JP2017072871A - Line tracing automatic mobile body performing movement control along guiding line arranged at walkway part and walking section of driveway - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that in order to prepare for future Japan's declining birthrate and aging population, navigation by barrier-free priority route setting is required, the navigation capable of easily moving by an electrically-driven wheelchair and a baby carriage so that an elderly generation, a child-rearing generation, and a disabled person can actively go out for shopping, and eating and drinking, and capable of moving to avoid danger with a simple operation steering.SOLUTION: A route by nodes and route link information is set on the basis of location information along walking sections of walkways and walking sections of driveways which prioritize barrier-free walkways. Line shaped guiding blocks are formed on the walkways and coating pavement lines are formed on the driveways and cross walks. A line tracer mobile body follows this line and moves.SELECTED DRAWING: Figure 1

Description

  The present invention automatically moves following a guide block and a pedestrian crossing line installed in a line on the sidewalk and the roadway walking section when moving to a destination with a small electric vehicle (electric wheelchair), a stroller, or the like. The mobile control device performs automatic driving, and obtains the current position information from the starting point and the destination based on the position information, the node based on the position information, the route link information, and the GPS receiver, and the route of the moving body based on these information In order to make it easier for people who perform mobile navigation and move the automatic mobile body using a mobile terminal attached to the mobile body to check the route, moving state, and current position, the route guidance on the road is displayed along the route on the map. A function that makes navigation easier and more accurate by combining guidance with walking directions on sidewalks and roadways, and road guidance based on continuous photos of the surrounding cityscape. Route mobile navigation information of the moving body used in the movement control device of the moving object is intended to provide a function for automatic operation of the mobile

  When an occupant is seated on the seat of a small electric vehicle and detects a surrounding vehicle, the back of the occupant is illuminated with multiple lights to alert the pedestrian and the driver of the surrounding vehicle. There is a problem that a means for automatically avoiding the danger is not provided when a danger occurs due to (see Patent Document 1).

  When the vehicle's position is detected by self-contained navigation using a sensor mounted on a wheelchair, when approaching the vicinity of the guidance guide point provided on the link and the guidance on the barrier-free route, the actual image information of the scene around the guidance point is displayed. Although the displayed route guidance is performed, there is a problem that the wheelchair cannot be automatically operated and the actual image information when the current location is unknown is not provided (see Patent Document 2).

  A system that provides information such as navigation and store information when walking using a mobile phone, and reads store information and store location information from the server based on the location information detected by the detecting means and displays them on a map However, as in the present invention, there is a problem that it is not possible to provide route guidance while confirming a route by using a photograph using continuous photographs of a sidewalk and a walking street and surrounding streets (see Patent Document 3).

  A navigation system that provides guidance information for guiding to a destination, and displays guidance information using image data corresponding to an image close to an actual landscape at a specified branch point. There is a problem that only the route guidance by the image can be performed only at the specified branch point without using the continuous photograph of the walking part of the sidewalk and the street and the surrounding city street (see Patent Document 4).

JP 2009-090710 A JP 2012-103146 A JP-A-2005-106714 JP 2002-221433 A

  Two-wheeled, three-wheeled, and four-wheeled electric wheelchairs, strollers for one child, for two children, and for three children are difficult to maneuver and are often in danger.

  An electric wheelchair and a baby stroller can be operated automatically and the range of action is widened.

  There are too few barrier-free roads.

  Barrier-free roadways, intersections, stairs and underpasses are not barrier-free.

  Barrier-free and guidance blocks are necessary not only for the visually impaired but also for the elderly and the child-raising generation.

  With barrier-free and guidance blocks, anyone knows that it ’s a safe road.

  Useful if you have an electric wheelchair that moves following the guidance block on the sidewalk.

  When following a guide block on a sidewalk, you cannot follow an intersection or roadway.

  Increasing the number of sidewalks with guidance blocks will increase the number of senior citizens, parenting generations, and going out for eating and drinking.

  Electric wheelchairs and baby strollers should automatically detect obstacles such as people, cars, manholes, and power poles while moving.

  At the intersection of moving routes, manholes, uphills, downhills, etc. are dangerous.

  Please notify your mobile device of dangerous places such as roadways, intersections, stairs, underpasses, manholes, uphills, and downhills when moving.

  We want you to place beacon radio wave transmission device for portable terminal in notification of dangerous place.

  Electric wheelchairs require automatic brakes, manual brakes, and caregiver brakes.

  There are too few sidewalks that can be combined with warning blocks and guidance blocks in a line for automatic line following operation.

  It is necessary to install a line on the roadway and pedestrian crossing during automatic line following operation.

