JP2004144695A - Mobile body guiding terminal, guide server, and three dimensional structure guiding system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a three dimensional structure guiding system capable of navigating even in a three dimensional structure such as in a skyscraper or station. <P>SOLUTION: A visitor A receives a high-precision positioning information distributed by a semi-zenith satellite 200 using a mobile body guiding terminal 400, to fined a current position. A guide request 461 for requesting guiding to a patient B is transmitted to a guide server 500 using the mobile body guiding terminal 400. The guide server 500 in a hospital 700 receives the guide request 461 trough a wireless station 560. The guide server 500 generates a guide information 462 containing a map information inside the hospital 700 based on the guide request 461 received by the guide server 500, and transmits it to the mobile body guiding terminal 400. The mobile body guiding terminal 400 receives the guide information 462, and displays a guide from a current position of A to the patient B on a display part 440, using the map information of the hospital 700 contained in the guide information 462, the position of the patient B, and the current position measured by a positioning part 430. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a mobile communication device. The invention also relates to a guidance system for a three-dimensional structure. For example, it relates to guidance for visiting a hospital, parking in an indoor parking lot, and the like.
[0002]
[Prior art]
A typical example of a mobile terminal device having a positioning unit is a car navigation device having a GPS (global positioning system) positioning unit. In this car navigation device, the current position is visually displayed by superimposing the measured position on the map and displaying it on the display unit. For this purpose, the car navigation device includes a map information storage unit. For example, map information is stored on a CD (Compact Disk) or a DVD (Digital Versatile Disk). Alternatively, there is also a case where map information is received and stored from outside the car navigation device by a wireless signal (for example, see Patent Document 1).
[0003]
In a case where a target position is changed by using a mobile terminal device having a positioning unit such as a car navigation device, if the target position is changed, a technique for providing map information and information regarding the change of the target position is known. It is not disclosed in the prior art document (Patent Document 1).
In addition, it is often desired to use navigation not only in navigation on roads and the like but also in structures such as high-rise buildings and station premises. Such a technique is disclosed in the prior art document (Patent Document 1). Absent.
In addition, when processing is performed by receiving map information, processing according to the processing capability of the mobile terminal device is required. Such a technique is disclosed in the above-mentioned prior art document (Patent Document 1). Not.
[0004]
[Patent Document 1]
JP 2001-208548 A
[0005]
[Problems to be solved by the invention]
An object of the present invention is to provide a system that enables navigation to be used even in a three-dimensional structure such as a high-rise building or a station yard by high-accuracy positioning.
Another object of the present invention is to provide information on a change in the target position even when the target position changes.
[0006]
[Means for Solving the Problems]
The mobile object guidance terminal according to the present invention,
A mobile object guidance terminal that communicates with a guidance server that guides a three-dimensional structure to guide a mobile object toward a target in the three-dimensional structure,
An identification code storage unit that stores an identification code of the mobile guidance terminal;
A positioning unit that receives a positioning signal for positioning and determines the current position of the mobile guidance terminal;
A guidance request including target identification information for identifying a target in the three-dimensional structure to which the mobile body is heading, the current position of the mobile guidance terminal measured by the positioning unit, and the identification code stored in the identification code storage unit to the guidance server. A guidance request transmission unit to transmit;
A guidance information receiving unit that receives, from the guidance server, guidance information including map information and a target position in the three-dimensional structure in response to the guidance request transmitted by the guidance request transmitting unit;
Using the current position measured by the positioning unit and the map information and the target position in the three-dimensional structure included in the guidance information received by the guidance information receiving unit, the map in the three-dimensional structure, the current position, and the target position And a display unit for displaying from the current position to guiding the current position to a target position in the three-dimensional structure.
With.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
In the system of the first embodiment, at least one of the four satellites required for GPS positioning is the quasi-zenith satellite 200. The quasi-zenith satellite 200 is a satellite having a higher elevation angle than a normal satellite, and for example, an elevation angle of 60 degrees or more can be secured.
Next, the quasi-zenith satellite 200 will be described first with reference to FIGS.
[0008]
FIG. 1 shows the orbit of the quasi-zenith satellite 200. The quasi-zenith satellite 200 orbits, for example, about 40,000 km at an apogee and about 32,000 km at a perigee so as to have an inclination angle of about 45 degrees from the equatorial plane once a day according to the rotation of the earth. Also, three quasi-zenith satellites 200 are arranged so as to be separated by 120 degrees at the ascending intersection of the right ascension (the intersection with the equatorial plane).
[0009]
FIG. 2 shows the trajectory of the quasi-zenith satellite 200 in FIG. 1 when the ground is fixed. As shown in FIG. 2, the quasi-zenith satellite 200 orbits so as to draw “a non-target 8 character”. The three quasi-zenith satellites 200 have different orbital planes, but are continuously located over Japan so that they alternate every eight hours. When the region is considered in Japan, the quasi-zenith satellite 200 having an elevation angle of 60 degrees or more always exists above Japan. Since it is located seamlessly above Japan, there is always a quasi-zenith satellite 200 with an elevation angle of 60 degrees or more. When a mobile information terminal receives information from the quasi-zenith satellite 200 on the ground, it blocks radio waves even in the valleys of buildings. Never be.
[0010]
FIG. 3 (source: www2.crl.go.jp/ka/control/efsat/index-J.html) is a diagram showing that the quasi-zenith satellite 200 has a high elevation angle in comparison with a geostationary satellite. Since the geostationary satellite has a small elevation angle, radio waves are blocked by buildings and the like. On the other hand, since the quasi-zenith satellite 200 has a large elevation angle of 60 degrees or more (in FIG. 3, it is 60 degrees or more, but it can be 70 degrees or more), the radio wave is hardly interrupted even in the valley of the building.
[0011]
GPS positioning can be performed by receiving positioning signals (hereinafter, also referred to as positioning information) from any four of the currently launched GPS satellites. However, since these GPS satellites all have a low elevation angle, the positioning information from these satellites is blocked by the valley of the building as described above, and the probability that all four satellites can receive the positioning information is not high. Therefore, there are many cases where positioning information cannot be received and positioning cannot be performed from the four devices. However, when one quasi-zenith satellite 200 with a high elevation angle is included in the four satellites required for positioning, the probability that positioning information can be received from the four satellites increases. In addition, since at least one of the quasi-zenith satellites 200 always exists above Japan as described above, the probability that positioning information can be received from four satellites including the quasi-zenith satellite 200 is significantly higher.
