JP2004177360A - Haptic human navigation system, device used therefor, and method therefor - Google Patents

Abstract

[Problem] A haptic human navigation system that presents a user with a direction to proceed in an intuitive and easy-to-understand form using tactile sensation and haptic sensation in addition to visual and audible information by a display and an audio guide. I will provide a.
A device for guiding a person to a destination without looking at a map for guidance includes a destination input device 102, a position / direction measurement device 103, a map geographic information storage device 105, a route search device 106, It includes an information input / output device 110, an auditory information input / output device 111, a tactile information input / output device 112, a haptic information input / output device 113, an external storage device 109, and a communication device 107. As a direction sense presentation device, a palm-sized force information presentation device (force information input / output device) that is wirelessly controlled via infrared communication or the like has been realized. Present the direction to the ground intuitively.
[Selection diagram] Fig. 1

Description

【００６６】
さらに、ルート検索装置１０６において、電子コンパスユニット４０３などから求められたユーザの体の向き７０４と接線ベクトル７０３および法線ベクトルが比較されて、それによりユーザの体の向きに対する誘導すべき角度７０５が求められる。
【００６７】
人は、車とは異なり、装置で決定された経路をなぞるように歩くことはなく、路上の障害物や人を避けたり、目を引くものには近づいたりしながら目的地を目指す。つまり、ユーザは、目的地に向かって、カーナビ用およびヒューマンナビ用の電子地図で探索された経路以外を歩くことも行うため、目的地の大まかな方向７０６が提示されるだけでも十分に利用価値があると考えられる。
【００６８】
目的地までの距離情報も図１の力覚感覚入出力装置１１３の力覚感覚の強度に関連付けることができる。例えば、音源に近づけば音量が大きくなるように、目的地に近づけば力覚感覚の強度が大きくなる提示の仕方や、反対に、目的地を起点にしてゴムを伸ばした時のように目的地から遠くなれば強度が大きくなるという提示の仕方がある。この２通りのやり方は、それぞれに一長一短があり、前者の場合は、犬が臭いを頼りに探索するように自然法則に合致しているが、遠くに離れて目視が難しい時ほど力覚強度が弱くなり、迷いやすいという問題点もあるが、例えば、力覚感覚出力の最大強度および最小強度を予め設定し、力覚感覚出力が最大強度を超えないように、かつまた最小強度よりも小さくならないように制御することで、効果的な提示も可能である。また、距離に依存させず一定の力覚強度を提示する方法もある。
【００６９】
図８は、図１の視覚情報入出力装置１１０を用いたナビゲーション情報の提示方法および街並みなどの環境映像を記録する方法を示す。図８の（Ａ）は、視覚情報入出力装置１１０の全方位型の環境映像の記録方法の一構成例を示し、同図に示すように、３６０度視野角の環境映像８０１が液晶ディスプレイ８０５の例えば裏面等に取り付けた円錐形反射鏡８０２を介してＣＣＤカメラ８０３で読み込まれる。読み込まれた環境映像のデータは、視覚ＩＦ（インターフェース装置）８０４を介してＣＰＵ１０１に送られて利用されたり、図１の外部記憶装置１０９に記録される。また、ナビゲーション用の地図３０１（図３参照）および情報が液晶ディスプレイ８０５に提示される。
【００７０】
図８の（Ｂ）は、視覚情報入出力装置１１０の単方位型の環境映像の記録方法の一構成例を示し、上記の円錐形反射鏡８０２とＣＣＤカメラ８０３の代わりに、単一のＣＣＤカメラ８０６に置換した構成のものである。この場合は、一方向の環境映像がＣＣＤカメラ８０６により読み込まれ、読み込まれた環境映像のデータは、上記と同様に、視覚ＩＦ８０４を介してＣＰＵ１０１に送られて利用されたり、外部記憶装置１０９に記録される。
【００７１】
図９は、図１の聴覚情報入出力装置１１１を用いてナビゲーション用音声ガイドおよび報知音・警告音などの音響情報を提示する方法および環境音を記録する方法を示す。聴覚情報入出力装置１１１は、マイクロフォン９０１、聴覚ＩＦ（インターフェース装置）９０２、スピーカ９０３を有する。音響および音声ガイドは聴覚ＩＦ９０２で合成され、スピーカ９０３を介してユーザに提示される。環境音はマイクロフォン９０１および聴覚ＩＦ９０２を介して、ＣＰＵ１０１に送られて利用されたり、外部記憶装置１０９に記録される。聴覚ＩＦ９０２の音声認識機能を用いて入力装置にもなる。
【００７２】
図１０は、図１の触覚情報入出力装置１１２を用いてナビゲーション用点字情報の提示方法を示す。入出力デバイス１００１は図５に示した外部入出力装置１０４の入出力デバイス５０１と同一物とすることもできる。触覚情報入出力装置１１２の表面の指が添えられる部分に複数のアクチュエータおよび圧力センサを備えた入出力デバイス１００１が配置されている。この入出力デバイス１００１は点字ディスプレイなどで使われるペグが取り付けられており、ＣＰＵ１０１から送られてきたナビゲーション用情報が触覚ＩＦ（インターフェース装置）１００２を介して駆動力に変換されて入出力デバイス１００１に送られ、点字による文字・シンボル・図形を含む点字情報などの触覚情報によって提示することができる。
【００７３】
図１１は、図１の力覚情報入出力装置１１３を用いてナビゲーション用力覚情報を提示する方法を示す。力覚情報の提示には、空間に配置・固定された複数個のジャイロモータ１１０１を力覚ＩＦ（インターフェース装置）１１０２を介して各ジャイロモータを独立に駆動制御することで、任意の方向・大きさに角運動量ベクトルを合成し、その時間微分によってトルクを発生させることができる。この時、複数のジャイロモータ１１０１はｘ、ｙ、ｚ系の直交座標に固定される方が効率的である。力覚情報入出力装置１１３の姿勢・位置情報はその内部の姿勢・位置情報センサ１１０３によって測定され、力覚情報入出力装置１１３自身の動きによって発生する擾乱トルクがＣＰＵ１０１によって計算され、力覚ＩＦ１１０２を介して擾乱トルクがキャンセルするように複数のジャイロモータ１１０１が制御される。姿勢・位置情報センサ１１０３には歩くピッチを測定するための振動センサ（図示しない）が含まれる。
【００７４】
図１２は、力覚情報入出力装置１１３のトルク発生手段として、３個のジャイロモータ１１０１を利用したデバイス１２０１を示す。ｘ軸、ｙ軸、ｚ軸に固定された３個の回転子の回転数 ω_ｘ、ω_ｙ、ω_ｚ を独立に制御して、それぞれの回転子が発生する角運動量を合成することで、任意の方向に角運動量ベクトルを発生させる。そして、モータを加減速させた時に伴う角運動量の変化によって発生するトルクの反作用として外部にトルクを取り出す。
【００７５】
【外２】

【００７６】
ここで、ｘ、ｙ、ｚ軸方向の角速度の比ω_ｘ：ω_ｙ：ω_ｚを変えることで任意の方向に角運動量ベクトルの発生方向を制御することができる。この制御方法は制御が容易であり、変化に富んだ３次元力覚感覚を提示できる利点がある。
【００７７】
このように、３個のジャイロモータ１１０１を利用したデバイス１２０１は、３次元の任意の方向を指し示すことができ、これにより高さ方向の情報が提示することができので、前述のように、地図上では同じ位置で表わされる路面を歩くことと、陸橋・歩道橋を歩くこと、地下を歩くこと、とを区別して誘導することができる利点を有する。
【００７８】
図１３は、力覚情報入出力装置１１３のトルク発生手段として、３組のツイン・ジャイロモータ１１０１を利用した力覚情報提示デバイス１３０１を示す。図１３の（Ａ）はその力覚情報提示デバイス１３０１の構成の原理を示す模式図であり、図１３の（Ｂ）と（Ｃ）は実際に作成したデバイス１３０１の詳細な構成を示し、同図（Ｂ）はモータ固定用のフレーム１３０２に相当するハウジング（筐体）１３０４のみを断面の切り欠きで示した正面図、同図（Ｃ）はその平面図である。１３０３はジャイロモータ１１０１の電動モータ部分であり、１３０５は支持部材、１３０６は指示枠材である。フレーム１３０２は例えば円筒形、あるいは球形に形成され、ユーザの手に握られる。
【００７９】
図１２の例では３個のモータ１１０１が同図に示すようにねじれの位置に配置させていたが、質量バランスや慣性モーメントの向上を図るために、図１３に示すように慣性質量部分を重心近くで対峙させた３組のツイン・ジャイロモータ方式のデバイスを本発明者らは考え出した。また、モータ固定用のフレーム１３０２、１３０４の形状も、フレーム自体の慣性モーメントが小さくなるように、図１２に示すような立方体形状１２０２から点対称構造である球形に近づけた。慣性質量を重心に集中させることで、人の動きで生じる余計な慣性力の低減を図っている。このツイン・ジャイロモータは、同一方向、および反対方向に回転させることが可能で、反対方向に回転させることで角運動量の合成が打ち消され、ジャイロモータが回転していても見かけ上は回転していないのと同じ状態になり、トルクを発生させないまま反対方向に高速回転させた状態から片方のジャイロモータだけを電磁ブレーキなどによって急峻な制動をかけることによって大きな角運動量の変化が生じ、大きなトルクを提示することができる。
