to the user U information about the fuel necessary for movement, such as gasoline and batteries, as ambient information other than the position information of the mobile body 2.

[0056] The transmission unit 14, for example, transmits vibrations to the user U when transmitting the direction of an object. That is, the surrounding object recognition support device 1 selects a transmission unit 14 from among a plurality of transmission units 14 that is located at a position corresponding to the direction information, and generates vibrations in this transmission unit 14.

[0057] Furthermore, when the transmission unit 14 transmits distance information to the user U, it transmits the approach distance of the moving body 2 to the obstacle 5 by, for example, the amount of vibration (vibration amount). That is, the transmission unit 14 transmits the approach distance to the user U by generating vibrations such that the vibration amount is larger when the distance to the obstacle 5 is close and smaller when the distance to the obstacle 5 is farther.

[0058] The surrounding object recognition support device 1, for example, selects a transmission unit 14 from among a plurality of transmission units 14 that is located at a position corresponding to the directional information, and generates vibrations in this transmission unit 14 with a vibration amount corresponding to the distance information. As a result, the user U wearing the surrounding object recognition support device 1 can grasp the situation around the moving object 2, improving the remote control capabilities of the user U.

[0059] Furthermore, when the surrounding object recognition support device 1 transmits multiple types of information to the user U, it transmits multiple types of stimuli to the user U. For example, the surrounding object recognition support device 1 may transmit the object direction of the obstacle 5 by selecting a vibration transmission unit 14, transmit the distance between the moving body 2 and the obstacle 5 by the amount of vibration, transmit the direction of the moving target set in advance by the user U by heat, and transmit the aforementioned fuel information by light. It should be noted that the transmission described in the embodiment can be omitted, replaced, modified, or combined in various ways without departing from the effects of the embodiment.

[0060] The surrounding object recognition support device 1 is not limited to the head; it may also be attached to the face, neck, arms, wrists, waist, ankles, etc. Furthermore, there may be multiple surrounding object recognition support devices 1, and they may be attached to multiple body parts. For example, the surrounding object recognition support devices 1 may be attached to both wrists and both ankles.

[0061] Figure 3 is a block diagram showing the configuration of the surrounding object recognition support system according to the embodiment. As described above, the surrounding object recognition support system 100 comprises a surrounding object recognition support device 1, a mobile body 2, and an operating device 3.

[0062] The mobile device 2 has an imaging unit 21, a detection unit 22, and a communication unit 23. The operating device 3 has a communication unit 31 and a display screen 32. The communication unit 23 is the first communication unit, and the communication unit 31 is the second communication unit.

[0063] The mobile body 2 also has a control unit (not shown) that controls the movement of the mobile body 2 based on operation information transmitted from the operating device 3, but its explanation is omitted. The operating device 3 also has an information generation unit (not shown) that generates operation information in response to operations by user U, but its explanation is omitted. In addition, although Figure 3 shows multiple detection units 22, the mobile body 2 may have only one detection unit 22.

[0064] The imaging unit 21 captures the scenery in front of the moving object 2 and outputs the captured camera image 51 to the communication unit 23. Each detection unit 22 detects the location information of obstacles 5, etc. Each detection unit 22 outputs the detected location information, etc. to the communication unit 23.

[0065] The communication unit 23 communicates with the communication unit 31 of the operating device 3. The communication unit 23 transmits the camera image 51 to the communication unit 31 of the operating device 3 and receives operation information from the communication unit 31. The communication unit 23 also communicates with the communication unit 11 of the surrounding object recognition support device 1, which will be described later. The communication unit 23 transmits surrounding information, including location information, to the communication unit 11 of the surrounding object recognition support device 1. In other words, the communication unit 23 has the function of a transmitter that transmits surrounding information to the communication unit 11. As a result, the surrounding object recognition support device 1 outputs stimuli such as pressure at locations corresponding to the location information to stimulate the user U. The communication unit 31 receives the camera image 51 and outputs it to the display screen 32. The display screen 32 displays the image corresponding to the camera image 51.

[0066] Furthermore, communication between communication units 23 and 31 may be wireless or wired. Similarly, communication between communication units 23 and 11 may be wireless or wired. Wireless communication between communication units 23 and 31 and wireless communication between communication units 23 and 11 may be, but are not limited to, Bluetooth® or wireless LAN (Local Area Network) communication. Wireless communication between communication units 23 and 31 and wireless communication between communication units 23 and 11 may also be communication via a base station.