As described above, the quasi-zenith satellite 200 has a high elevation angle, and one of the three quasi-zenith satellites 200 is located above Japan, thereby increasing the reliability of the GPS positioning.
[0012]
FIG. 4 is a diagram showing a high-accuracy positioning system using the quasi-zenith satellite 200. The high-accuracy positioning system using the quasi-zenith satellite 200 shown in FIG. 4 enables positioning with an accuracy range of several tens to several centimeters.
The GPS satellite 300 broadcasts positioning information. The quasi-zenith satellite 200 and the MTSAT 150, which is an example of a geostationary satellite, are also GPS supplementary satellites, and broadcast high-precision positioning information including, for example, differential positioning correction data and integrity data as positioning information. Here, the MTSAT 150 is used, but it is used as an example of a geostationary satellite, and another geostationary satellite may be used. The user receives positioning information from four satellites using the mobile information terminal. As a combination of satellites, for example, one quasi-zenith satellite 200 and three GPS satellites 300, one quasi-zenith satellite 200 and three geostationary satellites, or one quasi-zenith satellite 200 and GPS satellite 300 And three satellites according to MTSAT150. As described above, position information necessary for positioning can be obtained by at least four satellite groups including the quasi-zenith satellite 200. Further, the position information necessary for positioning may be obtained by not only four satellites but also more satellite groups.
[0013]
On the ground, a positioning information distribution center station 100 and electronic reference points arranged nationwide are arranged. The electronic reference point has its own reference position as a fixed point. For example, the electronic reference points arranged nationwide cover the whole country with an electronic reference point network as a single mesh surrounding a range surrounded by a plurality of adjacent electronic reference points. Electronic reference points located throughout the country obtain position information necessary for positioning by the above-mentioned four or more satellite groups. Then, it outputs positioning correction information such as an error between a reference position owned by itself and a position based on position information obtained by the four or more satellite groups to the positioning information distribution center station 100. Here, since the whole country is covered by the electronic reference point network, the correction accuracy can be improved even at a certain position in the mesh. The positioning information distribution center station 100 inputs positioning correction information from electronic reference points located nationwide, collects and integrates the input positioning correction information, creates collected integrated information, and transmits the collected integrated information via a predetermined antenna. Transmit to satellites such as zenith satellite 200. The quasi-zenith satellite 200 or the like broadcasts high-precision positioning information based on the collected integrated information transmitted from the positioning information distribution center station 100 to a satellite such as the quasi-zenith satellite 200 via a predetermined antenna.
By using at least the quasi-zenith satellite 200 having a high elevation angle with little occlusion, the user can avoid as much as possible the occlusion caused by being located at a mountain shadow or the like and an obstruction such as a building, and avoid the occlusion to obtain a positionable time Can be improved. In addition, the user can obtain a high-accuracy positioning corrected by a system including at least four or more satellite groups including the quasi-zenith satellite 200, a positioning information distribution center station 100 located on the ground, and an electronic reference point located nationwide. By obtaining the information, highly accurate position information can be obtained. As described above, by using the quasi-zenith satellite 200, the user can obtain high-accuracy position information, for example, position information with an error range of several tens of cm to several cm on the ground or at sea.
[0014]
As described above, the use of the quasi-zenith satellite 200 enables high-accuracy positioning. By using high-precision positioning, it is possible to obtain high-precision positions in the height direction, for which high accuracy could not be obtained by conventional positioning. Therefore, navigation within a three-dimensional structure that requires high accuracy in the height direction is possible. That is, in the conventional positioning, the positioning error is at least tens of meters to several meters even with high accuracy. With this error, for a three-dimensional structure, for example, it is not possible to distinguish between the third floor and the fourth floor. On the other hand, in the positioning using the quasi-zenith satellite 200, since the position information can be obtained with the accuracy of the submeter-level error range as described above, the upper and lower floors can be determined in the three-dimensional structure. Can do it.
FIGS. 5 to 17 are diagrams illustrating the three-dimensional structure guidance system according to the first embodiment. A three-dimensional structure guidance system using high-precision positioning by the quasi-zenith satellite 200 and the electronic reference point network will be described.
[0015]
FIG. 5 is a diagram illustrating the three-dimensional structure guidance system according to the first embodiment. In this example, when the visitor A (an example of a moving object) visits the patient B, the three-dimensional structure guidance system guides the patient B to the patient B in the hospital 700 (an example of the three-dimensional structure). Explain the case of receiving a guide.
In FIG. 5, a total of four quasi-zenith satellites 200 and three GPS satellites 300 distribute positioning signals. On the ground, the positioning information distribution center station 100 in the electronic reference point network transmits positioning correction information to the quasi-zenith satellite 200.
The visitor A receives the positioning information and the positioning correction information from a mobile object guidance terminal (hereinafter, also referred to as a guidance terminal) 400 to measure its current position. A guidance server 500 is installed inside a hospital 700 (an example of a three-dimensional structure). The installation of the guidance server 500 in the hospital 700 is an example, and the guidance server 500 does not necessarily need to be in the same premises as the hospital 700 which is a three-dimensional structure. An outsourcing service that handles a plurality of guidance servers 500 collectively is also conceivable.
The guidance server 500 is further connected to a radio station 560 installed in the hospital 700. The mobile guidance terminal 400 of the visitor A can communicate with the guidance server 500 via the wireless station 560 outside and inside the hospital 700. First party transmits a guidance request 461 to the guidance server 500 by the mobile guidance terminal 400. The guidance server 500 that has received the guidance request 461 transmits guidance information 462 to the mobile guidance terminal 400.
[0016]
FIG. 6 is a diagram showing a configuration of the mobile guidance terminal 400. The communication unit 410 includes a guidance request transmission unit 411, a guidance information reception unit 412, and a billing information storage unit 413. The identification code storage unit 420 is connected to the communication unit 410. The positioning unit 430 is connected to the communication unit 410 and the display unit 440. The antenna 450 receives the positioning signal, and the antenna 460 transmits and receives a guidance request 461 and guidance information 462. The operation of each unit will be described later.