  There are many reading errors due to line identification of the line tracer, and it is necessary to construct a line that can be read accurately and accurately.

  Setting starting point and destination when using map route navigation is troublesome.

  I do not know the destination address when using map route navigation.

  It would be convenient if it could be set by name, such as destination stations, bus stops, stores, public facilities, sightseeing spots, etc.

  There is no map route navigation that gives priority to barrier-free sidewalks.

  A map route navigation system for automated driving by a line tracer is required.

  It is convenient if there is a portal site that has a course with navigation information from the nearest base to stores, public facilities, sightseeing spots, etc. in advance.

  If you get lost when you are heading to a facility such as a store, public facility, or sightseeing spot, you should send a photo of the location to guide you from the facility.

  When using mobile navigation, multiple station exits, bus stops, and roads at the starting point of a station or the like are complicated, and the initial direction of travel is difficult to understand.

  It is difficult to confirm the destination, route, movement status, and current position during movement.

  It is easy to understand if you can see a photo of the current location while you are moving.

  I would like to know in advance the location of the slope on the road and the slope of the slope.

  It is easier to understand navigation using continuous photos rather than navigation using maps.

  In navigation using continuous photographs, it is not necessary to acquire GPS position information, and the battery of the mobile terminal can be reduced.

  If you use navigation with sequential photographs, you can intuitively find that there are things such as utility poles, buildings, trees, etc. in the direction of travel, and less likely to get lost.

  Wheelchair and stroller caregivers need to use both arrows and voice and vibration navigation on devices such as wearable watches that can be worn and worn.

  It is necessary to display the direction of the magnetic needle to indicate the direction continuously.

  In response to the difficulty of maneuvering electric wheelchairs and baby strollers, automatic driving is performed by line traces that follow a line for guidance and a pedestrian crossing line.

  Barrier-free sidewalks that use blocks for guidance from the nearest station, bases such as main roads, to destination stations, bus stops, stores, public facilities, sightseeing spots, etc. Data of route navigation information for routes.

  The guidance block installed on the sidewalk is also used as a line for automatic line operation by line trace.

  A continuous line is formed by constructing line paint pavement for line tracing on the roadway, intersection, etc. of the route combined with the sidewalk where the guide block is installed.

  Obstacles such as moving cars, pedestrians, manholes, utility poles, etc. are used for automatic obstacle avoidance operation and warning to the operator by image processing of infrared camera mounted on electric wheelchair, stroller and received data processing by ultrasonic sensor. I do.

  Danger warning locations such as roadways, intersections, intersection distances, traffic lights, stairs, underpasses, manholes, uphills, downhills, etc. when moving are automatically driven by a beacon radio wave transmitter embedded in the sidewalk. To the mobile control device for the mobile phone, and also notifies the mobile terminal.

  Traffic warning roads, intersections, traffic lights, intersection distances, traffic light intervals, staircases, underpasses, manholes, uphills, downhills, and other hazard warning locations are provided by Wi-Fi spots installed around the sidewalk. , Sent to the mobile control device for automatic driving, and also notified to the mobile terminal (registered trademark Wi-Fi Alliance).

  Using the above-mentioned danger warning information, an automatic brake such as a self-driving wheelchair avoids an obstacle, and a manual brake that can be operated by a human and a caregiver brake are also provided.

  In order to reduce reading errors due to line identification of the line tracer, retroreflective spherical beads are attached to the surface of the line paint pavement, increasing the reflectance with which the irradiated light returns to the irradiation direction again, enabling reliable and accurate reading To do.

  In order to reduce reading errors due to line identification of line tracers, radio frequency type RFID tags that do not require built-in batteries at regular intervals are embedded in the guidance block and line painting pavement, and read by the RFID reader of an autonomous driving wheelchair, Enables reliable and accurate reading.

  Using a guidance block in which an RFID tag is embedded in advance, a linear guidance block for the RFID tag guidance block is applied to the sidewalk.

  An RFID tag is bonded to a fibrous long composite material in advance, and this composite material is laid on the surface of the roadway so as to form a line. .

  For automatic driving such as wheelchairs, the current position or the nearest starting point and destination are set, and the node, route link information and GPS reception based on the map information and the position information of the walking part are received from the network such as the Internet. Current position information is acquired by the device, and line following navigation using these information is performed.

  Mobile navigation information by automatic driving from the starting point to the destination is set along the sidewalk pedestrian walking section giving priority to the barrier-free sidewalk.

  Build a portal site on the Web with a course with navigation information from the nearest base to stores, public facilities, sightseeing spots, etc., search and download if you do not know the destination address Used for line following navigation system.