[0067] Figure 4 is a block diagram showing the configuration of a surrounding object recognition support device according to an embodiment. The surrounding object recognition support device 1 includes a communication unit 11, a user operation unit 12, a control unit 13, and a plurality of transmission units 14.

[0068] The communication unit 11 receives ambient information including location information from the mobile body 2 and transmits the received ambient information including location information to the control unit 13. The control unit 13 then transmits the ambient information to the transmission unit 14. In other words, the communication unit 11 has the function of a receiving unit that receives ambient information from the mobile body 2, and the function of a transmitting unit (ambient information transmission unit) that transmits ambient information to the transmission unit 14. Note that the communication unit 11 may transmit ambient information to the transmission unit 14 without going through the control unit 13. Furthermore, the mobile body 2 may be in a real or virtual form. If the mobile body 2 is in a real form, it is an actual drone that moves through space. If the mobile body 2 is in a virtual form, it is a virtual drone that moves in a virtual space such as a video game. In this case, the operating device 3 is, for example, an input terminal such as a game controller.

[0069] The user operation unit 12 is operated by user U. The user operation unit 12 adjusts the transmission information used by the transmission unit 14 in response to the operation by user U. The transmission information is information used when the surrounding object recognition support device 1 transmits the position of the obstacle 5 to user U. The transmission information includes, for example, a transmission determination condition for whether or not to transmit the position (object direction and approach distance) of the moving object 2 to user U, transmission amount determination information, and transmission target determination information.

[0070] The transmission determination condition is, for example, that the distance between the moving object 2 and the obstacle 5 is less than or equal to a specific value (distance reference value). If the distance between the moving object 2 and the obstacle 5 is less than or equal to the distance reference value, it is determined that the proximity distance should be transmitted to the user U.

[0071] The transmitted quantity corresponds to the amount of stimulation to the user U. For example, when transmitted by pressing, the transmitted quantity is the strength of the pressure applied to the user U (pressure amount), and when transmitted by vibration, it is the vibration frequency or amplitude. Furthermore, when transmitted by heat, the transmitted quantity is the amount of heat, when transmitted by sound, it is the volume, and when transmitted by voltage, it is the voltage value.

[0072] The transmission amount determination information is the information used when determining the transmission amount. This information is represented by the correspondence between the distance between the moving object 2 and the obstacle 5 and the transmission amount. Based on this correspondence, the transmission amount corresponding to the distance between the moving object 2 and the obstacle 5 is determined.

[0073] The information used to determine the target of the stimulus is the transmission unit 14 that will be the target (driven target) of the stimulus. For example, the information specifies which transmission unit 14 will be selected as the target of the stimulus when a transmission unit 14 corresponding to the direction of the obstacle 5 is located among multiple transmission units 14. The information specifies, for example, whether to select the nearest transmission unit 14 as the target of the stimulus, or to select all of the multiple transmission units 14 as the target of the stimulus. For example, if the information specifies that all of the multiple transmission units 14 should be selected as the target of the stimulus, then all of the multiple transmission units 14 will be selected as the target of the stimulus.

[0074] Furthermore, in the transmission amount determination information, if multiple transmission units 14 are selected as the transmission target, the transmission amount for each of the selected multiple transmission units 14 may be defined. In this case, the transmission amount determination information defines the transmission amount according to the degree of correspondence with the direction of the obstacle 5. That is, in the transmission amount determination information, the transmission amount is defined such that the higher the degree of correspondence with the direction of the obstacle 5, the larger the transmission amount. In this case, the transmission amount determination information is shown as a correspondence between the degree of correspondence of the transmission unit 14 with the direction of the obstacle 5 and the transmission amount. Based on this correspondence, the transmission amount corresponding to the degree of correspondence with the direction of the obstacle 5 is determined for the transmission unit 14.

[0075] For example, there may be two adjacent transmission units 14, and the position between these two transmission units 14, known as the inter-transmission unit position, corresponds to the object direction, which is the direction of the obstacle 5 relative to the moving body 2. The transmission amount determination information specifies the transmission amount for these two transmission units 14. Furthermore, the transmission amount determination information may also specify the transmission amount for each transmission unit 14 when the inter-transmission unit position is located between three or more transmission units 14.