FIG. 7 is a diagram showing the configuration of the guidance server 500. The map information storage unit 510 and the target specifying unit 540 are connected to the communication unit 530. The communication unit 530 includes a guidance information transmitting unit 531, a guidance request receiving unit 532, and a server charging unit 533. The target specifying information storage unit 520 is connected to the target specifying unit 540. The target target information storage unit 520 can input and store the target target information 521 from outside the guidance server 500. A target position is input in real time from a target that can be a target, and a change in the target position is stored. For example, when the room of the patient B is changed from room 1234 to room 1144, the target object information storage unit 520 inputs and stores the change as the target object information 521. The target object information 521 can be stored in advance, or can be input in real time as described above.
Communication unit 530 performs communication via a communication antenna.
[0017]
FIG. 10 is a diagram showing a flow until the visitor A meets the patient B in the hospital 700 by the three-dimensional structure guidance system according to the first embodiment. Hereinafter, the operation will be described with reference to FIG.
[0018]
In S10, the visitor A (an example of a mobile object) receives a positioning signal from the mobile object guide terminal 400 and measures the current position of the mobile object itself.
[0019]
In S 11, the ID (an example of identification and target specifying information) of the patient B who specifies the patient B to be visited is input to the mobile guide terminal 400. Here, the ID of the patient B is, for example, a patient number. In this case, Party A knows that Patient B is at hospital 700, but does not know where it is at hospital 700. Therefore, the system guides the route to Patient B.
[0020]
In S12, the guidance request transmitting unit 411 of the mobile guidance terminal 400 transmits the guidance request 461 to the guidance server 500. FIG. 8 shows a guidance request 461 transmitted from the mobile guidance terminal 400 to the guidance server 500. The information transmitted as the guidance request 461 includes the ID of the patient B (an example of target specifying information), the “current position” of the instep measured by the positioning unit 430, and the mobile guidance terminal 400 stored in the identification code storage unit 420. (An example of an identification code) and other information. Here, the “current position” is one specific position measured for inclusion in the guidance request 461. It differs from the present position measured every moment used when the display unit 440 described later displays. The ID of the mobile guidance terminal 400 is input from the identification code storage unit 420 that stores the ID to the guidance request transmission unit 411 and transmitted as a part of the guidance request 461.
[0021]
In S13, the guidance server 500 receives the guidance request 461 transmitted from the mobile guidance terminal 400 via the wireless station 560.
[0022]
In S14, the target specifying unit 540 of the guidance server 500 specifies the patient B and the position of the patient B. In the guidance server 500, the target object information storage unit 520 stores information including targets and target object positions arranged in the hospital 700 (three-dimensional structure). When the information is changed or new information is stored, the information is input to the target information storage unit 520 as the target information 521. Then, when the target position is changed, the guide information transmitting unit 531 described later creates and transmits the guide information 462 with the target position after the change as the target position.
In the first embodiment, the target is the patient B, and the target position is the hospital room 1234 shown in FIG. 5 where the patient B is hospitalized. When the target patient B can be specified, the process proceeds to S15.
[0023]
In S15, the guide information transmitting unit 531 of the guide server 500 transmits the guide information 462 to the mobile guide terminal 400 identified by the terminal ID (an example of an identification code). Here, the transmission to the mobile guidance terminal 400 identified by the terminal ID (an example of an identification code) is, for example, a case where the transmission is performed by encrypting the mobile guidance terminal 400 so that only the mobile guidance terminal 400 on the instep can decrypt it. . This is because the position of the patient B in the hospital 700 is related to the privacy of the patient B. FIG. 9 is a diagram showing the contents of the guidance information 462. The guide information 462 includes “selection map information of the hospital 700”, “position information (an example of a target position) that the patient B is the room 1234”, and “other information”.
Here, the “selected map information” refers to the map information stored in the map information storage unit 510 based on the current position of the mobile guidance terminal 400 and the position of the room 1234, which is the position of the second party identified by the target identification unit 540. The map information used for guidance from the position of the mobile object guidance terminal 400 to the position of the target B is the guidance information transmitting unit 531.
This map information is map information inside the hospital 700. The guidance information transmitting unit 531 selects information from the current location of the mobile guidance terminal 400 to Room 1234 of the patient B from the map information stored in the map information storage unit 510. Thus, the guide information transmitting unit 531 of the guide server 500 selects the related map information.
The map information storage unit 510 stores, for example, an elevation view of the hospital 700 on a plurality of floors and a plan view of each floor as the map information of the hospital 700. Then, the guide information transmitting unit 531 creates guide information including an elevation view, a plan view, and a route of the hospital 700 used for guidance from the current position to the target position. Then, the guide information transmitting unit 531 transmits the elevation, the plan, and the route as the selection map information.
In addition, the map information storage unit 510 stores, for example, three-dimensional image data of each place of the hospital 700 as map information of the hospital 700. Then, the guide information transmitting unit 531 creates guide information including three-dimensional image data. Then, the guide information transmitting unit 531 transmits the three-dimensional image data as the selected map information. The display of the mobile guide terminal 400 that has received the elevation view and the three-dimensional image data will be described in S17.
When the guide information transmitting unit 531 of the guide server 500 transmits the guide information 462, the “other information” of the guide information 462 can include billing information regarding billing. The server billing unit 533 bills according to the positioning time at the mobile guidance terminal 400 and the type of map information to be used. Note that the positioning time information required for positioning is included in the “other information” of the guidance request 461. Regarding the map information, the server charging unit 533 inputs information about the map information from the guidance information transmitting unit 531. This billing is based on measuring the position by the mobile guidance terminal 400 and providing a guide service by communication using the map information. It should be noted that whether or not to charge can be freely set. Further, the mobile guide terminal 400 includes a billing information storage unit 413, and after receiving the guide information 462, inputs and stores the billing information included in the guide information 462. The user can display this billing information on the display unit. The displayed billing information includes a predetermined usage record, which can be collated with the usage record at the time of billing. As a result, the user can have a sense of security when using the system.
[0024]
In S16, the mobile guide terminal 400 receives the guide information 462. In FIG. 6, guide information receiving section 412 receives guide information 462 via antenna 460. The guide information receiving unit 412 outputs the received guide information 462 to the display unit 440. In the display unit 440, in S17, display is performed as follows.