  When the navigation information is downloaded from the above facilities, the shops, products, vacant seats, CM information, etc. are distributed from each facility to the mobile terminal URL of the mobile at the time of download, and the mobile When the user is at a loss, etc., a photo of the location is used, or text and voice are used for transmission to each facility.

  For mobile navigation, a route link with a node based on location information is displayed on the map to the destination, and the acquired current location is displayed on the route link. At the same time, the current location is synchronized. On the other hand, the current position corresponding photograph is displayed using a continuous photograph of the walking section and its surrounding cityscape, and a mobile navigation function is provided by a combination of a plurality of road guides such as a route guide by a map and a route guide by a continuous photograph.

  For mobile navigation of mobile devices, continuous real images are used, where the current position and the next position can be confirmed on real images such as utility poles, buildings, trees, and surrounding streets of the route to the destination. It has a mobile navigation function by street view navigation that can perform reliable and error-free navigation by marking the next reference mark in the actual video.

  The mobile navigation of the portable terminal has a mobile navigation function that displays the altitude for each movement and displays the height of all the movement paths in a graph.

  A mobile navigation function with turn-by-turn navigation that provides navigation by combining a mark indicating the direction of travel, guide characters, and voice that can be attached to the body when a mobile device is difficult to use, such as a wheelchair caregiver. Is provided.

  By performing automatic driving with electric wheelchairs, guide blocks with strollers arranged in a line and line traces following the line of a pedestrian crossing, it is easy to operate, handling errors, touching obstacles, It is possible to avoid dangers such as deviation from the road.

  Barrier-free sidewalk route setting from nearest station, base such as main road to destination station, bus stop, store, public facility, sightseeing spot, etc. by making mobile navigation information data Becomes unnecessary.

  By using the guidance block installed on the sidewalk as a line for automatic line operation by line trace, the cost for new line construction can be reduced.

  By applying line paint pavement for line traces from the departure point to the destination with guidance blocks on roadways and intersections, it is possible to set continuous lines and enable automatic operation of line following in all processes .

  Increasing the number of sidewalks with guidance blocks will increase the number of elderly people, child-rearing generations, go out for food and drinks, increase bustle, and make the town more active.

  By using image processing of an infrared camera mounted on an electric wheelchair or stroller and data processing by an ultrasonic sensor, obstacles can be automatically avoided and warnings can be given to the driver, enabling safe automatic driving.

  By using the beacon radio wave transmission device embedded in the sidewalk, it is possible to obtain information on danger warning locations such as roadways, intersections, stairs, underpasses, manholes, uphills, downhills, etc., and automatic driving for avoiding danger is possible.

  Wi-Fi spots installed around the sidewalk provide information on danger warning locations such as roadways, intersections, traffic lights, stairs, underpasses, manholes, uphills, downhills, etc., enabling automatic driving to avoid danger (Registered trademark Wi-Fi Alliance).

  By using the above-mentioned danger warning information, obstacles can be avoided with an automatic brake such as a self-driving wheelchair, a human manual brake operation, and a caregiver brake operation can be performed, and prior danger avoidance is possible.

  The above-mentioned danger warning location information is also notified to the wheelchair and stroller caregiver's mobile terminal, so that it is possible to avoid danger locations in advance.

  Guidance blocks with embedded RFID tags can be installed on the sidewalk, reducing the cost for line construction.

  By using a long fibrous composite material to which an RFID tag is bonded, the cost for line construction of the roadway can be reduced.

  The retroreflective effect that increases the reflectivity by which retroreflective beads are attached to the surface of the sidewalk block and the line painting pavement of the roadway, and the irradiated light returns to the irradiation direction again can enhance line identification. Enables reliable and safe line tracer automatic operation.

  Forming lines for line identification that can be operated with minimal maintenance and management costs without the need for built-in batteries by using radio frequency RFID tags for guiding blocks on sidewalks and line painting on roadways Can do.

  When a line for line tracing is formed by line painting pavement using RFID tags on the roadway, not only electric wheelchairs and strollers, but also one-car organized buses, articulated buses public transportation, general buses, automobile line tracer automatic operation Is also possible.

  It is possible to perform automatic driving by moving navigation from a safe barrier-free starting point to a destination, which is set along the sidewalk pedestrian walking section giving priority to the barrier-free sidewalk.

  Line-following navigation for wheelchairs, etc. while acquiring current position information from the current position or the map information to the nearest starting point and destination, the position link information based on the position information of the walking part, and the GPS receiver Automatic operation is possible.