【００８０】
図１４は、力覚情報入出力装置１１３のトルク発生手段として、ジンバル構造１４０２を用いたデバイス１４０１を示す。ジャイロスコープのようにジンバル構造１４０２を用いて角速度ω_０で回転する回転子１４０３の姿勢を２つのジンバル軸１４０４、１４０５の周りに回転角Ω_１、Ω_２で制御する。この構成では、大きな１つのジャイロモータを使用するので、図１２および図１３に示した構成に比べて比較的大きなトルクを発生させることができるが、構造が複雑になったり、力学的強度が低下したり、提示できるトルクに制限がある。
【００８１】
図１５と図１６は、図１の通信装置１０７を用いたハプティックナビ１００の利用形態を示す。ハプティックナビ１００の第１の利用形態としては、図１５に示すように、ＧＰＳ受信機、電子コンパス、および地図地理情報が内蔵された携帯電話機、ＰＨＳ電話機、およびＰＤＡなどのモバイル機器にハプティックナビ１００を内蔵させた一体型モバイル機器１５０１が挙げられる。
【００８２】
ハプティックナビ１００の第２の利用の形態としては、図１６に示すように、ＧＰＳ受信機、電子コンパス、および地図地理情報が内蔵された携帯電話機、ＰＨＳ電話機、およびＰＤＡなどのモバイル機器１６０２と、それとは別個の１つのケースに納めたハプティックナビ１００の少なくとも入出力装置部分１６０１とを、通信装置１０７Ａ、１０７Ｂを介して電波、赤外線、超音波、ケーブル、コネクタなどの伝送手段で接続する別体型の形態が挙げられる。
【００８３】
ここでは、第１の利用形態である一体型モバイル機器１５０１が扱いやすく望ましいが、力覚情報入出力が内蔵されたデバイス自身の重量が増えると力覚情報を提示した時のトルクに対する感覚が低下するので、第２の利用形態である分離型デバイス１６０１も効果的である。
【００８４】
図１７は、図１の力覚情報入出力装置１１３を用いて力覚情報を提示する方法およびその制御方法の１例を示す。角運動量ベクトルを図１７の（Ａ）に示すように円軌道１７０１をトレースするように変化させ、また、図１７の（Ｂ）に示すように、楕円軌道１７０２をトレースするように変化させることで目的地の方向１７０３や誘導すべき方向や知りたい方位を提示することができる。ここで、単振動軌道は楕円軌道１７０２に含まれる。
【００８５】
（他の実施の形態）
以上、本発明の実施形態を詳述したが、本発明は、前述した実施形態の機能を実現するソフトウエアのプログラムを、システム或いは装置に直接或いは遠隔から供給し、そのシステム或いは装置のコンピュータがその供給されたプログラムを読み出して実行することによっても達成される場合を含む。プログラムを供給するための記録媒体としては、例えば、ハードディスク、光ディスク、光磁気ディスク、ＭＯ、ＣＤ−ＲＯＭ、ＣＤ−Ｒ、ＣＤ−ＲＷ、磁気テープ、不揮発性のメモリカード（ＩＣメモリカード）、ＲＯＭ、ＤＶＤ（ＤＶＤ−ＲＯＭ、ＤＶＤ−Ｒ）などがある。
【００８６】
【発明の効果】
以上説明したように，本発明によれば、ディスプレイや音声ガイドによる視覚・聴覚情報に加えて、力覚感覚を利用して進行すべき方向を直感的に理解しやすい形で提示する力覚型ヒューマンナビゲーションシステムが実現できる。
【００８７】
よって、本発明のヒューマンナビゲーションシステムを用いれば、次の効果が得られる。
（１）霧の中や暗闇などの視界が悪い場所でもナビゲーションシステムの利用が効果的になる。
（２）森林・原野などのランドマークがない場所でもナビゲーションシステムの利用が効果的になる。
（３）地震によってビルなどが倒壊した場合の災害時においても有効である。
（４）更に、視覚情報提示装置・聴覚情報提示装置・触覚情報提示装置・力覚情報提示装置の少なくともいずれか一つとそれ以外の装置群をワイヤレスに接続することで装着感・操作性を向上させることができる。
【００８８】
このように、本発明のヒューマンナビゲーションシステムは、視覚障害者、聴覚障害者および晴眼者にも効果的な誘導デバイスである。また、本発明のヒューマンナビゲーションシステムは、人を目的地に誘導する他に、ロボットの誘導およびカーナビとしても利用することができる。
【００８９】
また、ヒューマンナビゲーションシステムで用いる本発明の力覚情報提示デバイスとしては、以下の利点がある。
（ａ）制御方式として、複数のジャイロモータを独立に制御することで、任意の方向・大きさに角運動量ベクトルを合成し、その時間微分によってトルクを発生させる方法を用いているため、制御が容易であり、変化に富んだ３次元力覚感覚を提示できる。
（ｂ）また、慣性質量部分を重心近くで対峙させた３組のツイン・ジャイロモータ方式を用いたり、モータ固定用のフレーム形状を点対称構造である球形に近づけることで、質量バランスや慣性モーメントが向上している。慣性質量を重心に集中させることで、人の動きで生じる余計な慣性力の低減が図られている。
（ｃ）ジンバル構造を用いた場合には、ジンバル構造自身が余計な慣性モーメントを持ち擾乱トルクを発生させる。また、ジンバルの可動部分の構造が煩雑となる。これに対して、本発明の複数のジャイロモータを固定した方法では、構造が単純となり、力学的に強い強度が得られる。また、小型化した場合にも構造が単純なため加工が容易である。
（ｄ）非接地型のため、従来のように接地用アームやワイヤが不要であり、身体の動きを拘束しない。複数の力覚情報入出力装置が干渉せずに共存できる。ユーザの動作・行動への制限が少なく、小型・携帯性に優れており、屋内・屋外を含む広範囲での使用が可能である。
【図面の簡単な説明】
【図１】本発明の一実施形態の力覚型ヒューマンナビゲーションシステム（ハプティックナビ）の概略構成を示すブロック図である。
【図２】２つ以上のハプティックナビ間の通信方法を説明するブロック図である。
【図３】図１の目的地入力装置を用いて目的地の位置情報を入力する方法を説明する平面図である。
【図４】位置・方位情報を測定する図１の位置・方位測定装置の構成例を示すブロック図である。
【図５】図１の外部入出力装置を用いてデータの入力および出力を行う方法を説明する概念図である。
【図６】図１の地図地理情報記憶装置を用いて地図および地理情報の読み出し、および書き込み保存を行うときの情報の流れを示すブロック図である。
【図７】図１のルート検索装置を用いて目的地までのルート検索および誘導情報の計算を行う方法を説明する概念図である。
【図８】ナビゲーション情報を提示および街並みなどの環境映像を記録する図１の視覚情報入出力装置の構成例を示すブロック図である。
【図９】ナビゲーション用音響および音声ガイド情報を提示し、環境音を記録する図１の聴覚情報入出力装置の構成例を示すブロック図である。
【図１０】図１の触覚情報入出力装置を用いてナビゲーション用点字情報などの触覚情報を提示する方法を説明する概念図である。
【図１１】図１の力覚情報入出力装置を用いてナビゲーション用力覚情報を提示する方法を説明する概念図である。
【図１２】図１の力覚情報入出力装置のトルク発生手段として、３つのジャイロモータを利用した構成例を示す模式図である。
【図１３】図１の力覚情報入出力装置のトルク発生手段として、３組みのジャイロモータを利用した構成例を示し、（Ａ）は模式図、（Ｂ）はハウジングのみ切り欠きで示した力覚情報提示デバイスの正面図、（Ｃ）は同じく平面図である。
【図１４】図１の力覚情報入出力装置のトルク発生手段として、ジンバル構造を利用した構成例を示す模式図である。
【図１５】図１のハプティックナビの利用形態として一体型ユニットの一例を示す概念図である。
【図１６】図１のハプティックナビの別の利用形態として通信装置を用いた分離型ユニットの一例示す概念図である。
【図１７】図１の力覚情報入出力装置を用いて力覚情報を提示する方法および制御する方法を説明する概念図である。
【符号の説明】
１００ ハプティックナビ（力覚型ヒューマンナビゲーションシステム）
１０１ ＣＰＵ
１０２ 目的地入力装置
１０３ 位置・方位測定装置
１０４ 外部入出力装置
１０５ 地図地理情報記憶装置
１０６ ルート検索装置
１０７ 通信装置
１０８ メモリ
１０９ 外部記憶装置
１１０ 視覚情報入出力装置
１１１ 聴覚情報入出力装置
１１２ 触覚情報入出力装置
１１３ 力覚情報入出力装置
２１０ 視覚情報入出力装置
２１１ 聴覚情報入出力装置
２１３ 力覚情報入出力装置
３０１ 地図画面
３０２ 経度・緯度の入力表示欄
３０３ 住所による緯度・経度検索表示欄
３０４ 郵便番号による緯度・経度検索表示欄
３０５ 電話番号による緯度・経度検索表示欄
４０２ ＧＰＳユニット
４０３ 電子コンパスユニット
４０４ ＰＨＳ位置情報サービスユニット
４０５ ビーコンユニット
４０６ 近接位置センサユニット
５０１ 入出力デバイス
７０１ ルートの経路軌跡
７０２ 現在位置
７０３ 接線ベクトル
７０４ ユーザの体の向き
７０５ 誘導すべき角度
８０１ 環境映像
８０２ 円錐形反射鏡
８０３ ＣＣＤカメラ
８０４ 視覚ＩＦ
８０５ 液晶ディスプレイ
８０６ ＣＣＤカメラ
９０１ マイクロフォン
９０２ 聴覚ＩＦ
９０３ スピーカ
１００１ 入出力デバイス
１００２ 触覚ＩＦ
１１０１ ジャイロモータ
１１０２ 力覚ＩＦ
１１０３ 姿勢・位置情報センサ
１２０１ ３つのジャイロモータを利用した力覚情報提示デバイス
１３０１ ３組のツイン・ジャイロモータを利用した力覚情報提示デバイス
１４０１ ジンバル構造を利用した力覚情報提示デバイス
１４０２ ジンバル構造
１４０３ 角速度ω_０で回転する回転子
１４０４ 回転角Ω_１のジンバル軸
１４０５ 回転角Ω_２のジンバル軸
１５０１ ハプティックナビがモバイル機器に内蔵された形態のデバイス
１６０１ ハプティックナビがモバイル機器と分離した形態のデバイス
１７０１ 角運動量ベクトルの円軌道
１７０２ 角運動量ベクトルの楕円軌道
１７０３ 目的地の方向[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a human navigation system, and more particularly to a haptic human navigation system that guides a person to a destination using a haptic information presentation device, a haptic information presentation device used therefor, and a human navigation method therefor.