[0025]
In S17, the display unit 440 displays the current position of the instep A measured by the positioning unit 430, the selected map information of the hospital 700 included in the received guidance information 462, and the room 1234, which is the position of the patient B, using the room 1234 of the hospital 700. The map and Room 1234 (target position) of Patient B are displayed. The instep mobile guidance terminal 400 measures the position, for example, every second. Here, the “current position” means an instantaneous position measured, for example, every second. The display unit 440 then superimposes and displays the present position on the map and the position of the patient B. This guides the instep A to room 1234, which is the position of the patient B in the hospital 700. If the selected map information is the elevation view, the plan view, and the route of the hospital 700 described in S15, the display unit 440 displays these as a map. If the selected map information is three-dimensional image data, the display unit 440 displays a three-dimensional image as a map.
[0026]
If the target patient B cannot be specified in S14, the process proceeds to S18. In S18, the guidance server 500 transmits to the mobile guidance terminal 400 that the information cannot be specified. In step S19, when the mobile guidance terminal 400 receives the information indicating that it cannot be specified, the mobile guidance terminal 400 displays that it cannot be specified on the display unit 440, and ends the processing.
[0027]
In the above example, the mobile guidance terminal 400 includes the guidance information receiving unit 412, the positioning unit 430, and the display unit 440, so that the visitor can receive navigation in the hospital 700.
[0028]
In the above example, since the mobile guidance terminal 400 includes the display unit 440, the visitor can go to the room 1234 (an example of the target position) of the patient B according to the display on the display unit 440.
[0029]
In the above example, the elevation view and the route are displayed on the display unit 440 in addition to the plan view, so that the user can quickly go to the target position.
[0030]
In the above example, a three-dimensional image is displayed on the display unit 440, so that the user can easily understand and can go to the target position.
[0031]
In the above example, since the target object information storage unit 520 of the guidance server 500 inputs the change of the patient's room (example of target object information) in real time, even if the patient's room is changed, the position after the change is changed. You can go to
[0032]
In the above example, since the mobile guidance terminal 400 and the guidance server 500 have the billing information, a predetermined usage record can be checked, so that the user can use the system with a sense of security.
[0033]
In the above example, since the guide information transmitting section 531 of the guide server 500 selects the map information, the processing load on the display section 440 of the mobile guide terminal 400 can be reduced.
[0034]
FIGS. 11 and 12 show another example of the first embodiment. FIG. 11 is a diagram illustrating a case where the three-dimensional structure guidance system parks the automobile 10 in an empty space in an indoor parking lot 900 (an example of a three-dimensional structure). In FIG. 11, a quasi-zenith satellite 200 distributes a positioning signal. Although the positioning information distribution center station 100 and the GPS satellite 300 are not shown, they also distribute the positioning information.
In the indoor parking lot 900, the positioning signal of the quasi-zenith satellite 200 is once received by the outdoor GPS receiving device 820 installed outdoors, and the positioning signal is transmitted to each mobile guide terminal 400 in the indoor parking lot 900 via this. It will be delivered.
Here, as the outdoor GPS receiving device 820, for example, there is a pseudolite (a pseudolite). A pseudolite is a device that distributes a positioning signal similar to a GPS satellite instead of a GPS satellite. The pseudo light is installed outdoors in this example, but is not limited to the outdoors. It does not matter if it is installed indoors.
In the case of visiting the hospital 700 described above, the target position is an empty space in this example. The indoor parking lot 900 includes a parking sensor 910. The parking sensor 910 detects whether the car 10 is parked in the parking space and sends the detection result to the guidance server 500. The mobile body guidance terminal 400 and the guidance server 500 have the same configurations as those in FIGS. The guidance server 500 stores the detection result as the target target information 521 in the target target information storage unit 520. Then, the guide information transmitting unit 531 creates and transmits the guide information 462. Hereinafter, the operation will be described based on the flow of FIG.
[0035]
In S20, the driver of the automobile 10 (an example of the moving body) receives the positioning signal from the moving body guide terminal 400 and measures the current position of the moving body.
[0036]
In S21, the driver inputs “an empty space in the indoor parking lot 900 (an example of target specifying information)” to the mobile guidance terminal 400. In this case, the empty space need not be a specific empty space. In the case of the hospital 700, the target object was the patient B, and was the only target. On the other hand, in the case of an empty space, there may be a plurality of empty spaces. This will be described in S24.
[0037]
In S22, the guidance request transmitting unit 411 of the mobile guidance terminal 400 transmits the guidance request 461 to the guidance server 500. The guidance request 461 is almost the same as the content shown in FIG. However, instead of “1. Patient ID (example of target specifying information)”, “empty space (example of target specifying information)” is used. The guidance request 461 is transmitted from the mobile guidance terminal 400 to the guidance server 500 as in the case of FIG.
[0038]
In S23, the guidance server 500 receives the guidance request 461 transmitted from the mobile guidance terminal 400 via the wireless station 560.
[0039]
In S24, the target specifying unit 540 of the guidance server 500 specifies an empty space (for example, an empty space number) and the position of the empty space.
The parking sensor 910 detects whether or not the car 10 is parked in the parking space, and outputs a detection result to the target target information storage unit 520 as target target information 521. The target target information storage unit 520 stores the target target information 521 from the parking sensor 910 in the target target information storage unit 520. The target specifying unit 540 searches the empty space and the position of the empty space stored in the target object information storage unit 520, and specifies one empty space as the target position. When there are a plurality of empty spaces at the same time, for example, the empty spaces may be specified in the order of the numbers assigned to the empty spaces.
When there is a change in the parking space (the parked vehicle disappears and the vehicle becomes an empty space, or the vehicle stops in the empty vehicle space and the vehicle is no longer an empty space), the parking sensor 910 uses the change as the target object information 521 in real time. The target object information storage unit 520 inputs and stores the output.
When the empty space is specified, the process proceeds to S25. When the empty space cannot be specified, for example, when the indoor parking lot 900 is full, the process proceeds to S28 and S29, and the display unit of the mobile guide terminal 400 displays “full”.