  Mobile navigation information to facilities such as stores, public facilities, and sightseeing spots can be downloaded from the Web portal site, and route setting by itself is unnecessary.

  When navigation information is downloaded from the above facilities, stores, products, vacant seats, CM information, etc. can be received from each facility. You can receive more answers and receive services that allow you to communicate with the store and customers.

  The navigation system to the destination is a street view with continuous photos of the walking part and the surrounding city streets, so GPS is not required, and the battery consumption of the mobile terminal is reduced, making it intuitive, easy to understand, and accurate mobile navigation.

  With Street View, the next standard mark is always shown in the continuous photos of the route to the destination, so navigation can be performed reliably and without error.

  It is important for wheelchairs and baby strollers. It displays the altitude for each movement, and can perform movement navigation with a graph display of the height of all movement paths.

  With turn-by-turn navigation that guides the road by combining a mark indicating the direction of travel and guide characters, navigation can be performed on the body even when a mobile terminal is difficult to use, such as a wheelchair caregiver.

Automatic moving body as an example of an electric wheelchair that moves following a block for line guidance Point warning block and line guidance block Layout of warning blocks by points, guidance blocks by lines, and pedestrian crossing blocks at intersections Line-painted pavement with spherical beads attached to the surface for retroreflecting incident light on guide blocks and pedestrian crossings Map route navigation that provides route guidance from the starting point on the map to the destination with route links with nodes Navigation navigation that combines four navigations: map route navigation, street view navigation, elevation navigation, and turn-by-turn navigation. Wearable terminal example of turn-by-turn navigation that provides route guidance by combining a mark indicating the direction of travel and a guide character Continuous real images of the streets around the walking area, taken at regular intervals, with the streetlight as a position mark. RFID tag and reader antenna for controlling the movement of an automatic moving body installed on the road surface Guidance line with guidance block or painted pavement on RFID tag Guiding block Fiber for line paint pavement

Automobiles are two-wheel, three-wheel, and four-wheel electric wheelchairs, strollers for one child, two children, and three children. , Transportation trucks, taxis, and mobile vehicles that move on the road vehicle lane of private cars.

  The automatic moving body is composed of a 4 electric wheelchair frame, a 7 electric wheelchair handle, 15 seats, 16 backrests, 5 armrests, and a 6-foot rack structure.

The automatic moving body uses wheels and hand rims with 2 tires, 2 front auxiliary wheels, 3 rear auxiliary wheels, 9 batteries using batteries stored in a battery storage device, driven by 8 electric tire drive units, and 14 wheel rotations The start, stop, direction change, speed adjustment, forward / reverse, and alternate operation are performed by the direction change axis.

  A 10-line sensor for automatically moving following a line-shaped guiding block and a pedestrian crossing line by an automatic moving body, and a device combining a camera and a radar for detecting an obstacle are provided.

  Line tracking of the automatic moving body is a combination of a light emitting diode (LED) and a phototransistor, and the light emitted from the LED is reflected by the painted paved line and enters the phototransistor, and the reflected light analysis processing is performed. The line information is detected and recognized by the line sensor. The recognized line information is processed by the 12 automatic moving body movement control device, and the automatic driving operation is performed to follow the line.

  Detection of obstacles in an automatic moving object recognizes obstacles by performing image processing on the image previewed by the infrared camera, transmits ultrasonic waves from the ultrasonic sensor, reflects off the obstacles, and returns to the ultrasonic sensor. Is detected and the distance to the obstacle is calculated from the product of the speed (sound speed) of ultrasonic waves transmitted in the air and the half of the transmission / reception time (propagation time) to detect the obstacle. Information is processed by a 12-automatic mobile body movement control device, and an automatic obstacle avoidance operation, warning to the driver, and a warning sound speaker are used for warning when an automobile or a person gets too close to the automatic mobile body. A warning sound is emitted.

Beacon radio wave transmitters are embedded in structures such as traffic path intersections, manholes, uphills, downhills and other warning sections, traffic lights, and utility poles, and 11 beacon transmitters / receivers transmit and receive information. The current position information consisting of the longitude and latitude of the automatic moving body moving by the 11 GPS antenna and GPS sensor, and storing and saving the acquired information,
Information is transmitted and displayed on the portable terminal by Bluetooth or infrared communication. (Registered trademark Bluetooth SIG, Inc.)