[0002]
[Prior art]
2. Description of the Related Art In recent years, car navigation systems (car navigation systems) have become widespread, and their devices have been reduced in price and advanced in function. If the driver inputs the destination to the car navigation system before starting driving, the current position and the traveling direction are displayed on the display screen, and at the junction / intersection, a detailed map will pop up, or a voice guide will alert you You can receive the service that gives. It is very stressful for the driver to select the next route based on an instantaneous decision while driving, so the car navigation system offers outstanding convenience especially when visiting the first time.
[0003]
However, drivers are required to have the ability to read maps, such as matching maps with real space, based on place names, addresses, and landmarks displayed on the display screen when driving. The accompanying deterioration in visual acuity and spatial cognition leads to a decrease in map reading ability and oversight of signs and the like. In addition, when a complicated intersection is approached, a detailed view pops up on the display screen, but it is not preferable to look aside while driving to view the display screen. In addition, there is a case where a voice guide cannot sufficiently explain a five-way road or a road that is not orthogonal.
[0004]
Recently, with the recognition of the convenience of car navigation, so-called “human navigation”, “walking navigation”, and the like, PDA-GPS capable of being equipped with a GPS (Global Positioning System) module and mobile phones equipped with GPS functions have been released. A palm-sized portable navigation environment called "human navigation" is being prepared. Further, a seamless environment in which car navigation and human navigation cooperate by sharing navigation information (navigation information) between the car navigation and a PDA (Personal Digital Assistant) has been provided.
[0005]
However, similarly to the visibility problem at the time of driving a car navigation system, it is not easy for a user to walk in an unknown city while dropping his gaze on the screen of the flicker and the navigation system when using a portable human navigation system. Further, when the user aims at a destination while enjoying a show window of a store or a conversation with a friend, a navigation relying only on visual information and auditory information is not appropriate.
[0006]
In order to solve these problems, navigation devices that provide route guidance without using visual or audio have been proposed. For example, a device that informs an intersection to be turned left or right by a vibration means during driving (Patent Literature 1), a right-handed impact is given to a steering wheel at a place where a right turn is required, A device that vibrates only the vibrating means to notify a right turn (Patent Document 2) has been proposed. In addition, a tactile direction indicator (Patent Document 3) has been proposed in which movable pegs are arranged at four front, rear, left, and right sides, and provided with a direction indication cue for raising the movable peg corresponding to the traveling direction. However, these are not suitable for use during walking, and a direction pointing device using a tactile sensation has low directional resolution, and it is difficult to intuitively understand the direction in which to proceed.
[0007]
The human navigation system is portable, and it is desirable that it is small and non-grounded for use while walking while walking.It uses a force sense such as torque to indicate the direction rather than using the tactile sense. It is more intuitive and easier to understand. As a non-grounded force information presentation device, a torque presentation device using a gyro moment and a gimbal structure has been developed, and a human is guided by perceiving a virtual wall using an area presentation system that combines this with an infrared distance sensor. (Non-Patent Document 1). However, the gimbal structure has a problem in that the torque direction that can be presented is limited, and the structure is complicated and control is complicated.
[0008]
On the other hand, non-grounding / portable force sense information presentation in which torque can be presented in any direction and magnitude by independently controlling the rotation of three gyro motors arranged in three-axis orthogonal coordinates. A device (Non-Patent Document 2) has been proposed. Since the torque is generated by controlling the combined angular momentum vectors generated by the three gyro motors, the structure is relatively simple and the control is easy. However, the balance between the mass and the moment of inertia, the disturbance torque generated by the natural movement of the person, is a point to be solved.
[0009]
[Patent Document 1]
JP-A-11-160087
[0010]
[Patent Document 2]
JP 09-133545 A
[0011]
[Patent Document 3]
JP 2000-352521 A
[0012]
[Non-patent document 1]
Masayuki Yoshie, Hiroaki Yano, Hiroo Iwata, "Development of Non-installed Force Haptic Device Using Gyro-Moment", Research Reports of Human Interface Society, vol. 3, No. 5, pp. 25-30 (2000)
[Non-patent document 2]
Yokichi Tanaka, Katsutaka Sakai, Yuka Kono, Yukio Fukui, Juri Yamashita, Norio Nakamura, "Mobile Torque Display and Haptic Characteristics of Human Palm", INTERNAL INTERNATIONAL CONNECTION CONNECTION INTERNATIONAL INTERNATIONAL INTERNATIONAL SERVICE 115-120 (2001/12)
[0013]
[Problems to be solved by the invention]
As described above, just as the visibility of the car navigation system and the level of understanding of the voice guide when driving are a problem, even when using a portable human navigation system, it is difficult to see while glancing at the flickering and navigating screens. It is not easy to walk around the city, and when aiming at a destination while enjoying a shop window or a conversation with friends, a navigation relying only on visual information and auditory information is not appropriate.
[0014]
Therefore, in addition to visual and auditory information by a display and a voice guide, it is necessary to present a direction to be advanced in a form that is easy to intuitively understand using a tactile sense, a force sense and the like.
[0015]
SUMMARY OF THE INVENTION In view of the above-described problems of the related art, an object of the present invention is to make it easy to intuitively understand the direction in which the vehicle should proceed by using a force sense, in addition to visual and auditory information by a display and an audio guide. It is an object of the present invention to provide a haptic human navigation system for presentation, a haptic information presentation device used for the system, and a human navigation method thereof.
[0016]
[Means for Solving the Problems]
In order to achieve the above object, a human navigation system according to the present invention includes a destination input unit for a user to input position information of a destination, a position / direction measuring unit for measuring a current position, a train, a subway, and a bus. Map geographic information storage means storing in advance map timetable and transfer information, and map geographic information including a three-dimensional map of a station yard or a station building, and the position information of the destination obtained from the destination input means And the position information of the current position obtained from the position / azimuth measuring means is compared with the map geographic information stored in the map geographic information storage means, and the shortest time, the shortest distance, the lowest fee, the walking speed, etc. A route search means for searching for an optimum route based on the evaluation criteria, and a user searching for the optimum route based on the position / direction information of the optimum route and the position / direction information of the current position. Calculating means for calculating a traveling direction to be advanced, and force sense information outputting means for guiding a user to the destination by presenting a user with a force directed in the direction according to the information on the direction calculated by the calculating means And characterized in that:
[0017]
Here, the calculation means compares the direction to be calculated calculated from the tangent vector and the normal vector of the searched route route with the orientation of the user's body determined from the electronic compass, An angle to be guided with respect to the orientation of the body of the user may be obtained, and the obtained angle may be output as a traveling direction to which the user should currently proceed.
[0018]
Further, the calculating means calculates distance information to the destination from the position and orientation information of the destination and the optimal route and the position and orientation information of the current position, and the force information output means, The distance information to the destination calculated by the calculation means may be presented in association with the strength of the haptic sensation.
[0019]
In addition, the force sense information output unit can present the direction of the destination together with the direction in which the user should be proceeding.
[0020]
Further, the force sense information output means can indicate an arbitrary three-dimensional direction, whereby information in a height direction can be presented, and therefore, walking on a road surface represented by the same position on a map can be performed. It is possible to distinguish between walking on an overpass / pedestrian bridge and walking underground.
[0021]
In addition, the apparatus further includes a haptic information output unit that guides the user to the destination by presenting the user with a haptic sense that changes in accordance with information on a traveling direction that the user should currently proceed calculated by the arithmetic unit. It can be a feature.
[0022]
The tactile information output means may present tactile information including braille information such as characters, symbols, and graphics for navigation by a tactile information output device including a plurality of actuators.
[0023]
Further, the information processing apparatus further comprises an auditory information output unit that guides the user to the destination by converting the information on the traveling direction that the user should be going to be calculated by the arithmetic unit into a voice message and transmitting the voice message. Can be.
[0024]
Further, the auditory information output means sequentially extracts and extracts reference information useful for guiding a user from the map geographic information stored in the map geographic information storage means, based on the current position and the optimal route. The reference information may be converted into voice and transmitted.
[0025]
Further, the calculating means estimates a stride from a walking pitch measured by a vibration sensor and a moving speed determined from the position information, and estimates a walking pitch at which the destination can be reached in a required time in the stride. At least one of the optimal target walking speed, the current walking speed, and the insufficient speed in consideration of the transfer is presented audibly via the auditory information output means.
[0026]
Further, a map read from the map geographic information stored in the map geographic information storage means is displayed, the optimum route searched by the route search means, the destination input from the destination input means, And a visual information output means for guiding the user to the destination by marking and displaying the current position input from the position / azimuth measurement means on the map.