[0040]
In S25, the guide information transmitting unit 531 of the guide server 500 transmits the guide information 462 to the mobile guide terminal 400 identified by the terminal ID (an example of the identification code). The guidance information 462 to be transmitted is the selection map information described in S15 of FIG. To explain with reference to FIG. 9, “1. Selected map information of indoor parking lot 900 (example of map information of three-dimensional structure guidance)” and “2. Example of target position) "and" 3. Other information ".
[0041]
In S26 and S27, the mobile object guidance terminal 400 receives the guidance information 462 and displays the map of the indoor parking lot 900 and the empty space which is the target position, as in FIG. Then, a guide from the current location to the empty space is provided.
[0042]
In the above example, the use of the three-dimensional structure guidance system eliminates the effort to find an empty space, and the driver can concentrate his or her attention on driving, thereby improving the safety of traveling in the indoor parking lot.
[0043]
In the above example, by using the three-dimensional structure guidance system, the number of guides in the indoor parking lot becomes the minimum necessary number, and the cost can be reduced.
[0044]
13 and 14 show another example of the first embodiment.
FIG. 13 shows an evacuation guidance system that evacuates to an evacuation exit 810 by the mobile object guidance terminal 400 and the guidance server 500 when a fire occurs in a high-rise building 950 (an example of a three-dimensional structure) by the three-dimensional structure guidance system. It is. The configurations of the mobile guidance terminal 400 and the guidance server 500 are the configurations shown in FIGS.
FIG. 13 shows a case in which Ko, Otsu, and Hei (an example of a mobile object) evacuate using the mobile object guide terminal 400. In FIG. 13, a fire has occurred in room 33 on the third floor of a high-rise building 950. It is only an example to show up to the 5th floor. In this example, three-dimensional structures are evacuated in the event of a fire or disaster, such as a high-rise building, a huge hotel, a station yard, or an underground mall. A difficult three-dimensional structure is assumed.
The operation will be described based on the flow of FIG.
[0045]
In S30, the fire sensor 570 detects a fire in the room 33 on the third floor, transmits fire information to the guidance server 500, and issues a fire occurrence alarm. The fire sensor 570 also detects a fire (abnormal temperature) and a toxic gas such as carbon monoxide.
[0046]
In S31, the target object information storage unit 520 of the guidance server 500 inputs the fire information from the fire sensor 570 in the room 33 on the third floor, and also receives the temperature and the presence from the fire sensors 570 on the second, fourth, and fifth floors. Fire information including poison gas information is input and stored. The fire target information is stored in the target target information storage unit 520 as target target related information related to the target target information. In the example shown in FIG. 13, the target position is “evacuation exit 810”.
[0047]
In S32, each of Ko, Otsu, and Hei who noticed the fire occurrence secures an evacuation route using the mobile guide terminal 400. For example, the mobile guidance terminal 400 is provided in each room, and has a switch unit for “emergency evacuation”. Then, by turning on the switch unit, positioning is automatically started, and a guidance request 461 is transmitted to the guidance server 500.
The distribution of the positioning information by the quasi-zenith satellite 200 or the like is the same as the visit to the hospital 700 described above.
[0048]
In S33, each of the mobile body guidance terminals 400 of A, B, and C transmits a guidance request 461 to the guidance server 500 via the wireless station 560. The guidance request 461 is almost the same as the case of FIG. 8, but in the contents of the guidance request 461, “1. Patient ID (example of target identification information)” is changed to “1. Evacuation exit (example of target identification information) ) ".
[0049]
In S34, the guidance server 500 inputs a guidance request 461 from A, B, and C via the wireless station 560. The target specifying unit 540 of the guidance server 500 specifies the evacuation exits of the first, second, and third evacuation from the input guidance request 461.
In other words, the target specifying information is simply transmitted as the “evacuation exit” from the mobile body guidance terminals 400 of Party A, Party B, and Hei. The target specifying unit 540 specifies the most suitable evacuation exit for each of the first, second, and third out of the plurality of “evacuation exits”.
[0050]
In S35, the guidance information transmission unit 531 of the guidance server 500 transmits the guidance information 462 to the mobile body guidance terminals 400 of Party A, Party B, and Hei. The transmitted guidance information 462 is based on the contents of the guidance information 462 in FIG. 9, “1. Selection map information of high-rise building 950 (example of three-dimensional map information)”, “2. Evacuation exit 810 (example of target position) ) "And" 3. Other information ".
In addition, the guidance information transmitting unit 531 also selects an optimal route from the positioning position where the insteps A, B, and C are located to the evacuation exit. The information used at the time of selection includes the “currently located position” of “A”, “B”, and “B” included in the guidance request 461 and “the position of each evacuation exit (an example of the target object information) stored in the target object information storage unit 520. And "fire information" input from the fire sensor 570 on each floor. Based on these pieces of information, the guide information transmitting unit 531 also selects the optimal evacuation route for each of the first, second, and third when selecting the map information.
[0051]
In S36, the mobile body guidance terminals 400 of A, B, and C receive the guidance information 462 via the wireless station 560.
[0052]
In S37, the display unit 440 of the mobile unit guidance terminal 400 for the first, second, and third mobiles displays the optimal evacuation route and guides the user to the evacuation exit 810.
[0053]
In the above example, since the evacuation route is displayed on the display unit 440 of the mobile guidance terminal 400, the safety when evacuating from the high-rise building 950, which is a three-dimensional structure, can be improved.
[0054]
In the above example, since the individual evacuation routes are displayed to the user on the display unit 440 of the mobile guidance terminal 400, the evacuation routes are dispersed to secure evacuation from the high-rise building 950 which is a three-dimensional structure. Can be enhanced.
[0055]
In the above example, since the guide server 500 collects fire information as target target information-related information using a fire sensor, it is possible to keep the user of the mobile guide terminal 400 from approaching a dangerous place.
[0056]
In the above example, since the guidance server 500 receives the ID of the mobile guidance terminal 400, it is possible to know where the user of the mobile guidance terminal 400 is in the event of a fire, and to facilitate rescue. it can.
[0057]
15 and 16 show another example of the first embodiment. FIG. 15 shows a case where the third party in the building B receives a guide to the instep A in the building A by the three-dimensional structure guiding system. Buildings A and B have outdoor GPS receivers 820a and 820b, guidance servers 500a and 500b, and wireless stations 560a and 560b. Building A and building B can communicate with each other via wireless stations 560a and 560b. Note that, besides performing communication at the wireless stations 560a and 560b between the buildings A and B, wired communication may be performed.