[0076] The transmission amount determination information specifies, for example, the transmission amount according to the distance between the transmission unit position and the transmission unit 14. That is, the transmission amount determination information specifies, for example, that the transmission amount of the transmission unit 14 closer to the transmission unit position be greater than the transmission amount of the transmission unit 14 further away from the transmission unit position. The transmission amount determination information specifies, for example, that the transmission amount will be larger the closer the distance between the transmission unit position and the transmission unit 14 is, and the transmission amount will be smaller the further the distance between the transmission unit position and the transmission unit 14 is.

[0077] The surrounding object recognition support device 1 adjusts the transmission amount of each transmission unit 14 according to the transmission amount determined by the transmission amount determination information. This allows the surrounding object recognition support device 1 to make the user U recognize that areas where no transmission unit 14 is located are operating.

[0078] For example, when the surrounding object recognition support device 1 transmits the position (direction of the object and approach distance) of the moving object 2 by vibration, it may adjust the transmission amount, such as the vibration frequency or amplitude, of at least two transmission units 14 to allow the user U to recognize that a location where no transmission unit 14 is present is a vibration source. In addition, the transmission amount determination information may specify the transmission amount so that the selected multiple transmission units 14 have the same transmission amount.

[0079] The user operation unit 12 adjusts the transmitted information according to operations such as dials or buttons. That is, the transmitted information is adjusted by a dial, buttons, etc. Note that the adjustment of the transmitted information is not limited to dials or buttons, and may be performed by any method. The user operation unit 12 outputs the adjusted transmitted information to the control unit 13.

[0080] Furthermore, the user operation unit 12 may be equipped with wireless communication functions with external devices such as Bluetooth® or Wi-Fi, or wired communication functions with external devices. In this case, the user operation unit 12 may be operated by communication with, for example, a smartphone, tablet terminal, or PC (Personal Computer). The user operation unit 12 is not particularly limited in terms of the setting configuration, as long as it has a function that allows the user U to arbitrarily set the information to be transmitted.

[0081] Furthermore, the user operation unit 12 may receive a command from the user U specifying the method of stimulus transmission via a dial, button, communication, etc. The stimulus transmission method is a method of transmitting a stimulus to the user U. The transmission method is at least one of the following: pressing, vibration, heat, sound, light, and voltage. In this case, a transmission unit 14 capable of outputting a stimulus corresponding to the command received from the user U is selected, and from the selected transmission units 14, the transmission unit 14 corresponding to the direction of the obstacle 5 is selected as the target of stimulus transmission.

[0082] The control unit 13 receives ambient information including location information from the communication unit 11 and transmission information from the user operation unit 12. Based on the location information and transmission information, the control unit 13 determines whether or not to transmit the proximity distance to the user U. That is, the control unit 13 determines whether or not to transmit the proximity distance to the user U based on the distance information included in the location information and the transmission determination conditions included in the transmission information. For example, the control unit 13 compares the minimum distance indicated by the distance information with the distance reference value defined in the transmission determination conditions. If the minimum distance indicated by the distance information is less than or equal to the distance reference value, the control unit 13 determines to transmit the proximity distance to the user U.

[0083] When the control unit 13 determines that it is time to transmit the approach distance to the user U, it calculates the object direction, which is the direction of the obstacle 5 relative to the moving object 2, based on the information of the position of the detection unit 22 and the position information.

[0084] When the control unit 13 acquires position information from multiple detection units 22, it calculates the object direction based on the position information acquired from each detection unit 22. For example, the control unit 13 calculates the object direction by taking the average value of the direction information included in the acquired position information. The control unit 13 also calculates the approach distance, which is the distance from the moving object 2 to the obstacle 5, by taking the average value of the distance information included in the acquired position information.

[0085] The control unit 13 may calculate the minimum value of the distance information included in the acquired position information as the approach distance. Furthermore, the control unit 13 may calculate the direction of the direction information corresponding to the distance information calculated as the approach distance as the object direction. That is, the control unit 13 may calculate the direction of the direction information included in the position information where the distance information is the minimum value as the object direction.