[0027]
Further, the calculating means estimates a stride from a walking pitch measured by a vibration sensor and a moving speed determined from the position information, and estimates a walking pitch at which the destination can be reached in a required time in the stride. At least one of the optimal target walking speed, the current walking speed, and the insufficient speed in consideration of the transfer is visually presented through the visual information output means.
[0028]
Further, in synchronization with the force information presented by the force information output means, the force information, the position / direction information of the current position, and the position / direction information of the optimal route are recorded together with time information. In addition, the information processing apparatus may further include an external storage unit that can refer to the recording information at any time.
[0029]
Further, the external storage means may record an environmental image such as a cityscape received by the imaging means and an environmental sound including a conversation collected by the sound input means, together with time information.
[0030]
A communication unit for exchanging information and data between the two or more human navigation systems; and a monitor of a video, a voice, a conversation, and an ambient sound sent from the communication partner human navigation system via the communication unit. Monitoring means, information input means for inputting operation information for guiding a remote user to the destination, and the communication partner of the communication partner via the communication means according to the operation information input from the information input means. Control means for outputting control information to the output means of the human navigation system.
[0031]
Further, the monitoring means can read out information recorded in the external storage means at a remote place through the communication means and can monitor the information.
[0032]
The destination input means includes operation means such as a mouse, an input pen, and a touch panel with a display, and at least one of longitude / latitude, address, postal code, and telephone number is input via the operation means. And selecting the destination and generating position information of the destination.
[0033]
The position / azimuth measuring means may use at least one of a GPS signal, geomagnetic azimuth data, PHS position information data, beacon data, and position data of a proximity position.
[0034]
Further, the human navigation system can be characterized in that it is built in a mobile device such as a mobile phone, a PHS phone, and a PDA in which a GPS receiver, an electronic compass, and map geographic information are built.
[0035]
Further, the force information output means of the human navigation system is a grippable device separate from a mobile device such as a mobile phone, a PHS phone, and a PDA incorporating a GPS receiver, an electronic compass, and map geographic information. Wherein information can be exchanged with the mobile device via information transmission means such as wireless.
[0036]
Further, the force sense information output means independently controls a plurality of gyro motors such as three gyro motors, or three twin gyro motors facing each other near the center of gravity, or a gyro motor having a gimbal structure. , An angular momentum vector is synthesized with an arbitrary direction and magnitude, and a torque is generated by a time derivative thereof.
[0037]
Further, the force sense information output means, the angular momentum vector is circular orbit, or elliptical orbit, or by changing so as to trace along a simple oscillation orbit, the direction of the destination, or the direction to be guided, Alternatively, it can be characterized by presenting a desired direction.
[0038]
In order to achieve the above object, a haptic information presentation device of the present invention provides a haptic information presentation device that presents a user with a force that varies according to the direction and distance to be guided in order to guide the user to a destination. A plurality of devices such as three gyromotors arranged and fixed on three axes, or three sets of twin gyromotors using three pairs of twin gyromotors and facing them near the center of gravity. The gyro motor and the plurality of gyro motors are independently controlled in accordance with the input information of the direction and distance to be guided, so that an angular momentum vector is synthesized in an arbitrary direction and magnitude, and its time derivative is calculated. Control means for generating a torque corresponding to the direction and distance to be guided.
[0039]
Here, the pair of twin gyro motors can be rotated in the same direction and in the opposite direction, and the rotation in the opposite direction cancels out the synthesis of angular momentum, so that even if the gyro motor is rotating, it is apparent. The upper part is in the same state as not rotating, and from the state where it is rotated at high speed in the opposite direction without generating torque, only one gyro motor is sharply braked by electromagnetic brake etc. And a large torque can be presented.
[0040]
Further, the control means changes the angular momentum vector of the plurality of gyromotors so as to trace along a circular orbit, or an elliptical orbit, or a simple oscillation trajectory, so that the direction of the destination, or The present invention can be characterized in that a direction to be guided or a direction to be known is presented by force.
[0041]
Further, the control means changes the angular momentum vector of the plurality of gyromotors so as to trace along a circular orbit, or an elliptical orbit, or a simple oscillation trajectory, so that the direction of the destination, or The present invention can be characterized in that a direction to be guided or a direction to be known is presented by force.
[0042]
In order to achieve the above object, a human navigation method according to the present invention includes a destination inputting step of inputting position information of a destination, a position / azimuth measuring step of measuring a current position, a position information of the destination, and the current The position and direction information of the position is compared with the timetable and transfer information of trains, subways, buses, etc., which are recorded in advance in the map geographic information storage, and the map geographic information including the three-dimensional map of the station premises and the station building, A route search step for searching for an optimum route based on evaluation criteria such as the shortest time, the shortest distance, the lowest fare, and the walking speed; and deriving from the position / direction information of the optimum route and the position / direction information of the current position. A calculation step for calculating a power direction, and a user reaching the destination via a force sense information presentation device for presenting a force in the direction according to the information on the calculated direction. And having a force sense presentation information output step of inducing THE.
[0043]
In order to achieve the above object, the program of the present invention provides a human navigation system that guides a user to a destination using a haptic information presentation device that presents a user with a force that varies according to a direction and a distance to be guided. A computer-readable program for controlling the computer, the program comprising: a destination input step of inputting position information of a destination; a position / azimuth measuring step of measuring a current position; A map including a timetable and transfer information of trains, subways, buses, and the like pre-recorded in the map geographic information storage device with the position information and the position / azimuth information of the current position, and a map including a three-dimensional map of a station yard or a station building. A route that searches for the optimal route based on evaluation criteria such as the shortest time, shortest distance, minimum fare, walking speed, etc., based on geographic information A search step; a calculation step of calculating a direction to be guided from the position / direction information of the optimal route and the position / direction information of the current position; and a force that changes according to the calculated direction information. A force sense presentation information output step of guiding the user to the destination by presenting to the user via the sense information presentation device.
[0044]
Further, a recording medium of the present invention is characterized in that the above-mentioned program is stored so as to be readable by a computer.
[0045]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0046]
FIG. 1 shows a schematic configuration of a haptic human navigation system (hereinafter, referred to as a haptic navigation) according to an embodiment of the present invention. In the haptic navigator 100, the user inputs the position information of the destination by the destination input device 102. The input position information of the destination is compared with the current position information measured by the position / azimuth measuring device 103, and the comparison result and the time of a train, subway, bus, or the like stored in the map geographic information storage device 105 in advance. Based on table / transfer information and map geographic information including a three-dimensional map of a station premises or a station building, the route search device 106 compares the information with evaluation criteria such as the shortest time, the shortest distance, the lowest fare, and the walking speed. Optimal route candidates are calculated.
[0047]
Presented to at least one of the visual information input / output device 110 including a display and an imaging device, the auditory information input / output device 111 including a speaker and a microphone, or the tactile information input / output device 112 including a tactile information output device and a tactile sensor From the selected optimum route candidates, the user selects the optimum route desired by using an external input / output device 104 as shown in FIG. Information about the selected optimum route is temporarily stored in the memory 108.
[0048]
With the update of the current position associated with the movement of the user (that is, the haptic navigator 100), the CPU 101 calculates information related to the user's guidance, and the obtained guidance information is input to the visual information input / output device 110 and the auditory information input. It is presented to the user via at least one of the output device 111, the tactile information input / output device 112, and the force information input / output device 113 including the force information presentation device and the force sensor. The user can safely reach the destination based on the presented guidance information.
[0049]
In particular, the haptic information input / output device 113 can indicate an arbitrary three-dimensional direction, thereby presenting information in a height direction, and therefore walking on a road surface represented by the same position on a map. It can be guided separately from walking on an overpass / pedestrian bridge and walking underground.
[0050]
On the way to the destination, when a user asks for a road by an environmental image such as a cityscape imaged by a camera (not shown) of the visual information input / output device 110 or a microphone (not shown) of the auditory information input / output device 111. Conversations and environmental sounds are collected, and these environmental images and sounds are presented by at least one of the visual information input / output device 110, the auditory information input / output device 111, and the tactile information input / output device 112. Along with information presented by the force information input / output device 113, time information of the CPU 101, position information and orientation information of the position / azimuth measuring device 103, input information of the external input / output device 104, and the like. No) is recorded in the external storage device 109 as guidance record information. The guidance record information recorded in the external storage device 109 can be automatically transferred and saved to a personal home server or the like connected to the Internet via the communication device 107 after arriving at the destination.
[0051]
The information recorded in the external storage device 109 is transmitted to the visual information input / output device 110, the auditory information input / output device 111, the tactile information input / output device 112, and the haptic information input / output device 113 even during the route or after arrival at the destination. Reference can be made through at least one of them.
[0052]
As will be described later with reference to FIG. 2, the communication device 107 is used when exchanging information and data with another haptic navigation at a remote place via a communication line such as the Internet. For example, information on a destination is input from a remote haptic navigation system, and guidance record information sequentially recorded in an external storage device 109 is transmitted via a communication device 107 to a visual information input / output device 110 for a remote haptic navigation system, The information can be referred to by at least one of the information input / output device 111, the tactile information input / output device 112, and the haptic information input / output device 113. Further, the user is at a remote location via at least one of the visual information input / output device 110, the auditory information input / output device 111, the tactile information input / output device 112, and the haptic information input / output device 113 of the remote haptic navigation. It is also possible to accurately guide the person to be guided.