Hereinafter, an operation until the user B receives guidance to the instep A in the building A using the mobile guide terminal 400 will be described.
[0058]
This will be described with reference to the flow of FIG. The configurations of the mobile guidance terminal 400 and the guidance server 500 are the same as the configurations shown in FIGS.
[0059]
In S40, the instep A measures the current position of the instep using the mobile object guidance terminal 400 included in the instep. In the positioning, the positioning information distributed by the quasi-zenith satellite 200 is received via the outdoor GPS receiving device 820a, and the positioning is performed. The positioning information distribution center station 100, the GPS satellite 300, and the like are not shown in the drawing as in the above-described case.
[0060]
In S41, Party A transmits its positioning position to the guidance server 500a via the wireless station 560a. At this time, the terminal ID (an example of an identification code) of the mobile guide terminal 400 of the instep A is transmitted together with the measured position. This is for specifying, for example, that the transmitted positioning position is from the terminal of the instep A.
[0061]
In S42, the guidance server 500a stores the received positioning position of the instep A and the terminal ID as the target target information 521 in the target target information storage unit 520.
[0062]
In S43, the second party measures its own position using the mobile guide terminal 400. After the positioning, a guidance request 461 is transmitted from inside the building B. The guidance request 461 is transmitted to the wireless station 560a via the wireless station 560b, and is received by the guidance request receiving unit 532 of the guidance server 500a.
The guidance request 461, as described with reference to FIG. 8, sends “1. ID of the other mobile body guidance terminal 400 (one example of target identification information)” instead of “1. . Other "2. Current position measured (Otsu's position)", "3. ID of mobile guidance terminal 400 (Otsu's terminal ID)", and "4. Other information" are the same as those in FIG. It is.
[0063]
In S44, the guidance request receiving unit 532 of the guidance server 500a in Building A receives the guidance request 461 transmitted by the second party.
[0064]
In S45, the guidance server 500a specifies the position of the instep as a target. That is, the target specifying unit 540 has already stored the target target information storage unit 520 using the “ID of the mobile unit guide terminal 400 (an example of the target specifying information)” included in the guidance request 461. The position of the instep and the mobile object guidance terminal 400ID of the instep are searched to identify the instep and the position of the instep as the target position.
[0065]
In S46, the guide server 500a transmits the selected map information, the specified target position of the instep A, and the like as the guide information 462, as in the example of the visit to the hospital 700 described above. The guidance information 462 will be described with reference to FIG. 9. The contents of the guidance information in this example include “1. Selection map information of A building”, “2. Position of the former (example of target position)”, and “3. .Other information ".
[0066]
In S47, B's mobile unit guidance terminal 400 receives the guidance information 462. As shown in FIG. 15, the guidance information 462 is transmitted from the guidance server 500a and received by the mobile guidance terminal 400 of the second party via the wireless stations 560a and 560b.
[0067]
In S48, the guide information receiving unit 412 of the mobile guide terminal 400 of the second party receives the guide information 462, and the display unit 440 of the mobile guide terminal 400 displays the selection map information of the building A included in the guide information 462 and the information of the first party. The location is displayed, and guidance is provided from your current location to the location of Party A in Building A.
Note that when the guide receives the guide to the position of the second party, the guide server 500b plays the role of the guide server 500a.
[0068]
In this example, since the wireless station 560a and the wireless station 560b perform communication, the user of the mobile guidance terminal 400 can obtain map information of the other building, Building A, from the other building B.
[0069]
In this example, since the wireless station 560a and the wireless station 560b communicate, it is possible to receive navigation and meet a person in another building.
[0070]
Embodiment 2 FIG.
When visiting the hospital 700 according to the first embodiment, the mobile information terminal 400 transmits the “current position” as a guidance request 461 to the guidance server. Further, the guide information transmitting unit 531 of the guide server 500 uses the “current position” to “select” map information to be used for guidance from the map information stored in the map information storage unit 510, and selects the map information as selected map information. It is transmitted to the mobile guide terminal 400 while being included in the guide information 462.
On the other hand, the system described in the second embodiment is characterized in that the guidance request 461 transmitted from the mobile guidance terminal 400 does not include the “current position”. The guide information transmitting unit 531 transmits the map information without selecting the map information, and the display unit 440 “selects” the received map information. The configurations of the mobile guidance terminal 400 and the guidance server 500 are the same as the configurations shown in FIGS. In FIG. 6, the current position is output from the positioning unit 430 to the guidance request transmission unit 411, but is not output in the second embodiment, and the current position is not included in the guidance request 461 as described above. Other than the above, it is the same as the example of visiting the hospital 700 in the first embodiment. The case of visiting the hospital 700 using the system of the second embodiment will be described below with reference to FIG.
[0071]
This will be described using the flow shown in FIG.
Steps S50 and S51 are the same as steps S10 and S11 in FIG. 10 in the first embodiment.
[0072]
In S52, the guidance request transmitting unit 411 transmits the guidance request 461 to the guidance server 500. In this case, the feature is that the “current position” is not included in the guidance request 461 as described above. FIG. 17 is a diagram showing the guidance request 461 transmitted. The “current position” is not included in FIG. Except for this, it is the same as S12 in FIG. 10 in the first embodiment.
[0073]
S53 and S54 are the same as S13 and S14 in FIG. 10 in the first embodiment.
[0074]
In S55, similarly to S15, the guide information transmitting unit 531 transmits the guide information 462 to the mobile guide terminal 400. However, as described above, since the guidance server 500 does not receive the “current position” of the mobile guidance terminal 400, the “current position” is not known. Therefore, the guide information transmitting unit 531 does not select the map information used for the guidance from the map information of the hospital 700 stored in the map information storage unit 510. That is, all the map information of the hospital 700 regarding the target position is transmitted.
[0075]
In S56, "selection" of map information is performed. The mobile information terminal 400 receives the map information of the unselected hospital 700 included in the guidance information 462. Then, the display unit 440 of the mobile guidance terminal 400 receives, from the received unselected map information, the “current position” and the room 1234 where the patient B included in the guidance information (an example of the target position). From the map information, map information used for guidance from the current position to room 1234 where the patient B is located is selected. The positioning unit 430 measures the current position every moment.