[0086] The control unit 13 determines a transmission unit 14 that transmits the object direction and approach distance based on the transmission target determination information and the direction information of the position information. Once the transmission unit 14 is determined, the control unit 13 determines the amount of stimulus to be transmitted based on the transmission amount determination information of the transmission information.

[0087] The transmission unit 14, which transmits the direction and approach distance of an object, corresponds to the direction of the obstacle 5 relative to the moving body 2. For example, if the obstacle 5 is to the right of the moving body 2, the control unit 13 selects the transmission unit 14 located to the right of the user U and generates a stimulus in this transmission unit 14.

[0088] The transmission unit 14 transmits stimuli to the user U. If the surrounding object recognition support device 1 transmits stimuli by pressing, for example, the transmission unit 14 has an actuator that generates pressing. If the surrounding object recognition support device 1 transmits stimuli by vibration, for example, the transmission unit 14 has an actuator that generates vibration.

[0089] The surrounding object recognition support device 1 has at least three transmission units 14. Each transmission unit 14 is capable of independent stimulus transmission. The control unit 13 controls each transmission unit 14 independently to transmit the distance between the moving object 2 and the obstacle 5, and the direction of the obstacle 5 relative to the moving object 2, to the user U.

[0090] Figure 5 is a flowchart showing the processing procedure for determining whether or not the surrounding object recognition support device according to the embodiment transmits the object direction and approach distance to the user. The surrounding object recognition support device 1 acquires surrounding information of the moving object 2 by having the communication unit 11 receive surrounding information including position information from the moving object 2 (step S10). The communication unit 11 transmits the position information to the control unit 13. The user operation unit 12 also transmits the adjusted transmission information to the control unit 13 if the transmission information has been adjusted.

[0091] The control unit 13 controls the transmission of stimuli to the user U based on the latest transmission information. Until the transmission information is adjusted, the control unit 13 uses the pre-set initial values ​​of the transmission information.

[0092] The control unit 13 extracts transmission determination conditions from the transmitted information. The control unit 13 determines whether the location information satisfies the transmission determination conditions (step S20). If the location information satisfies the transmission determination conditions (step S20, Yes), the control unit 13 executes the transmission process (step S30). On the other hand, if the location information does not satisfy the transmission determination conditions (step S20, No), the control unit 13 does not execute the transmission process.

[0093] The transmission determination condition includes a distance reference value, which is a comparison value for the distance between the moving object 2 and the obstacle 5. The control unit 13 determines that the location information transmission determination condition is met if the approach distance, which is the distance between the moving object 2 and the obstacle 5, is less than or equal to the distance reference value. On the other hand, the control unit 13 determines that the location information transmission determination condition is not met if the approach distance between the moving object 2 and the obstacle 5 is greater than the distance reference value.

[0094] Furthermore, the control unit 13 may use speed information, which is information about the speed of the moving object 2, in addition to position information, to determine whether the transmission determination condition is met. In this case, the surrounding object recognition support device 1 acquires speed information from the moving object 2 or the operating device 3. When the surrounding object recognition support device 1 acquires speed information from the moving object 2, the moving object 2 includes the speed information in the surrounding information it transmits to the surrounding object recognition support device 1.

[0095] The control unit 13 applies the position information and speed information to a specific calculation formula (the first calculation formula) to calculate a first calculated value, which is a calculated value corresponding to the position information and speed information. The control unit 13 compares the first calculated value with a first reference value, which is a reference value for the first calculated value. Based on this comparison result, the control unit 13 determines whether the position information and speed information satisfy the transmission determination conditions. In this case, the transmission determination conditions include the first reference value instead of the distance reference value.

[0096] Furthermore, the control unit 13 may use acceleration information, which is acceleration information, instead of velocity information to determine whether the transmission determination condition is met. In other words, the control unit 13 may use acceleration information in addition to position information to determine whether the transmission determination condition is met. In this case, the surrounding object recognition support device 1 acquires acceleration information from the moving body 2 or the operating device 3. When the surrounding object recognition support device 1 acquires acceleration information from the moving body 2, the moving body 2 includes the acceleration information in the surrounding information it transmits to the surrounding object recognition support device 1.