[0053]
FIG. 2 shows a communication method between two or more haptic navigation systems. Information and data can be exchanged between the plurality of haptic navigations 100 and 200 via the communication devices 107 and 207 and the communication line 220. Through the communication devices 107 and 207 and the communication line 220, the video and the environmental sound of the remote cityscape collected by the visual information input / output device 210 and the audio information input / output device 211 of the remote haptic navigation 200 are transmitted to the haptic of the communication partner. The visual information input / output device 110 and the auditory information input / output device 111 of the navigation system 100 monitor, or perform voice conversation with a user at a remote location via the audio information input / output devices 111 and 211, so that the guidance destination of the remote location can be determined. Understand the situation and present the information necessary for remote guidance to the visual information input / output device 210 and the auditory information input / output device 211 at a remote location by remote control, or input the haptic information input / output device 212 and the haptic information input at a remote location. By controlling the output device 213, a guided user who is at a remote location can be correctly remotely guided to the destination. This guidance method is suitable for guiding visually impaired persons, hearing impaired persons, blurred elderly people, infants, tourists, and the like. Various real-time information and the like uploaded to a server (not shown) connected to the Internet are sequentially monitored and searched by the haptic navi of the present invention and downloaded, and, for example, a new road, a bridge, an underpass, a railway, or the like is opened. The latest information that changes every day, such as roads that are closed due to road construction, roads that are very crowded until the evening that is an event such as a festival, etc. it can. The same can be applied to the latest version of application programs and functions related to navigation.
[0054]
FIG. 3 shows a method of inputting the position information of the destination using the destination input device 102 of FIG. The destination on the map screen 301 displayed on the display (not shown) integrated with the touch panel of the visual information input / output device 110 is clicked with a mouse (not shown) or touched with a pen (not shown) or a finger. By doing so, a destination (indicated by an asterisk and a white arrow) is selected, and the corresponding latitude / longitude position information of the destination is read from the map geographic information storage device 105. In addition, the “input longitude / latitude” column 302, the “latitude / longitude search by address” column 303, the “latitude / longitude search by postal code” column 304, and the “latitude by phone number” displayed on the visual information input / output device 110. Using the "Longitude search" column 305, position information can be input from an external acquisition output device 104 or operation keys (not shown) as shown in FIG. It is also possible to input the above search contents using the voice recognition of the auditory IF 902.
[0055]
FIG. 4 shows a method of measuring position / direction information using the position / direction measurement device 103 of FIG. The position / direction measurement device 103 includes a GPS unit 402, an electronic compass unit 403, a PHS (Personal Handyphone System) position information service unit 404, a beacon unit 405, and a proximity position sensor unit 406. The GPS unit 402 receives a so-called GPS (Global Positioning System) signal, and the received GPS data is sent to the CPU 101 in FIG. A signal from a GPS satellite is received by an antenna 4021, amplified by an RF (radio frequency amplifier) 4022, and decoded (decoded) by a decoder 4023. Similarly, the electronic compass unit 403 sends the azimuth data obtained based on the measured geomagnetism to the CPU 101, and the PHS location information service unit 404 sends the CPU 101 the position data obtained from the communication with the antenna base station. The beacon data obtained by the beacon unit 405 is sent to the CPU 101. In the proximity position sensor unit 406, position data measured by a position measuring device using electromagnetic waves, infrared rays, ultrasonic waves, or the like is sent to the CPU 101.
[0056]
FIG. 5 shows a method of inputting and outputting data using the external input / output device 104 of FIG. An input / output device 501 including a plurality of actuators and a pressure sensor (for example, a piezoelectric element) is arranged on a portion of the surface of the external input / output device 104 to which a finger 502 is attached. By pressing these input / output devices 501 with a finger 502 or the like, menu items on the visual information input / output device 110 can be selected. The input / output device 501 is provided with a peg used for a Braille display or the like, and can present Braille information and the like. As the external input / output device 104, a device other than the actuator and the pressure sensor, for example, a device using an electromagnetic switch, a micro switch, an elastic member, or the like may be connected.
[0057]
FIG. 6 shows the flow of information when reading and writing and saving a map and geographic information using the map geographic information storage device 105 of FIG.
[0058]
When the map information IC card 601 is set, the map geographic information is stored in the map geographic information storage device 105 through the CPU 101, and the stored map geographic information is thereafter called up through the CPU 101, and the visual information input / output device 110 and the like are used. Can be output to
[0059]
When a destination is input from the destination input device 102, the CPU 101 displays a map including the destination from the map geographic information storage device 105 on the visual information input / output device 110, and uses the map geographic information storage device 105 to set the destination. If there is related reference information, it reads it and outputs it to at least one of the visual information input / output device 110, the auditory information input / output device 111, the tactile information input / output device 112, and the haptic information input / output device 113.
[0060]
Thereafter, when the current position / azimuth is input by the position / azimuth measuring device 103, the CPU 101 passes control to the route searching device 106, and the route searching device 106 inputs the position information of the destination stored in the memory 108 and the input. The obtained position / azimuth information is compared with the map geographic information stored in the map geographic information storage device 105, and the minimum time, the shortest distance, the minimum fee, the walking speed, and the like input by the user from the external input / output device 104 are obtained. An optimum route candidate is searched based on the evaluation criteria, and the search result is reported to the CPU 101 as an optimum route candidate. The CPU 101 displays the reported optimal route candidate on the visual information input / output device 110, and displays the candidate information on at least one of the auditory information input / output device 111 and the tactile information input / output device 112. The information is also output to the information input / output device 113.
[0061]
When a user selects an optimal route candidate through the external input / output device 104, the CPU 101 highlights the selected route on the display drawing of the visual information input / output device 110 with a bold line, flash, or the like, and also displays the selected route. The reference information is read from the map geographic information storage device 105 and output to at least one of the visual information input / output device 110, the auditory information input / output device 111, the tactile information input / output device 112, and the haptic information input / output device 113. .
[0062]
As the user moves and the current position / azimuth input from the position / azimuth measuring device 103 changes, the CPU 101 sequentially moves the current position on the highlighted display of the route on the display drawing of the visual information input / output device 110 and The route search device 106 uses the position information of the destination, the position / direction information of the optimal route, and the position / direction information of the current position to determine the traveling direction (i.e., the guiding direction) to which the user is currently traveling, the distance to the destination, and The CPU 101 calculates an optimum walking speed, and the CPU 101 sends the calculation result to at least one of the visual information input / output device 110, the auditory information input / output device 111, the tactile information input / output device 112, and the haptic information input / output device 113. Output. The walking speed is estimated from the walking pitch measured by the vibration sensor and the moving speed obtained from the position information, and the walking pitch is estimated based on the walking speed at which the destination can be reached in the required time in the required walking time, thereby taking into consideration transfer to a train or the like. At least one of the optimum target walking speed, the current walking speed, and the insufficient speed is output to the input / output device. At the same time, the CPU 101 reads out reference information useful for guiding the user from the map geographic information storage device 105, and outputs the read reference information to the visual information input / output device 110, the auditory information input / output device 111, the tactile information input / output device. 112, and output to at least one of the haptic information input / output devices 113.
[0063]
FIG. 7 shows a method of searching for a route to a destination and calculating guidance information using the route search device 106 of FIG. On the basis of the destination information input from the destination input device 102, the position information / azimuth information input from the position / azimuth measuring device 103, and the map / geographic information read from the map geographic information storage device 105, a route search device 106 In, the optimal route candidate is calculated and searched.
[0064]
A desired route is selected by the user from the optimal route candidates, and a tangent vector 703 and a normal vector at the current position 702 on the path locus 701 of the selected route are obtained by the route search device 106 by differentiation, difference, or the like. Can be The tangent vector 703 indicates the traveling direction at that point, and the vector opposite to the normal vector (not shown) is used to dynamically correct the centripetal force for bending a curve, that is, the traveling direction of an object. It means the necessary force vector. Therefore, azimuth information necessary for guiding a person is calculated from the tangent vector and the normal vector in consideration of the human sensory characteristics.
[0065]
[Outside 1]

[0066]
Further, the route search device 106 compares the user's body orientation 704 obtained from the electronic compass unit 403 and the like with the tangent vector 703 and the normal vector, thereby obtaining an angle 705 to be guided with respect to the user's body orientation. Desired.
[0067]
Unlike a car, a person does not walk to follow the route determined by the device, but aims at a destination while avoiding obstacles or people on the road or approaching an eye-catching object. That is, since the user also walks to a destination other than the route searched by the electronic maps for the car navigation system and the human navigation system, it is sufficiently useful to provide the rough direction 706 of the destination. It is thought that there is.
[0068]
The distance information to the destination can also be associated with the intensity of the haptic sensation of the haptic input / output device 113 in FIG. For example, the presentation method increases the intensity of haptic sensation when approaching the destination, such as increasing the volume when approaching the sound source, or conversely, when the rubber is stretched from the destination as the starting point. There is a presentation method that the strength increases as the distance from the camera increases. These two methods have their strengths and weaknesses. In the former case, the dog conforms to the law of nature so that the dog can search by relying on the smell. There is also a problem that it becomes weak and easily confused, for example, the maximum intensity and the minimum intensity of the haptic output are set in advance, so that the haptic output does not exceed the maximum intensity, and also does not become smaller than the minimum intensity With such control, effective presentation is also possible. There is also a method of presenting a constant force sense independent of distance.