[0076]
In S57, the display unit 440 superimposes and displays the map in the hospital 700, the current position measured by the positioning unit 430 from time to time, and Room 1234 (an example of the target position) of the patient B. Guide to Room 1234 of Patient B.
[0077]
In the second embodiment, since the current position of mobile guide terminal 400 is not transmitted, the position of mobile guide terminal 400 can be kept secret.
[0078]
In the second embodiment, since the guidance request transmitting unit 531 does not select the map information, the processing load on the guidance information transmitting unit 531 can be reduced. This is effective when the load on the guidance server 500 is to be reduced.
[0079]
In the above-described second embodiment, the probability of being noticed of an object to be detected in public use such as detective business or criminal investigation can be reduced.
[0080]
【The invention's effect】
According to the present invention, navigation can be performed in a three-dimensional structure such as a high-rise building or a station yard.
[Brief description of the drawings]
FIG. 1 is a diagram showing an orbit of a quasi-zenith satellite.
FIG. 2 is a diagram illustrating an orbit of a quasi-zenith satellite with respect to the ground.
FIG. 3 is a diagram showing a comparison of elevation angles between a geostationary satellite and a quasi-zenith satellite.
FIG. 4 is a diagram showing an electronic reference point network on the ground.
FIG. 5 is a diagram showing a system according to the first embodiment.
FIG. 6 is a diagram showing a configuration of a mobile guidance terminal according to the first embodiment.
FIG. 7 is a diagram showing a configuration of a guidance server according to the first embodiment.
FIG. 8 is a diagram showing information transmitted from the mobile guidance terminal to the guidance server.
FIG. 9 is a diagram showing information transmitted from the guidance server to the mobile guidance terminal.
FIG. 10 is a flowchart showing a procedure until the visitor A meets the patient B.
FIG. 11 is a diagram showing a case where a car is parked in an indoor parking lot.
FIG. 12 is a diagram showing a flow in which an automobile is parked in an indoor parking lot.
FIG. 13 is a diagram showing a fire in a high-rise building.
FIG. 14 is a diagram showing a flow in the case of a fire in a high-rise building.
FIG. 15 is a diagram showing a state in which a guidance server of Building A is accessed from Building B.
FIG. 16 is a diagram showing a flow of accessing a guidance server of Building A from Building B.
FIG. 17 is a diagram showing guidance information transmitted from the mobile guidance terminal to the guidance server in the second embodiment.
FIG. 18 is a diagram showing a flow of a system according to the second embodiment.
[Explanation of symbols]
Reference Signs List 10 car, 100 positioning information distribution center station, 200 quasi-zenith satellite, 300 GPS satellite, 400 mobile guidance terminal, 410 communication unit, 411 guidance request transmission unit, 412 guidance information reception unit, 413 charging information storage unit, 420 identification code Storage unit, 430 Positioning unit, 440 display unit, 461 guidance request, 462 guidance information, 500, 500a, 500b guidance server, 510 map information storage unit, 520 target target information storage unit, 521 target target information, 530 communication unit, 531 Guide information transmitting unit, 532 guidance request receiving unit, 533 server billing unit, 540 target specifying unit, 560, 560a, 560b wireless station, 570 fire sensor, 700 hospital, 810 evacuation exit, 820, 820a, 820b outdoor GPS receiving and receiving device , 900 indoor parking lot, 910 parking sensor, 950 high-rise .

Claims (10)

A mobile object guidance terminal that communicates with a guidance server that guides a three-dimensional structure to guide a mobile object toward a target in the three-dimensional structure,
An identification code storage unit that stores an identification code of the mobile guidance terminal;
A positioning unit that receives a positioning signal for positioning and determines the current position of the mobile guidance terminal;
A guidance request including target identification information for identifying a target in the three-dimensional structure to which the mobile body is heading, the current position of the mobile guidance terminal measured by the positioning unit, and the identification code stored in the identification code storage unit to the guidance server. A guidance request transmission unit to transmit;
A guidance information receiving unit that receives, from the guidance server, guidance information including map information and a target position in the three-dimensional structure in response to the guidance request transmitted by the guidance request transmitting unit;
Using the current position measured by the positioning unit and the map information and the target position in the three-dimensional structure included in the guidance information received by the guidance information receiving unit, the map in the three-dimensional structure, the current position, and the target position And a display unit for displaying from the current position to a target position in the three-dimensional structure from the current position. A guidance server that communicates with a mobile guidance terminal to guide a mobile toward a target in a three-dimensional structure,
A map information storage unit that stores map information in the three-dimensional structure;
A target target information storage unit that stores target target information including a target that can be a target and a target position arranged in the three-dimensional structure;
A guidance request receiving unit that receives, from the mobile guidance terminal, a guidance request including target specifying information for specifying a target in the three-dimensional structure to which the mobile body is heading, the current position of the mobile guidance terminal, and an identification code of the mobile guidance terminal. When,
Using the target specifying information included in the guidance request received by the guidance request receiving unit, search for the target target information stored in the target target information storage unit, determine the target specified from the target specifying information as a target, A target specifying unit that specifies the target position as a target position;
Based on the current position of the mobile guidance terminal and the target position specified by the target specifying unit, map information used for guiding from the current position to the target position is obtained from the map information in the three-dimensional structure stored in the map information storage unit. A guidance server comprising: a guidance information transmission unit that transmits guidance information including a selected map information and a target position specified by the target specification unit to a mobile guidance terminal identified by the identification code. A three-dimensional structure guidance system comprising: a guidance server for guiding a three-dimensional structure; and a mobile object guidance terminal for guiding a mobile object toward a target in the three-dimensional structure,
The mobile information terminal is
An identification code storage unit that stores an identification code of the mobile guidance terminal;
A positioning unit that receives a positioning signal for positioning and determines the current position of the mobile guidance terminal;
A guidance request including target identification information for identifying a target in the three-dimensional structure to which the mobile body is heading, the current position of the mobile guidance terminal measured by the positioning unit, and the identification code stored in the identification code storage unit to the guidance server. A guidance request transmission unit to transmit;
A guidance information receiving unit that receives, from the guidance server, guidance information including map information and a target position in the three-dimensional structure in response to the guidance request transmitted by the guidance request transmitting unit;
Using the current position measured by the positioning unit and the map information and the target position in the three-dimensional structure included in the guidance information received by the guidance information receiving unit, the map in the three-dimensional structure, the current position, and the target position And a display unit for guiding from the current position to a target position in the three-dimensional structure,
The above guidance server is
A map information storage unit that stores map information in the three-dimensional structure;
A target target information storage unit that stores target target information including a target that can be a target and a target position arranged in the three-dimensional structure;