[0097] The control unit 13 applies the position information and acceleration information to a specific calculation formula (the second calculation formula) to calculate a second calculated value, which is a calculated value corresponding to the position information and acceleration information. The control unit 13 compares the second calculated value with a second reference value, which is a reference value for the second calculated value. Based on this comparison result, the control unit 13 determines whether the position information and acceleration information satisfy the transmission determination conditions. In this case, the transmission determination conditions include the second reference value instead of the distance reference value.

[0098] Furthermore, the control unit 13 may determine whether the transmission determination conditions are met using the position information, velocity information, and acceleration information. In this case, the control unit 13 calculates a third calculated value, which is a calculated value corresponding to the position information, velocity information, and acceleration information, by applying the position information, velocity information, and acceleration information to a specific calculation formula (third calculation formula). The control unit 13 compares the third calculated value with a third reference value, which is a reference value of the third calculated value. Based on this comparison result, the control unit 13 determines whether the position information, velocity information, and acceleration information meet the transmission determination conditions. In this case, the transmission determination conditions include a third reference value instead of a distance reference value.

[0099] Figure 6 is a flowchart showing the processing procedure of the transmission process performed by the surrounding object recognition support device according to the embodiment. When the position information satisfies the transmission conditions and the transmission process is executed, the control unit 13 of the surrounding object recognition support device 1 calculates the object direction, which is the direction of the obstacle 5 relative to the moving object 2 (step S110). The control unit 13 calculates the object direction based on the position information received by the communication unit 11.

[0100] For example, in the surrounding object recognition support system 100, when the surrounding object recognition support device 1 transmits the object direction of an obstacle 5 relative to a moving body 2 to the user U, at least one detection unit 22 is placed on the moving body 2, and the surrounding object recognition support device 1 acquires direction information, which is the direction of the obstacle 5, from the moving body 2.

[0101] The control unit 13 calculates, based on the directional information, which direction the obstacle 5 is located in relative to the moving body 2. For example, consider a state where the moving body 2 is facing in a direction parallel to the horizontal direction, and the detection units 22 are aligned in a direction parallel to the horizontal direction. In this case, the control unit 13 considers the front direction of the moving body 2 to be the 12 o'clock direction and the rear direction of the moving body 2 to be the 6 o'clock direction, and calculates which direction the obstacle 5 is located in relative to the moving body 2. The direction of the obstacle 5 calculated by the control unit 13 is the object direction. If the front direction of the moving body 2 is the 12 o'clock direction, then the front direction of the surrounding object recognition support device 1 is the 12 o'clock direction. Also, if the rear direction of the moving body 2 is the 6 o'clock direction, then the rear direction of the surrounding object recognition support device 1 is the 6 o'clock direction.

[0102] The surrounding object recognition support device 1 is mounted on the user U so that the front direction of the surrounding object recognition support device 1 and the front direction of the mobile body 2 coincide. Therefore, the front direction of the surrounding object recognition support device 1 and the front direction of the mobile body 2 coincide, and both are at the 12 o'clock position. Furthermore, when the user U, who is wearing the surrounding object recognition support device 1, is facing the display screen 32, the front directions of the surrounding object recognition support device 1, the mobile body 2, and the operating device 3 all coincide.

[0103] The control unit 13 determines which of the at least three transmission units 14 to operate based on the transmission target determination information and the calculated object direction. In other words, the control unit 13 determines the transmission unit 14 corresponding to the object direction (step S120).

[0104] For example, if the object's orientation is at the 4 o'clock position horizontally as viewed from the moving body 2, the control unit 13 selects the transmission unit 14 that is located at the 4 o'clock position horizontally as viewed from the user U.

[0105] Furthermore, the control unit 13 calculates the amount of information to be transmitted in the transmission unit 14 based on the transmission amount determination information for the determined transmission unit 14. For example, suppose the surrounding object recognition support device 1 has N (N is a natural number of 3 or more) transmission units 14. In this case, the first transmission unit is designated as transmission unit 14-1, the second transmission unit as transmission unit 14-2, and the Nth transmission unit as transmission unit 14-N.

[0106] When the control unit 13 determines that the first transmission unit, transmission unit 14-1, is the target of the transmission, it calculates the transmission amount for the transmission unit 14-1 (step S130-1). In this case, the control unit 13 drives the transmission unit 14-1 to output the transmission amount calculated in step S130-1 (step S140-1).