[0069]
FIG. 8 shows a method of presenting navigation information using the visual information input / output device 110 of FIG. 1 and a method of recording an environmental image such as a cityscape. FIG. 8A shows a configuration example of an omnidirectional environmental image recording method of the visual information input / output device 110. As shown in FIG. 8A, an environmental image 801 having a 360-degree viewing angle is displayed on a liquid crystal display 805. Is read by a CCD camera 803 via a conical reflecting mirror 802 attached to, for example, the back surface of the camera. The read environmental video data is sent to the CPU 101 via the visual IF (interface device) 804 for use or recorded in the external storage device 109 in FIG. Further, a map 301 for navigation (see FIG. 3) and information are presented on the liquid crystal display 805.
[0070]
FIG. 8B shows an example of a configuration of a method of recording a unidirectional environmental image of the visual information input / output device 110. A single CCD is used instead of the conical reflector 802 and the CCD camera 803 described above. This is a configuration in which the camera 806 is replaced. In this case, a one-way environmental image is read by the CCD camera 806, and the data of the read environmental image is sent to the CPU 101 via the visual IF 804 and used, or stored in the external storage device 109, as described above. Be recorded.
[0071]
FIG. 9 shows a method of presenting audio information such as an audio guide for navigation and a notification sound / warning sound and a method of recording environmental sounds using the auditory information input / output device 111 of FIG. The auditory information input / output device 111 has a microphone 901, an auditory IF (interface device) 902, and a speaker 903. The sound and voice guide are synthesized by the auditory IF 902 and presented to the user via the speaker 903. The environmental sound is sent to the CPU 101 for use via the microphone 901 and the auditory IF 902, or is recorded in the external storage device 109. It can also be an input device using the voice recognition function of the auditory IF 902.
[0072]
FIG. 10 shows a method of presenting braille information for navigation using the tactile information input / output device 112 of FIG. The input / output device 1001 may be the same as the input / output device 501 of the external input / output device 104 shown in FIG. An input / output device 1001 including a plurality of actuators and pressure sensors is arranged on a portion of the surface of the haptic information input / output device 112 to which a finger is attached. The input / output device 1001 is provided with a peg used for a braille display or the like, and navigation information sent from the CPU 101 is converted into a driving force via a tactile IF (interface device) 1002, and the driving force is transmitted to the input / output device 1001. It can be sent and presented by tactile information such as braille information including characters, symbols, and graphics in braille.
[0073]
FIG. 11 shows a method for presenting navigational force information using the force information input / output device 113 of FIG. In order to present the haptic information, a plurality of gyro motors 1101 arranged and fixed in a space are individually driven and controlled via a haptic IF (interface device) 1102 so that the gyro motors can be arbitrarily set in any direction and size. Further, a torque can be generated by synthesizing the angular momentum vector and time-differentiating it. At this time, it is more efficient that the plurality of gyro motors 1101 are fixed to the x, y, z system orthogonal coordinates. The posture / position information of the haptic information input / output device 113 is measured by an internal posture / position information sensor 1103, and the disturbance torque generated by the movement of the haptic information input / output device 113 itself is calculated by the CPU 101. A plurality of gyro motors 1101 are controlled such that the disturbance torque is canceled via the control unit. The posture / position information sensor 1103 includes a vibration sensor (not shown) for measuring a walking pitch.
[0074]
FIG. 12 shows a device 1201 using three gyro motors 1101 as torque generating means of the force information input / output device 113. Rotational speed ω of three rotors fixed to x-axis, y-axis, and z-axis _x , Ω _y , Ω _z Are independently controlled, and angular momentum generated by each rotor is synthesized to generate an angular momentum vector in an arbitrary direction. Then, the torque is taken out to the outside as a reaction of the torque generated by the change in the angular momentum accompanying the acceleration / deceleration of the motor.
[0075]
[Outside 2]

[0076]
Here, the ratio ω of the angular velocities in the x, y, and z axis directions _x : Ω _y : Ω _z Can be changed to control the direction in which the angular momentum vector is generated in an arbitrary direction. This control method is advantageous in that control is easy and a variety of three-dimensional force senses can be presented.
[0077]
As described above, the device 1201 using the three gyro motors 1101 can indicate an arbitrary three-dimensional direction, and can present information in the height direction. There is an advantage that walking on a road surface represented by the same position as above, walking on an overpass / pedestrian bridge, and walking underground can be guided separately.
[0078]
FIG. 13 shows a haptic information presentation device 1301 using three sets of twin gyro motors 1101 as torque generating means of the haptic information input / output device 113. FIG. 13A is a schematic diagram showing the principle of the configuration of the haptic information presentation device 1301, and FIGS. 13B and 13C show the detailed configuration of the actually created device 1301. FIG. 13B is a front view showing only a housing (housing) 1304 corresponding to a motor fixing frame 1302 by cutting out a cross section, and FIG. 13C is a plan view thereof. Reference numeral 1303 denotes an electric motor portion of the gyro motor 1101, reference numeral 1305 denotes a support member, and reference numeral 1306 denotes a pointing frame member. The frame 1302 is formed in, for example, a cylindrical shape or a spherical shape, and is held by the user's hand.
[0079]
In the example of FIG. 12, the three motors 1101 are arranged at the twisted positions as shown in FIG. 12, but in order to improve the mass balance and the moment of inertia, the inertial mass is moved to the center of gravity as shown in FIG. The present inventors have devised three sets of twin gyromotor type devices that face each other nearby. Also, the shapes of the motor fixing frames 1302 and 1304 are made closer to a point-symmetric spherical shape from the cubic shape 1202 as shown in FIG. 12 so that the moment of inertia of the frames themselves is reduced. By concentrating the inertial mass at the center of gravity, extra inertial force generated by human motion is reduced. This twin gyro motor can be rotated in the same direction and in the opposite direction.By rotating in the opposite direction, the synthesis of angular momentum is canceled out, and even if the gyro motor is rotating, it appears to be rotating. It is the same state as when there is no torque, and when one of the gyromotors is sharply braked by electromagnetic brake etc. from the state where it is rotated at high speed in the opposite direction without generating torque, a large change in angular momentum occurs, and a large torque is generated. Can be presented.
[0080]
FIG. 14 shows a device 1401 using a gimbal structure 1402 as a torque generating means of the force information input / output device 113. Angular velocity ω using gimbal structure 1402 like a gyroscope ₀ The attitude of the rotor 1403 rotating at the angle of rotation Ω around the two gimbal axes 1404 and 1405 ₁ , Ω ₂ To control. In this configuration, since one large gyro motor is used, a relatively large torque can be generated as compared with the configurations shown in FIGS. 12 and 13, but the structure becomes complicated and the mechanical strength decreases. And the torque that can be presented is limited.
[0081]
FIGS. 15 and 16 show a usage form of the haptic navigation 100 using the communication device 107 of FIG. As a first usage form of the haptic navigator 100, as shown in FIG. 15, a haptic navigator 100 is provided in a mobile device such as a mobile phone, a PHS phone, and a PDA including a GPS receiver, an electronic compass, and map geographic information. Embedded mobile device 1501 in which is embedded.
[0082]
As a second mode of use of the haptic navigator 100, as shown in FIG. 16, a mobile device 1602 such as a mobile phone, a PHS phone, and a PDA incorporating a GPS receiver, an electronic compass, and map geographic information, A separate type in which at least the input / output device portion 1601 of the haptic navigation device 100 housed in a separate case is connected to the input / output device portion 1601 via transmission means such as radio waves, infrared rays, ultrasonic waves, cables, and connectors via the communication devices 107A and 107B. Form.
[0083]
Here, it is desirable to use the integrated mobile device 1501 as the first mode of use because it is easy to handle. However, if the weight of the device incorporating the haptic information input / output increases, the sense of torque when presenting the haptic information decreases. Therefore, the separation type device 1601 which is the second mode of use is also effective.
[0084]
FIG. 17 shows an example of a method of presenting force information using the force information input / output device 113 of FIG. 1 and a control method thereof. By changing the angular momentum vector so as to trace the circular orbit 1701 as shown in FIG. 17A, and by changing the elliptical orbit 1702 as shown in FIG. 17B. The direction 1703 of the destination, the direction to be guided, and the azimuth to know can be presented. Here, the simple vibration orbit is included in the elliptical orbit 1702.
[0085]
(Other embodiments)
As described above, the embodiments of the present invention have been described in detail. However, according to the present invention, a software program for realizing the functions of the above-described embodiments is directly or remotely supplied to a system or an apparatus. This includes the case where the above-described program is also achieved by reading and executing the supplied program. Examples of a recording medium for supplying the program include a hard disk, an optical disk, a magneto-optical disk, an MO, a CD-ROM, a CD-R, a CD-RW, a magnetic tape, a nonvolatile memory card (IC memory card), and a ROM. , DVD (DVD-ROM, DVD-R) and the like.
[0086]
【The invention's effect】
As described above, according to the present invention, in addition to the visual and auditory information provided by the display and the audio guide, the haptic type that presents the direction in which to proceed using the haptic sensation in an intuitive and easy-to-understand form. A human navigation system can be realized.
[0087]
Therefore, the following effects can be obtained by using the human navigation system of the present invention.
(1) Use of the navigation system is effective even in a place where visibility is poor such as fog or darkness.
(2) Use of the navigation system is effective even in a place where there is no landmark such as a forest or a wilderness.
(3) It is effective even in the event of a disaster when a building or the like collapses due to an earthquake.
(4) Further, by at least one of the visual information presenting device, the auditory information presenting device, the tactile information presenting device, and the force information presenting device and the other device group are wirelessly connected, the wearing feeling and the operability are improved. Can be done.
[0088]
Thus, the human navigation system of the present invention is an effective guidance device for visually impaired persons, hearing impaired persons and sighted persons. Further, the human navigation system of the present invention can be used not only for guiding a person to a destination but also for guiding a robot and car navigation.