  Wi-Fi spots are provided at warning points such as intersections of traffic routes, traffic lights, manholes, uphills, downhills, etc., information is transmitted / received by 11 Wi-Fi communication devices, received information is stored and stored, 11 GPS antennas, Acquires current position information consisting of longitude and latitude of an automatic moving body moving by a GPS sensor, stores and saves the acquired information in a 12 automatic moving body movement control device, and transmits information to a portable terminal by Bluetooth or infrared communication indicate. (Registered trademark Bluetooth SIG, Inc.) (Registered trademark Wi-Fi Alliance)

  The power supply of the beacon radio wave transmitter used in the sidewalk uses a battery or a solar battery, and is embedded in the sidewalk or using a block built in advance under the guidance block.

  The automatic moving body is operated by 19 operation pads or operation handles of a 17 electric wheelchair operation panel installed on the moving body, the stop operation is performed by 18 manual brakes, and the care giver is stopped by 20 brakes for care givers.

  The line used by the line trace automatic moving body that performs automatic line following operation is a continuous line from the starting point to the destination.

  A continuous line is used by combining the 21-point warning block and the 22-line guiding block shown in FIG.

  In the route where the sidewalk, the roadway, and the intersection of the automatic moving body are used together, the warning block with 30 points, the guidance block with 31 lines, and the line painting pavement for 32 pedestrian crossings in FIG.

  The 30-point warning block is a group, the 31-line guide block is constructed as a continuous line with the longitudinal direction of the linear projections on the block in the traveling direction, and the 32 pedestrian crossing line is constructed as a single line.

  Paint pavement to increase the sensitivity of the line sensor is 43 paint pavement layers on the pedestrian crossing line on the 40 pedestrian crossing in FIG. 4, 41 point warning block on the 41 traffic barrier free sidewalk and 31 line guide block Form and apply 44 retroreflective spherical beads to this surface.

  The retroreflective effect uses exposed spherical beads with no coating or other coating on the surface, and the reflection function that returns the light irradiated from the automatic moving body to the irradiation direction again increases the line detection degree by the line sensor of the automatic moving body. , Improve line following ability.

  44 Painted pavement that attaches 44 retroreflective spherical beads can be color-tuned and can be a clear color. By using clear paint pavement, the visibility and function of the pedestrian crossing white line are adversely affected. Can be avoided.

  44 Retroreflective sphere beads are attached 43 Painted paving agent is clear, any color, sidewalk, roadway color can be identified by reading the color of the light emitted from the LED become.

  The line trace automatic moving body has a function of performing automatic operation of line following using map route moving navigation.

  Use a mobile device when moving with a mobile device, enter and set the starting point and destination, and use a network such as the Internet to give priority to map information including the starting point and destination and a barrier-free sidewalk Along with the walking part, the current position information is acquired by the node and route link information based on the position information and the GPS receiver, and the information is transmitted to the 12 automatic mobile control devices via Bluetooth or infrared communication, stored and stored. Using this information, automatic line following operation of the moving body is performed by map route movement navigation. (Registered trademark Bluetooth SIG, Inc.)

  When the mobile terminal is moved by the mobile body, the mobile terminal is stored in the 13 mobile terminal storage cradle provided in the mobile body, and the mobile terminal can be used without being held in the hand.

  If the name is known, such as the destination station, bus stop, store, public facility, sightseeing spot, etc., from the nearest station, starting point of the base to the destination facility If map route movement navigation information is set, information is downloaded and stored from each facility using a PC or portable terminal, and the information is stored in the Wi-Fi communication of the movement control device from the PC or portable terminal. The data is transmitted and stored in the device, and automatic operation for line following is performed using this information.

  A portal site for map route movement navigation is built on a Web server, and map route movement navigation information for facilities such as bus stops, stores, public private facilities, and sightseeing spots is created and stored on the Web server from the nearest station or base. In addition, information on individual facilities is downloaded from a portal site using a network such as the Internet by a PC or a mobile terminal, stored and stored, and the Wi-Fi of the movement control device is stored from the PC or mobile terminal. The transmission is stored in the communication device, and automatic operation for line following is performed using these pieces of information.

When the map route movement navigation information is downloaded from each facility such as a store, a public private facility, or a sightseeing spot using the above-mentioned PC or mobile terminal, the store from each facility corresponds to the mobile terminal URL of the mobile user at the time of download. , Deliver merchandise, vacant seats, CM information, etc., and send to each facility using photographs, texts, or voices of the location when a traveler gets lost on the way, etc. It has a function to reply the answer from the facility.

  The line trace automatic moving body has a function of performing automatic operation of line following using map route moving navigation.

  When a mobile terminal is not used during navigation of an automatic moving body, a starting point and a destination are set in advance on the PC and the mobile terminal, and information based on this setting is used on the PC and the mobile terminal using a network such as the Internet. , Stored in a PC or mobile terminal, and stored and transmitted from the PC or mobile terminal to the Wi-Fi communication device of the mobile control device, and used for the automatic operation of line following. .