[0107] Furthermore, if the control unit 13 determines that the second transmission unit, the transmission unit 14-2, is the target of the transmission, it calculates the transmission amount for the transmission unit 14-2 (step S130-2). In this case, the control unit 13 drives the transmission unit 14-2 to output the transmission amount calculated in step S130-2 (step S140-2).

[0108] Furthermore, if the control unit 13 determines that the Nth transmission unit, transmission unit 14-N, is the target of the transmission, it calculates the transmission amount for transmission unit 14-N (step S130-N). In this case, the control unit 13 drives transmission unit 14-N to output the transmission amount calculated in step S130-N (step S140-N).

[0109] In this way, the control unit 13 operates the transmission unit 14 based on the transmission unit 14 that has been determined to be the transmission target and the calculated transmission amount. The transmission unit 14 that the control unit 13 determines to be the transmission target may be one or more.

[0110] Figure 7 is a diagram illustrating the amount transmitted by the surrounding object recognition support device according to this embodiment. Here, we will explain the case where the amount transmitted is the amount of pressure. Figure 7 shows the relationship between the approach distance of the moving body 2 to the obstacle 5 and the amount of pressure applied by the transmission unit 14. The approach distance of the moving body 2 to the obstacle 5 is the distance between the moving body 2 and the obstacle 5. In the graph shown in Figure 7, the horizontal axis represents the approach distance, and the vertical axis represents the amount of pressure.

[0111] The control unit 13 controls the amount of pressure to 0 when the approach distance is greater than the distance L2. As a result, the control unit 13 does not give the user U a stimulus indicating a possibility of collision when the moving body 2 is far away and the possibility of collision with the obstacle 5 is low, thus suppressing unnecessary notifications of the obstacle 5.

[0112] Furthermore, when the approach distance approaches L2, the control unit 13 increases the amount of pressure applied as the approach distance decreases. This allows the control unit 13 to communicate the approach distance to the obstacle 5 to the user U.

[0113] Furthermore, when the approach distance approaches to a distance L1, which is shorter than distance L2, the control unit 13 controls the amount of pressure to a constant value. This allows the control unit 13 to avoid increasing the amount of pressure too much. Note that the relationship between approach distance and amount of pressure explained in Figure 7 is just one example, and the control unit 13 may perform control different from the example shown in Figure 7.

[0114] In this way, the surrounding object recognition support system 100 can enable user U to recognize the position of obstacles 5, thereby improving the operability and learning speed of the mobile unit 2. For example, the surrounding object recognition support system 100 can provide intuitive control by feeding back information (distance and direction) of obstacles 5 around the mobile unit 2, which is a remotely operated device, to user U as vibrations. Furthermore, by enabling user U to be aware of obstacles 5 around the mobile unit 2, the surrounding object recognition support system 100 can prevent collisions and damage between the mobile unit 2 and obstacles 5. In addition, by improving the operability of the mobile unit 2, the surrounding object recognition support system 100 can enable user U to reach a level of proficiency in controlling the mobile target more quickly.

[0115] Furthermore, the surrounding object recognition support system 100 can enable user U to recognize not only obstacles 5 in front of user U, but also information about the positions of obstacles 5 at various locations around the moving body 2. In addition, since the detection unit 22 of the surrounding object recognition support system 100 is located at a different position from the surrounding object recognition support device 1, user U can recognize the positions of obstacles 5 other than those around user U.

[0116] Figure 1 and other diagrams illustrate the case where the mobile body 2 is a drone or the like that can move to any position within a specific range from the control device 3. However, the mobile body 2 may also be a device integrated with the control device 3, such as a car, truck, or helicopter. In this case, the distance between the mobile body 2 and the control device 3 is constant.

[0117] Figure 8 shows another example of the configuration of the surrounding object recognition support system according to the embodiment. The surrounding object recognition support system 100A shown in Figure 8 assists the user U in recognizing obstacles 5 present around a mobile body 2A integrated with an operating device 3A.

[0118] In the surrounding object recognition support system 100A, the mobile body 2A is a mobile body integrated with operating equipment 3A such as an automobile, truck, or helicopter. In this case, the operating equipment 3A is equipped with a steering wheel, pedals, levers, sticks, etc.