[0089]
The force information presentation device of the present invention used in the human navigation system has the following advantages.
(A) As a control method, a method is used in which a plurality of gyro motors are independently controlled to synthesize an angular momentum vector in an arbitrary direction and magnitude, and a torque is generated by a time derivative thereof. It is easy and can present a varied three-dimensional force sense.
(B) Also, by using three sets of twin gyro motors in which the inertia mass portions face each other near the center of gravity, or by bringing the frame shape for fixing the motor closer to a point-symmetric spherical shape, the mass balance and the moment of inertia can be improved. Has improved. By concentrating the inertial mass at the center of gravity, extra inertial force generated by human motion is reduced.
(C) When a gimbal structure is used, the gimbal structure itself has an extra moment of inertia and generates a disturbance torque. In addition, the structure of the movable part of the gimbal becomes complicated. On the other hand, according to the method of fixing a plurality of gyro motors of the present invention, the structure becomes simple and a mechanically strong strength is obtained. Further, even when the size is reduced, the processing is easy because the structure is simple.
(D) Since it is a non-grounding type, a grounding arm and a wire are unnecessary as in the related art, and the movement of the body is not restricted. A plurality of force information input / output devices can coexist without interference. There is little restriction on the user's actions and actions, and it is excellent in small size and portability, and can be used in a wide range including indoors and outdoors.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a schematic configuration of a haptic human navigation system (haptic navigation) according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating a communication method between two or more haptic navigation systems.
FIG. 3 is a plan view for explaining a method for inputting destination position information using the destination input device of FIG. 1;
FIG. 4 is a block diagram showing a configuration example of the position / azimuth measuring device of FIG. 1 for measuring position / azimuth information.
5 is a conceptual diagram illustrating a method for inputting and outputting data using the external input / output device of FIG. 1;
FIG. 6 is a block diagram showing a flow of information when reading and writing and saving a map and geographic information using the map geographic information storage device of FIG. 1;
FIG. 7 is a conceptual diagram illustrating a method of performing a route search to a destination and calculating guidance information using the route search device of FIG. 1;
8 is a block diagram showing a configuration example of the visual information input / output device of FIG. 1 for presenting navigation information and recording an environmental image such as a cityscape.
FIG. 9 is a block diagram showing a configuration example of the auditory information input / output device of FIG. 1 for presenting navigation sound and audio guide information and recording environmental sounds.
10 is a conceptual diagram illustrating a method for presenting tactile information such as braille information for navigation using the tactile information input / output device of FIG. 1;
FIG. 11 is a conceptual diagram illustrating a method for presenting navigation force information using the force information input / output device of FIG. 1;
FIG. 12 is a schematic diagram showing a configuration example using three gyro motors as a torque generating means of the force sense information input / output device of FIG. 1;
13 shows a configuration example in which three sets of gyromotors are used as torque generating means of the force sense information input / output device of FIG. 1; FIG. FIG. 3C is a front view of the haptic information presentation device, and FIG.
FIG. 14 is a schematic diagram showing a configuration example using a gimbal structure as a torque generating means of the force sense information input / output device of FIG. 1;
15 is a conceptual diagram showing an example of an integrated unit as a use form of the haptic navigation in FIG.
FIG. 16 is a conceptual diagram showing an example of a separate unit using a communication device as another usage form of the haptic navigation in FIG. 1;
FIG. 17 is a conceptual diagram illustrating a method of presenting and controlling force information using the force information input / output device of FIG. 1;
[Explanation of symbols]
100 Haptic Navi (Haptic Human Navigation System)
101 CPU
102 Destination input device
103 Position / azimuth measuring device
104 External input / output device
105 Map geographic information storage device
106 Route search device
107 communication device
108 memory
109 External storage device
110 Visual information input / output device
111 Hearing information input / output device
112 Tactile information input / output device
113 Force information input / output device
210 Visual information input / output device
211 Auditory information input / output device
213 Force information input / output device
301 Map screen
302 Longitude / latitude input display field
303 Latitude / longitude search display field by address
304 Latitude / longitude search display field by zip code
305 Latitude / longitude search display field by phone number
402 GPS unit
403 Electronic compass unit
404 PHS location information service unit
405 beacon unit
406 Proximity position sensor unit
501 I / O device
701 route trajectory
702 Current position
703 tangent vector
704 User Orientation
705 Angle to guide
801 Environmental video
802 conical reflector
803 CCD camera
804 Visual IF
805 LCD display
806 CCD camera
901 microphone
902 Hearing IF
903 speaker
1001 I / O device
1002 Tactile IF
1101 Gyro motor
1102 Haptic IF
1103 Attitude / position information sensor
1201 Force sense information presentation device using three gyro motors
1301 Force sense information presentation device using three sets of twin gyro motors
1401 Force information presentation device using gimbal structure
1402 Gimbal structure
1403 angular velocity ω ₀ Rotor rotating at
1404 rotation angle Ω ₁ Gimbal axis
1405 rotation angle Ω ₂ Gimbal axis
1501 Device in which haptic navigation is built into mobile device
1601 Device in which haptic navigation is separated from mobile device
1701 Circular orbit of angular momentum vector
1702 Elliptic orbit of angular momentum vector
1703 Direction of destination

Claims (46)

Destination input means for the user to input the location information of the destination,
Position / direction measuring means for measuring the current position;
Map geographic information storage means which stores in advance map timetables and transfer information of trains, subways and buses, and map geographic information including a three-dimensional map of station premises and station buildings,
The position information of the destination obtained from the destination input means and the position information of the current position obtained from the position / azimuth measuring means are compared with the map geographic information stored in the map geographic information storage means. Route search means for searching for the best route based on evaluation criteria such as, shortest time, shortest distance, lowest fare, walking speed,
Calculating means for calculating a traveling direction to which the user should currently travel from the position / direction information of the optimal route and the position / direction information of the current position;
A human navigation system comprising: a force sense information output unit that guides the user to the destination by presenting to the user a force heading in the direction according to the information on the direction calculated by the calculation unit. . The calculating means compares the direction to be calculated calculated from the tangent vector and the normal vector of the searched route route with the orientation of the user's body calculated from the electronic compass, thereby obtaining the user's body. 2. The human navigation system according to claim 1, wherein an angle to be guided with respect to the body direction is obtained, and the obtained angle is output as a traveling direction to which the user should currently proceed. The calculating means calculates distance information to the destination from the position and orientation information of the destination and the optimal route, and the position and orientation information of the current position, and the force information output means calculates the distance to the destination. The human navigation system according to claim 1 or 2, wherein the distance information to the destination calculated in step (1) is presented in association with the intensity of a haptic sensation. The posture / position information of the force sense information output means is measured by a posture / position information sensor installed therein, and is generated by the movement of the force sense information output means itself based on the measured posture / position information sensor. 2. The gyro motor of the force information output means is controlled so that the disturbance torque is calculated by the calculation means, and the disturbance torque is canceled through the force information output means. 4. The human navigation system according to any one of claims 1 to 3. The human navigation system according to any one of claims 1 to 4, wherein the force information output means is capable of presenting a direction of the destination together with a direction in which the user is to proceed. The force sense information output means can indicate an arbitrary three-dimensional direction, whereby information in a height direction can be presented. Therefore, walking on a road surface represented by the same position on a map and an overpass 6. The human navigation system according to claim 5, wherein the user can be guided while walking on a pedestrian bridge and walking underground. The apparatus further comprises a haptic information output unit that guides the user to the destination by presenting the user with a haptic sense that changes in accordance with information on a traveling direction that the user should be currently calculated by the arithmetic unit. 7. The human navigation system according to claim 1, wherein: 8. The human according to claim 7, wherein the haptic information output unit presents haptic information including braille information such as characters, symbols, and graphics for navigation by a haptic information output device including a plurality of actuators. Navigation system. 2. The apparatus according to claim 1, further comprising an auditory information output unit that guides the user to the destination by converting the information on the traveling direction to which the user is to proceed, calculated by the arithmetic unit, into a voice message and transmitting the voice message. 9. The human navigation system according to any one of claims 1 to 8. The auditory information output means sequentially extracts reference information useful for guiding a user from the map geographic information stored in the map geographic information storage means based on the current position and the optimum route, and extracts the extracted reference information. The human navigation system according to claim 9, wherein the information is converted into voice and transmitted. The calculating means estimates a stride from a walking pitch measured by a vibration sensor and a moving speed obtained from the position information, estimates a walking pitch that can reach a destination in a required time with the stride, and changes trains or the like. The human navigation method according to claim 10, wherein at least one of the optimal target walking speed, the current walking speed, and the insufficient speed in consideration is presented audibly via the auditory information output unit. Displaying a map read from the map geographic information stored in the map geographic information storage means, the optimal route searched by the route search means, the destination input from the destination input means, and the 12. The apparatus according to claim 1, further comprising a visual information output unit that guides a user to the destination by marking and displaying the current position input from the position / direction measurement unit on the map. The human navigation system described in Crab. The calculating means estimates a stride from a walking pitch measured by a vibration sensor and a moving speed determined from the position information, estimates a walking pitch that can reach a destination in a required time with the stride, and changes trains or the like. 13. The human navigation method according to claim 12, wherein at least one of the optimal target walking speed, the current walking speed, and the insufficient speed in consideration is visually presented through the visual information output unit. In synchronization with the force information presented by the force information output means, the force information, the position / direction information of the current position, and the position / direction information of the optimal route are recorded together with time information, 14. The human navigation system according to claim 1, further comprising an external storage means capable of referencing the recorded information at any time. 15. The human according to claim 14, wherein the external storage unit records, together with time information, an environmental image such as a cityscape received by an imaging unit and an environmental sound including a conversation collected by an audio input unit. Navigation system. Communication means for exchanging information and data between two or more said human navigation systems;