  Destination confirmation, route confirmation, movement state confirmation, and current position confirmation are performed by a portable terminal and a wearable terminal carried by a person who moves by walking and walking automatically.

  Easy to understand route guidance by moving from the current position or the nearest starting point to the destination by using the route on the map with the route guide on the sidewalk and the walking part of the roadway and continuous photos of the surrounding cityscape Provide more accurate mobile navigation.

  The map route movement navigation from the starting point on the map to the destination displays 52 starting points and 53 destinations on the 51 map of FIG. 5, displays the route by 55 nodes and 54 route links, and measures when moving Each 56GPS current position is displayed, and the magnetic needle direction indicating the north of the 57 map is displayed, so that it is possible to constantly check the movement progress.

  Fig. 5 Map route movement navigation is performed by mobile terminals and wearable terminals via a network such as the Internet, map information including the starting point and destination, and nodes and route link information based on location information along the sidewalk walkway The current position information is acquired by the GPS receiver and the navigation is performed using the information to display the movement route and the current position.

  The mobile navigation by the portable terminal and the wearable terminal performs the navigation by the combination of the plurality of road guides in FIG. 6 like the road guide by the map in FIG.

  6 map route movement navigation of portable terminal and wearable terminal is composed of 604 navigation combinations, 61 map route movement navigation, 62 street view navigation using real video, 63 height difference navigation, 64 turn by turn navigation .

  Map route navigation is controlled by 65 navigation control unit, 66 current position display, 67 Street View navigation actual video one step forward, 68 Street View navigation real video one step later, 69 automatic continuous playback stop, 70 movement Automatic navigation continuous playback can be performed.

  Fig. 7 shows a combination of a mark indicating the direction of travel and letters for guides, voice, and vibrations that can be attached to the body when the hand is blocked like a wheelchair caregiver and it is difficult to use the mobile terminal. 80 wearable watch as an example of a wearable terminal for turn-by-turn navigation.

The wearable watch mainly includes a mark indicating 81 traveling direction, a guide character for 82 traveling direction, and a magnetic needle direction indicating 83 orientation.

  Fig. 6 Map route movement navigation It consists of a combination of four navigations. Other combinations include 61 map route movement navigation and 64 turn-by-turn navigation, street view navigation using 62 real images, 63 height difference navigation, 62 real images. It is also possible to configure and use a combination of two types of navigation, street view navigation and 64-turn by turn navigation.

  For the street view navigation using the 62 real video, the navigation is performed using the continuous real video of FIG.

  The navigation based on continuous real images, as shown in FIG. 8 continuous real images, shows the 92-street light near view and the 93-street light distant view taken at a fixed distance interval between the near view and the distant view, but the real image is shown. Using real images such as streetlights, utility poles, buildings, trees, surrounding streets, etc., where the current position and the next position can be confirmed, a continuous real image is shown. This ensures reliable and error-free navigation.

  For the purpose of mobile navigation of automatic moving objects, RFID tags are installed on the surface of the sidewalk and the roadway walking surface, and the guidance line formed in the shape of a line with guidance block or painted pave on it is read by the RFID reader antenna Then, the read information is processed by the movement control device, and the line following automatic operation is performed.

  Automobiles are two-wheel, three-wheel, and four-wheel electric wheelchairs, one for children, two for children, three for children, one-car trains, articulated buses, taxis, car roads and sidewalks It consists of one of the moving bodies that move on the road combined with the roadway.

  10 is installed at a certain interval or on a road where a straight line continues on the surface of the 84 sidewalk and 85 roadway in FIG. 10, and the 86 RFID tag in FIG. A line for guiding paved with a painted pave will be constructed and used for automatic movement by line tracing of automatic moving bodies.

  While moving automatically, the RFID system of the radio system uses a radio frequency RFID system to send 28 carrier radio waves to the 24 RFID tag when moving, receive it by the 26 tag antenna of the RFID tag, and process it by the 25 RFID chip. The carrier wave reflected from the 29 chip is read by the 23 RFID reader for the individual recognition ID and position information, and this data is processed by the 12 mobile body movement control device to perform automatic operation for line following.

  The radio frequency RFID system uses UHF band, 2.45GHz microwave, etc., and exchanges data using radio waves to send and receive data between RFID tag and RFID reader. The 24 RFID tag does not require a built-in battery, and the communicable distance is about 1 to 3 m.

  For line tracing of the automatic moving body, a line in which 86 RFID tags are embedded in the surface of the 84 sidewalk and 85 roadway in FIG. 10 is constructed.