[0119] The moving body 2A in the surrounding object recognition support system 100A also has at least one detection unit 22A. The detection unit 22A is positioned in a plane parallel to the horizontal plane when the moving body 2A is stopped on the ground parallel to the horizontal plane. Alternatively, the detection unit 22A may be positioned in a plane perpendicular to the horizontal plane when the moving body 2A is stopped on the ground parallel to the horizontal plane. Similar to the detection unit 22, the detection unit 22A detects the three-dimensional coordinates of the obstacle 5. The detection unit 22A may be positioned on the top, bottom, or side of the moving body 2A.

[0120] Mobile body 2A moves in the same way as mobile body 2 and transmits surrounding information, including positional information, to surrounding object recognition support device 1 in the same way as mobile body 2. The surrounding object recognition support system 100A also transmits stimuli corresponding to the position of obstacle 5 to user U, in the same way as the surrounding object recognition support system 100.

[0121] Next, the hardware configuration of the surrounding object recognition support device 1 will be described. The surrounding object recognition support device 1 is implemented by a processing circuit. The processing circuit may be a processor and memory that execute a program stored in memory, or it may be dedicated hardware.

[0122] Figure 9 shows an example of the configuration of a processing circuit when the processing circuit of the surrounding object recognition support device according to the embodiment is realized with a processor and memory. The processing circuit 90 shown in Figure 9 comprises a processor 91 and memory 92. When the processing circuit 90 is composed of a processor 91 and memory 92, each function of the processing circuit 90 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as an information processing program (surrounding object recognition support program) and stored in memory 92. In the processing circuit 90, each function is realized by the processor 91 reading and executing the information processing program stored in memory 92. In other words, the processing circuit 90 includes memory 92 for storing the information processing program that will ultimately be executed by the surrounding object recognition support device 1. This information processing program can also be said to be a program that causes the surrounding object recognition support device 1 to execute each function realized by the processing circuit 90. This information processing program may be provided on a computer-readable recording medium on which the information processing program is recorded, or it may be provided by other means such as a communication medium.

[0123] In the case of the surrounding object recognition support device 1 of this embodiment, the information processing program can also be described as a program that causes the surrounding object recognition support device 1 to execute the processes of steps S10 to S30 in Figure 5 and the processes of steps S110 to S140-N in Figure 6. The information processing program executed by the surrounding object recognition support device 1 has a modular configuration including a control unit 13, and the control unit 13 is loaded into the main memory and generated in the main memory.

[0124] Here, the processor 91 is, for example, a CPU (Central Processing Unit), processing unit, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor). The memory 92 is, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (Registered Trademark) (Electrically EPROM), magnetic disks, flexible disks, optical disks, compact disks, minidiscs, or DVDs (Digital Versatile Discs).

[0125] Figure 10 shows an example of the configuration of a processing circuit when the processing circuit of the surrounding object recognition support device according to the embodiment is configured with dedicated hardware. The processing circuit 93 shown in Figure 10 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The processing circuit 93 may be partially implemented with dedicated hardware and partially implemented with software or firmware. In this way, the processing circuit 93 can realize each of the above functions with dedicated hardware, software, firmware, or a combination thereof.

[0126] As described above, the surrounding object recognition support device 1 of this embodiment receives positional information of the obstacle 5 relative to the moving body 2 from the moving body 2, outputs a stimulus corresponding to the positional information, and transmits it to the user U. This allows the surrounding object recognition support device 1 to provide the user U with detailed information about a remote object (obstacle 5) located far from the user U.

[0127] The configurations shown in the above embodiments are merely examples, and can be combined with other known technologies. It is also possible to omit or modify parts of the configuration without departing from the gist of the invention. [Explanation of Symbols]

[0128] 1 Surrounding object recognition support device, 2,2A Moving object, 3,3A Operating equipment, 5 Obstacle, 11,23,31 Communication unit, 12 User operation unit, 13 Control unit, 14,14-1,14-2,14-N Transmission unit, 21 Imaging unit, 22,22A Detection unit, 32 Display screen, 51 Camera image, 90,93 Processing circuit, 91 Processor, 92 Memory, 100,100A Surrounding object recognition support system, L1,L2 Distance, U User.