Monitoring means for monitoring images, voices, conversations, and ambient sounds sent from the communication partner's human navigation system via the communication means,
Information input means for inputting operation information for guiding a remote user to the destination,
Control means for outputting control information to output means of the human navigation system of the communication partner via the communication means in accordance with the operation information input from the information input means. Item 16. A human navigation system according to any one of Items 1 to 15. 17. The human navigation system according to claim 16, wherein said monitoring means can read and monitor information recorded in said external storage means at a remote place through said communication means. The destination input means includes operation means such as a mouse, an input pen, and a touch panel with a display, and at least one of longitude / latitude, address, postal code, and telephone number is input via the operation means. 18. The human navigation system according to claim 1, wherein a destination is selected, and position information of the destination is generated. 19. The apparatus according to claim 1, wherein the position / azimuth measuring means uses at least one of a GPS signal, geomagnetic azimuth data, PHS position information data, beacon data, and position data of a proximity position. The human navigation system described in 1. 20. The human navigation system according to claim 1, wherein the human navigation system is built in a mobile device such as a mobile phone, a PHS phone, and a PDA in which a GPS receiver, an electronic compass, and map geographic information are built. The human navigation system described in 1. The haptic information output unit of the human navigation system is a grippable device separate from a mobile device such as a mobile phone, a PHS phone, and a PDA having a GPS receiver, an electronic compass, and map geographic information. 20. The human navigation system according to claim 1, wherein information can be exchanged with the mobile device via information transmission means such as wireless. The force sense information output means may control any of a plurality of gyromotors such as three gyromotors or three twin gyromotors facing each other near the center of gravity or a gyromotor having a gimbal structure. The human navigation system according to any one of claims 1 to 21, wherein an angular momentum vector is synthesized with the direction and the magnitude of the above, and a torque is generated by a time derivative thereof. The force sense information output means changes the angular momentum vector so as to trace along a circular orbit, or an elliptical orbit, or a simple trajectory, so that the direction of the destination or the direction to be guided or known. 23. The human navigation system according to claim 22, wherein a desired direction is presented. A force sense information presentation device that presents a user with a force that varies according to a direction and a distance to be guided to guide the user to a destination, and includes three gyros arranged and fixed on three axes. A plurality of gyromotors such as a motor or three sets of twin gyromotors using three sets of twin gyromotors and facing them near the center of gravity;
By independently controlling the plurality of gyromotors according to the input information of the direction and distance to be guided, an angular momentum vector is synthesized in an arbitrary direction and size, and the time derivative is used to differentiate the angular momentum vector. A force sense information presentation device comprising: control means for generating a torque corresponding to a power direction and a distance. The pair of twin gyro motors can be rotated in the same direction and in the opposite direction.By rotating in the opposite direction, the synthesis of angular momentum is canceled out, and even if the gyro motor rotates, it appears to rotate. It is in the same state as not doing, and from the state where it is rotated at high speed in the opposite direction without generating torque, only one gyro motor is sharply braked by electromagnetic brake etc., causing a large change in angular momentum, The haptic information presentation device according to claim 24, wherein the haptic information presentation device is capable of presenting a torque. The control means changes the angular momentum vectors of the plurality of gyromotors so as to trace along a circular orbit, an elliptical orbit, or a simple oscillation trajectory, thereby guiding to the direction of the destination or guiding. The force sense information presentation device according to claim 24 or 25, wherein a force direction or a desired direction is presented by force sense. The posture / position information of the haptic information presentation device is measured by a posture / position information sensor installed therein, and is generated by the movement of the haptic information presentation device itself based on the measured posture / position information. The gyro motor according to any one of claims 24 to 26, wherein a disturbance torque is calculated by the control means, and the plurality of gyro motors are controlled so as to cancel the disturbance torque via the force information presentation device. Haptic information presentation device according to the description. A destination input step for inputting the location information of the destination;
A position / azimuth measurement step for measuring the current position;
The time information and transfer information of trains, subways, buses, etc., in which the position information of the destination and the position / direction information of the current position are recorded in a map geographic information storage in advance, and a three-dimensional map of a station premises or a station building A route search step of searching for an optimal route based on evaluation criteria such as the shortest time, the shortest distance, the lowest fare, the walking speed, etc.
A calculation step of calculating a direction to be derived from the position / direction information of the optimal route and the position / direction information of the current position,
A force sense presentation information output step of guiding a user to the destination via a force sense information presentation device that presents a force in the direction according to the calculated direction information. In the calculation step, the direction to be calculated calculated from the tangent vector and the normal vector of the searched route route is compared with the orientation of the user's body obtained from the electronic compass, thereby obtaining the user's body. 29. The human navigation method according to claim 28, wherein an angle to be guided with respect to the body direction is obtained. In the calculating step, the distance to the destination is calculated from the retrieved route route, the destination, and the position / azimuth information of the current position. In the force sense presentation information output step, the calculated destination is calculated. 30. The human navigation method according to claim 28 or 29, wherein information on a distance to the haptic information is presented in association with the intensity of haptic sensation via the haptic information presenting device. The said force sense presentation information output step presents the direction of the said destination with the direction which the user should go now through the force sense information presentation device, The said force sense information presentation device, The one in any one of Claims 28 thru | or 30 characterized by the above-mentioned. Human navigation method. In the force sense presentation information output step, a step is estimated from a walking pitch measured by a vibration sensor and a moving speed determined from the position information, and a walking pitch that can reach a destination in a required time with the step is estimated. 32. The method according to claim 31, wherein at least one of an optimal target walking speed, a current walking speed, and a shortage speed in consideration of a transfer such as a transfer is presented with a force sense through the force sense information presentation device. The described human navigation method. A tactile information output step of guiding the user to the destination by presenting a tactile sense that changes in accordance with the information on the direction calculated in the calculation step to the user via a tactile information output device, A human navigation method according to any one of claims 28 to 32. 35. The tactile information output step, wherein the tactile information output device including a plurality of actuators and pressure sensors presents Braille information including Braille information such as characters, symbols, and graphics for navigation. Human navigation method described in the above. In the tactile information output step, a stride is estimated from a walking pitch measured by a vibration sensor and a moving speed determined from the position information, a walking pitch that can reach a destination in a required time in the stride is estimated, and a train or the like is used. The human navigation according to claim 33 or 34, wherein at least one of an optimal target walking speed, a current walking speed, and an insufficient speed in consideration of transfer is tactilely presented via the tactile information output device. Method. 29. The method according to claim 28, further comprising: outputting audio information to guide the user to the destination by converting the information of the direction calculated in the calculation step into a corresponding voice message via a speaker and transmitting the converted voice message. 35. The human navigation method according to any one of 35. In the auditory information output step, based on the current position and the optimal route, reference information useful for guiding a user is sequentially extracted from the map geographic information, and the extracted reference information is converted into voice via the speaker. 37. The human navigation method according to claim 36, wherein the information is transmitted. In the auditory information output step, a stride is estimated from a walking pitch measured by a vibration sensor and a moving speed obtained from the position information, a walking pitch that can reach a destination in a required time in the stride is estimated, and a train or the like is used. 38. The human navigation method according to claim 36, wherein at least one of an optimal target walking speed, a current walking speed, and a shortage speed in consideration of transfer is presented audibly via the speaker. The method further comprises a visual information output step of guiding the user to the destination by marking and displaying the optimal route, the destination, and the current position searched for in the route search step on a map on a display. The human navigation method according to any one of claims 28 to 38. 40. The human navigation method according to claim 39, wherein in the visual information output step, an optimal walking speed in consideration of changing trains is visually presented. In the visual information output step, a stride is estimated from a walking pitch measured by a vibration sensor and a moving speed obtained from the position information, a walking pitch that can reach a destination in a required time in the stride is estimated, The human navigation method according to claim 39, wherein at least one of an optimal target walking speed, a current walking speed, and a shortage speed in consideration of transfer is visually presented on the display. A recording step of recording the force information, the position / direction information of the current position, and the position / direction information of the optimal route together with time information in an external memory in synchronization with the force information. The human navigation method according to any one of claims 28 to 41. A computer-readable program for controlling human navigation that guides a user to a destination using a haptic information presentation device that presents a force that varies according to the direction and distance to be guided to the user So, the program
A destination input step of inputting destination location information;
A position / azimuth measurement step for measuring the current position;
The position information of the destination and the position / azimuth information of the current position are pre-recorded in a map geographic information storage device. A route search step of searching for an optimal route based on evaluation criteria such as the shortest time, the shortest distance, the lowest fare, the walking speed, etc., based on map geographic information including a map,
A calculation step of calculating a direction to be derived from the position / direction information of the optimal route and the position / direction information of the current position,
And a force sense presentation information output step of guiding the user to the destination by presenting a force that changes in accordance with the calculated direction information to the user via the force sense information presentation device. Program to do. The computing step compares the orientation to be derived calculated from the tangent vector and the normal vector of the searched route route with the orientation of the user's body determined from the electronic compass, and 44. The program according to claim 43, wherein an angle to be guided with respect to the body orientation is obtained. 45. The program according to claim 43, wherein the haptic information output step sequentially presents the direction of the destination together with the direction in which the user should proceed through the haptic information presenting device. . A recording medium storing the program according to any one of claims 43 to 45 so as to be readable by a computer.

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