  The RFID tag is installed on the surface of the sidewalk part by laying a block in which a 94 RFID tag is embedded in the 95 guide block of FIG.

  Installation of the RFID tag on the surface of the roadway portion is performed by adhering the RFID tag to the surface of the roadway portion at a constant interval, forming a paint pavement thereon, and forming it into a line shape.

  For the purpose of installing the RFID tag on the surface of the roadway accurately at regular intervals, shortening the work time, and increasing the strength of the formed paint pavement, A 96 RFID tag is bonded to the 97 fibrous long composite material shown in FIG. 12, and this composite material is laid on the surface of the roadway so as to form a line. Install.

  Fig. 1 A 24 warning sound speaker that emits warning sounds to the front and rear, left and right sides of an automatic moving body for warning when a car or a person gets too close to the automatic moving body.

  Obstacle detection sensors detect intrusions within a certain distance from the front, rear, left side, right side, and left and right rear of an automatic moving body, and when detected, sound warnings to other cars and people A warning sound is emitted from the speaker to give a warning.

A small electric vehicle (electric wheelchair), stroller, etc. is equipped with a movement control device and performs automatic line trace operation that automatically follows the line with the guidance blocks installed in a line on the sidewalk and roadway walk. Operation to move the automatic moving body by acquiring the current position information from the node and route link information based on the position information from the starting point and destination, and the GPS receiver, and performing automatic driving navigation based on these information It is easy to understand and more accurate navigation by using the route guidance on the map and the walking guide of the sidewalk and the roadway and the route guidance by archiving continuous photos of the surrounding cityscape on the mobile terminal Provide functionality.
A line sensor, an obstacle sensing camera, a beacon transmitter / receiver, a Wi-Fi communication device, a GPS sensor, and an RFID reader antenna are used as devices for movement control of a moving object. For automatic line trace operation, a guide line is constructed on the sidewalk using a road block and a painted pavement at the intersection. In order to increase the detection sensitivity of this guidance line, paint pavement that attaches true spherical beads with retroreflective function to the surface is applied, and further, the detection sensitivity is increased and road information and warning information are provided to the automatic moving body RFID tags are installed at the lower part of the line on the surface of the sidewalk part and the surface of the roadway walking part. Line trace automatic driving, which automatically follows the line, can be used not only in electric wheelchairs and strollers, but also in the fields of single-car trains, articulated buses, taxis, and automobiles as public traffic on ordinary roads.

  By constructing a guide line in the shape of a line with a guide block or guide pavement line on the sidewalk, roadway, and roadway walk part, the route is explicitly displayed on the road like a tram track, The road where this guidance line is installed is easy to walk on barrier-free and is friendly to people, and the elderly, child-rearing, and disabled people can also go out actively. Regained the bustle of the city, leading to the revitalization of the town, and can spread to various industries.

  Reorganization into a compact city will be necessary in order to cope with the declining birthrate and aging population and the shrinking economy. For that purpose, the guide line in the form of a guide block or a paint pavement for guides is used as a nearby route for moving from city stations, main roads, etc. to urban public transport, from 500 meters to 1 km from public transport. By setting and utilizing it, we can contribute to the construction of new infrastructure for compact town reorganization.

DESCRIPTION OF SYMBOLS 1 Wheel equipped with tire 2 Front auxiliary wheel 3 Rear auxiliary wheel 4 Electric wheelchair frame 5 Armrest 6 Footrest 7 Electric wheelchair handle 8 Electric tire drive 9 Battery storage device 10 Line sensor, obstacle detection camera storage device 11 Beacon transmission / reception Machine, Wi-Fi communication device, GPS antenna, GPS sensor storage device 12 Automatic moving body movement control device 13 Mobile phone storage cradle 14 Wheel rotation direction changing shaft 15 Seat seat 16 Backrest 17 Electric wheelchair operation panel 18 Manual brake 19 Operation pad 20 Brake for caregiver 23 RFID reader antenna 24 Speaker for warning sound 21 Point warning block for warning of automatic moving body and walking for visually handicapped person 22 Guidance for automatic moving body and walking for visually handicapped person Line guiding block 30 for guiding which is also used Groove Warning block 31 according to the point installed in the line Guide block 32 based on the line installed in the line Line painting pavement for pedestrian crossing 33 Traffic barrier-free semi-flat type sidewalk 34 Traffic barrier-free curb 35 Roadway 40 Crosswalk 41 Traffic barrier-free sidewalk 42 Point warning Block 43 Painted paving agent 44 Retroreflective spherical beads 45 Reflection phenomenon in which incident light returns to the incident direction again 51 Map 52 Start point 53 Destination 54 Route link 55 Node 56 GPS current position 57 Magnetic needle direction 60 4 representing the north of the map Navigation navigation that combines two navigations 61 Map route navigation 62 Street view navigation 63 using real images Height difference navigation 64 Turn-by-turn navigation 65 Navigation control unit 66 Current position display 67 Street view navigation Move the actual video of the gating one step forward 68 Move the real image of the street view navigation one step later 69 Stop automatic continuous playback 70 Automatic movement navigation continuous playback 80 Wearable watch 81 A mark 82 indicating the direction of travel 82 A guide character 83 for the direction of travel Magnetic needle direction 90 indicating a direction Sidewalk portion 91 Curbstone portion 92 Streetlight foreground photographed at a certain distance interval Streetlight distant view photographed at a certain distance interval 24 RFID tag 25 RFID chip 26 Tag antenna 27 Reader antenna 28 Transmission carrier wave 29 Reflected carrier wave 84 Sidewalk 85 Roadway 86 RFID tag 87 Guide block 88 Line paint pavement 94 RFID tag 95 Guide block 96 RFID tag 97 Fiber for line paint pavement