Claims

1. A surrounding object recognition support device that assists the user in recognizing surrounding objects around a moving object, A surrounding information transmission unit that transmits surrounding information relating to the position of the surrounding object relative to the moving body, Multiple transmission units that output stimuli corresponding to the ambient information transmitted by the ambient information transmission unit and transmit them to the user, Equipped with, The surrounding information includes information about the distance between the moving object and the surrounding objects. If the position of the surrounding object included in the surrounding information corresponds to the inter-transmission unit position, which is the position between the first and second transmission units among the plurality of transmission units, the first transmission unit outputs a stimulus of transmission amount corresponding to the magnitude of the distance between the moving body and the surrounding object and the magnitude of the distance between the inter-transmission unit position and the first transmission unit, and the second transmission unit outputs a stimulus of transmission amount corresponding to the magnitude of the distance between the moving body and the surrounding object and the magnitude of the distance between the inter-transmission unit position and the second transmission unit. A surrounding object recognition support device characterized by the above.

2. The transmission unit transmits pressure corresponding to the ambient information to the user. The surrounding object recognition support device according to feature 1.

3. The transmission unit transmits vibrations corresponding to the surrounding information to the user. The surrounding object recognition support device according to feature 2.

4. The surrounding information transmission unit receives the surrounding information detected by at least one detection unit located on the moving body from the moving body. The position of the transmission unit corresponds to the position of the detection unit. The surrounding object recognition support device according to feature 1.

5. The system further includes a control unit that controls the transmission unit based on the surrounding information, The aforementioned transmission unit consists of three or more units, each positioned at a different location. The control unit drives a transmission unit positioned according to the location of the surrounding object included in the surrounding information, thereby causing the transmission unit to transmit a stimulus corresponding to the surrounding information to the user. The surrounding object recognition support device according to any one of claims 1 to 4.

6. The control unit determines a plurality of transmission units to be driven based on the ambient information, and controls the determined plurality of transmission units based on the ambient information. The surrounding object recognition support device according to feature 5.

7. The control unit controls each of the determined multiple transmission units independently. The surrounding object recognition support device according to feature 6.

8. A mobile object operated by a user, A surrounding object recognition support device that assists the user in recognizing surrounding objects around the moving body, It has, The aforementioned moving body is A transmitting unit that detects ambient information relating to the position of the surrounding object relative to the moving body and transmits the ambient information to the surrounding object recognition support device, Equipped with, The aforementioned surrounding object recognition support device, A receiving unit that receives the aforementioned ambient information from the moving object, Multiple transmission units that output stimuli corresponding to the ambient information received by the receiving unit and transmit them to the user, Equipped with, The surrounding information includes information about the distance between the moving object and the surrounding objects. If the position of the surrounding object included in the surrounding information corresponds to the inter-transmission unit position, which is the position between the first and second transmission units among the plurality of transmission units, the first transmission unit outputs a stimulus of transmission amount corresponding to the magnitude of the distance between the moving body and the surrounding object and the magnitude of the distance between the inter-transmission unit position and the first transmission unit, and the second transmission unit outputs a stimulus of transmission amount corresponding to the magnitude of the distance between the moving body and the surrounding object and the magnitude of the distance between the inter-transmission unit position and the second transmission unit. A surrounding object recognition support system characterized by the following:

9. A position detection step in which a moving object operated by a user detects ambient information relating to the positions of surrounding objects around the moving object relative to the moving object, The mobile body transmits the surrounding information to a surrounding object recognition support device that assists the user in recognizing the surrounding objects; The surrounding object recognition support device includes a receiving step of receiving the surrounding information from the moving object, The aforementioned surrounding object recognition support device comprises a transmission step in which a plurality of transmission units output stimuli corresponding to the received surrounding information and transmit them to the user, Includes, The surrounding information includes information about the distance between the moving object and the surrounding objects. If the position of the surrounding object included in the surrounding information corresponds to the inter-transmission unit position, which is the position between the first and second transmission units among the plurality of transmission units, the first transmission unit outputs a stimulus of transmission amount corresponding to the magnitude of the distance between the moving body and the surrounding object and the magnitude of the distance between the inter-transmission unit position and the first transmission unit, and the second transmission unit outputs a stimulus of transmission amount corresponding to the magnitude of the distance between the moving body and the surrounding object and the magnitude of the distance between the inter-transmission unit position and the second transmission unit. A method for supporting the recognition of surrounding objects, characterized by the features described above.

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