A guidance request receiving unit that receives, from the mobile guidance terminal, a guidance request including target specifying information for specifying a target in the three-dimensional structure to which the mobile body is heading, the current position of the mobile guidance terminal, and an identification code of the mobile guidance terminal. When,
Using the target specifying information included in the guidance request received by the guidance request receiving unit, search for the target target information stored in the target target information storage unit, determine the target specified from the target specifying information as a target, A target specifying unit that specifies the target position as a target position;
Based on the current position of the mobile guidance terminal and the target position specified by the target specifying unit, map information used for guiding from the current position to the target position is obtained from the map information in the three-dimensional structure stored in the map information storage unit. A guide information transmitting unit comprising: a guide information transmitting unit that transmits guide information including a selected map information and a target position specified by a target specifying unit to a mobile guide terminal identified by an identification code. A mobile object guidance terminal that communicates with a guidance server that guides a three-dimensional structure to guide a mobile object toward a target in the three-dimensional structure,
An identification code storage unit that stores an identification code of the mobile guidance terminal;
A positioning unit that receives a positioning signal for positioning and determines the current position of the mobile guidance terminal;
A guidance request transmission unit that transmits a guidance request including target identification information for identifying a target in the three-dimensional structure to which the mobile body is heading and an identification code stored in the identification code storage unit to the guidance server;
A guidance information receiving unit that receives, from the guidance server, guidance information including map information and a target position in the three-dimensional structure in response to the guidance request transmitted by the guidance request transmitting unit;
Based on the current position of the mobile guidance terminal and the target position included in the guidance information received by the guidance information receiving unit, from the map information in the three-dimensional structure included in the guidance information received by the guidance information receiving unit The map information used for guidance from the current position to the target position is selected, and the map, the current position, and the target position in the three-dimensional structure are displayed using the selected map information, the current position, and the target position. And a display unit for guiding from a position to a target position in the three-dimensional structure. A guidance server that communicates with a mobile guidance terminal to guide a mobile toward a target in a three-dimensional structure,
A map information storage unit that stores map information in the three-dimensional structure;
A target target information storage unit that stores target target information including a target that can be a target and a target position arranged in the three-dimensional structure;
A guidance request receiving unit that receives, from the mobile guidance terminal, a guidance request including target identification information for identifying a target in the three-dimensional structure to which the mobile body is heading and an identification code of the mobile guidance terminal;
Using the target specifying information included in the guidance request received by the guidance request receiving unit, search for the target target information stored in the target target information storage unit, determine the target specified from the target specifying information as a target, A target specifying unit that specifies the target position as a target position;
A guide information transmitting unit that transmits guide information including the map information in the three-dimensional structure stored in the map information storage unit and the target position specified by the target specifying unit to the mobile guide terminal identified by the identification code; Information server. A three-dimensional structure guidance system comprising: a guidance server for guiding a three-dimensional structure; and a mobile object guidance terminal for guiding a mobile object toward a target in the three-dimensional structure,
The mobile information terminal is
An identification code storage unit that stores an identification code of the mobile guidance terminal;
A positioning unit that receives a positioning signal for positioning and determines the current position of the mobile guidance terminal;
A guidance request transmission unit that transmits a guidance request including target identification information for identifying a target in the three-dimensional structure to which the mobile body is heading and an identification code stored in the identification code storage unit to the guidance server;
A guidance information receiving unit that receives, from the guidance server, guidance information including map information and a target position in the three-dimensional structure in response to the guidance request transmitted by the guidance request transmitting unit;
Based on the current position of the mobile guidance terminal and the target position included in the guidance information received by the guidance information receiving unit, from the map information in the three-dimensional structure included in the guidance information received by the guidance information receiving unit The map information used for guidance from the current position to the target position is selected, and the map, the current position, and the target position in the three-dimensional structure are displayed using the selected map information, the current position, and the target position. A display unit for guiding from the position to the target position in the three-dimensional structure,
The above guidance server is
A map information storage unit that stores map information in the three-dimensional structure;
A target target information storage unit that stores target target information including a target that can be a target and a target position arranged in the three-dimensional structure;
A guidance request receiving unit that receives, from the mobile guidance terminal, a guidance request including target identification information for identifying a target in the three-dimensional structure to which the mobile body is heading and an identification code of the mobile guidance terminal;
Using the target specifying information included in the guidance request received by the guidance request receiving unit, search for the target target information stored in the target target information storage unit, determine the target specified from the target specifying information as a target, A target specifying unit that specifies the target position as a target position;
A guide information transmitting unit that transmits guide information including the map information in the three-dimensional structure stored in the map information storage unit and the target position specified by the target specifying unit to the mobile guide terminal identified by the identification code; 3D structure guidance system. The map information storage unit stores, as map information of a three-dimensional structure, elevation views of buildings on multiple floors and plan views of each floor,
7. The three-dimensional structure according to claim 3, wherein the guide information transmitting unit creates guide information including an elevation view, a plan view, and a route of the building used for guiding from the current position to the target position. Guidance system. The map information storage unit stores three-dimensional image data of various places in the three-dimensional structure as map information of the three-dimensional structure,
The three-dimensional structure guidance system according to claim 3, wherein the guidance information transmission unit creates guidance information including three-dimensional image data. The target target information storage unit inputs a target position from a target that can be a target in real time and stores a change in the target position,
The guide information transmitting unit, when the target position of the target determined as the target is changed, creates guide information with the target position after the change as the target position and transmits the guide information to the mobile guidance terminal. Item 3. The three-dimensional structure guiding system according to item 3 or 6. The said three-dimensional structure guidance system was equipped with the radio | wireless station connected to the guidance server and wirelessly communicating with a mobile guidance terminal in the several places in a three-dimensional structure, The characterized by the above-mentioned. 3D structure guidance system.

Images