Claims (8)

  A line sensor for automatically moving by detecting and following this line on a sidewalk or a roadway or a road that combines these, either in the form of a block for guidance or a paint pavement line for guidance, or in combination. Obstacle sensing camera, obstacle sensing ultrasonic sensor, radio wave transmitter / receiver, receiving device that acquires current position information using GPS antenna, manual operation control device, moving body operation for automatic operation by line trace A line trace automatic moving body that has a movement control device to control and uses these to perform automatic line following operation.   In order to increase the sensitivity of the line sensor by attaching a true spherical bead with a reflection function that allows the light irradiated from the automatic moving object to return to the irradiation direction again, it is used for guidance blocks, crosswalks, and roadways The line trace automatic moving body according to claim 1, wherein a painted pave is applied to a continuous line and the line is used for tracking.   Set the current position or the nearest starting point and destination, and based on this setting, use a network such as the Internet from a mobile terminal, map information including the starting point and destination and the sidewalk or roadway or these Along with the combined road part, the current position information is acquired by the node and route link information based on the position information and the GPS receiver, and the movement control provided for the automatic moving body by the communication function of the portable terminal. Send and save to the device, and use these information to move the guide block or guide pavement line or any combination of the guide line and the sidewalk part where the line is not installed and the roadway walking part The line trace automatic moving body according to claim 1, wherein automatic operation of line following is performed while performing movement navigation for a route.   When the mobile terminal is not used during navigation of the automatic moving body, the map information including the starting point and the destination and the side information on the sidewalk or the roadway or a combination of the road information on the PC and the mobile terminal are used in advance. Node and route link information is obtained using a network such as the Internet, and the information is transmitted and stored from the PC or mobile terminal to the Wi-Fi communication device of the mobile control device. The line trace automatic moving body according to claim 3, wherein automatic operation for line following is performed.   In order to enable a moving person to check a destination, a route, a moving state, and a current position by using a portable terminal or a wearable terminal that is carried at the time of mobile navigation of an automatic moving body and walking movement, the current position or The navigation navigation information, map information, and destination information from the nearest starting point to the destination are acquired via a network such as the Internet, and the location information is stored on the map to reach and reach the destination. A walking link that displays a route link with a rake node, displays the current position acquired on it, and at the same time synchronizes with the current position, while constantly locating the position mark within it based on a certain distance in the direction of travel A combination of multiple directions such as a map guide and a route guide using continuous photos Line Tracing Automatic moving body in accordance with claim 1, further comprising a mobile navigation by allowed.   For the purpose of mobile navigation of automatic moving objects, RFID tags are installed on the surface of the sidewalk and the surface of the roadway, and a guide block or painted pave is applied on the surface of the RFID tag, and this guide line is read by the RFID reader antenna and read. The line trace automatic moving body according to claim 1, wherein the received information is processed by a movement control device to perform automatic operation of line following.   The RFID block embedded guide block-in is embedded in a line or an RFID tag is added to a fiber-like composite material, and this composite material is laid in a line on the road surface and painted from above. The line trace automatic moving body according to claim 1, wherein the pavement is impregnated and formed into a line shape, and automatic operation for line following is performed.   2. The line trace according to claim 1, wherein a warning sound for warning is issued when a vehicle or a person gets too close to the automatic moving body by a warning sound speaker attached to the automatic moving body. Automatic moving body.

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