JP2021103189A - Information processing apparatus, information processing method, and program - Google Patents

Abstract

To correct an error between an actual moving distance and a result of measurement by autonomous navigation with a simple and highly versatile method when a user uses the stairs while moving along a guide route, and achieve natural display on a guide screen.SOLUTION: An information processing apparatus estimates the position of a user on a guide route, and comprises: a positioning information acquisition part that acquires positioning information including information on a user's moving distance specified on the basis of information on the user's movement detected by a sensor and information on whether the user has used the stairs; and a position estimation part that estimates the position of the user on the guide route on the basis of the information on the user's moving distance included in the positioning information. When the information indicating that the user has used the stairs is included in the positioning information, the position estimation part calculates an estimated moving distance when the user uses the stairs on the basis of the information on the user's moving distance included in the positioning information, and estimates the position of the user on the guide route by using the estimated moving distance.SELECTED DRAWING: Figure 2

Description

The present invention relates to an information processing device, an information processing method and a program.

In recent years, mobile terminals having a positioning function by GPS (Global Positioning System), autonomous navigation, or the like have become widespread. The positioning function by autonomous navigation can use various sensors (for example, a geomagnetic sensor, a gyro sensor, an acceleration sensor) to position a position in a place where GPS positioning is not possible, such as underground or indoors.

Generally, in autonomous navigation, the number of steps taken by a user is measured, and the distance traveled is calculated by multiplying the number of steps by a predetermined step. However, when the user uses the stairs on the route, the distance traveled by one step differs between when going up and down the stairs and when walking normally, so if the moving distance is calculated using the same stride length as when walking normally, the positioning result will be obtained. An error will occur in the actual travel distance.

In Patent Document 1, the position of the user on the recommended route is estimated by using the walking distance measured based on the number of steps of the user and the predetermined stride as the moving distance on the recommended route, and when the estimated position reaches the end point of the stairs, A navigation device that updates the estimated current position by subtracting "the number of steps of stairs x 80 cm-the length of stairs" from the moving distance is described.

Japanese Unexamined Patent Publication No. 2012-215408

However, the navigation device described in Patent Document 1 cannot be applied when information on the number of steps of stairs and the length of stairs is not registered in advance. In addition, since the movement distance was subtracted and the estimated current position was updated when the use of the stairs was completed, it was unnatural that the current position suddenly returned near the end point of the stairs when viewed on the screen of the navigation device. The screen was displayed.

Therefore, an object of the present invention is to correct an error between the actual travel distance and the positioning result due to autonomous navigation by a highly versatile and simple method when using the stairs while moving on the guidance route, and it is also natural on the guidance screen. It is to realize the display.

The information processing device according to the present invention is an information processing device that estimates a user's position on a guide path, and is a movement distance of the user specified based on information on the movement of the user detected by a sensor. The position of the user on the guide path based on the information of the position, the positioning information acquisition unit that acquires the positioning information including the information on whether or not the stairs are used, and the information of the moving distance of the user included in the positioning information. The position estimation unit includes a position estimation unit for estimating the above, and when the positioning information includes information indicating that the stairs have been used, the movement distance of the user included in the positioning information. The estimated travel distance during use of the stairs is calculated based on the information in the above, and the position of the user on the guide path is estimated using the estimated travel distance.

The information processing method according to the present invention is an information processing method for estimating a user's position on a guide path, and is a movement distance of the user specified based on information on the movement of the user detected by a sensor. The position of the user on the guide path is estimated based on the step of acquiring the positioning information including the information regarding the use of the stairs and the information on the movement distance of the user included in the positioning information. In the step of estimating the position of the user including the step, when the positioning information includes information indicating that the stairs have been used, the moving distance of the user included in the positioning information is included. The estimated movement distance during the use of the stairs is calculated based on the information, and the position of the user on the guide path is estimated using the estimated movement distance.

In the program according to the present invention, a computer that estimates a user's position on a guide path is identified by information on the user's movement distance detected by a sensor based on the user's movement information, and information on the user's travel distance and stairs. A positioning information acquisition unit that acquires positioning information including information on whether or not it is used, and a position estimation unit that estimates the position of the user on the guide path based on the information on the travel distance of the user included in the positioning information. When the positioning information includes information indicating that the stairs have been used, the position estimation unit functions as the stairs based on the information of the moving distance of the user included in the positioning information. The estimated travel distance in use is calculated, and the position of the user on the guide path is estimated using the estimated travel distance.

According to the present invention, when using the stairs while moving on the guide route, it is possible to correct the error between the actual travel distance and the positioning result by autonomous navigation, and to realize a natural display on the guide screen.

The block diagram which shows the hardware composition of the mobile terminal 10 by embodiment of this invention. FIG. 3 is a block diagram showing a functional configuration of a mobile terminal 10 according to an embodiment of the present invention. The flowchart of the process executed in the mobile terminal 10 according to the embodiment of this invention. 4 (A) to 4 (C) are diagrams showing an example of a navigation screen displayed on the display unit 15 of the mobile terminal 10.

Next, a mode for carrying out the present invention will be described in detail with reference to the drawings.
Embodiment

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the scope of the invention is not limited to these.

FIG. 1 is a block diagram showing a hardware configuration of a mobile terminal (information processing device) 10 according to an embodiment of the present invention. The mobile terminal 10 is a mobile phone (including a smartphone), a tablet terminal, a PDA (Personal Digital Assistants), a navigation-dedicated terminal, a personal computer, and the like. As shown in FIG. 1, the mobile terminal 10 includes a control unit 11, a communication unit 12, a storage unit 13, an operation unit 14, a display unit 15, a sensor 16, and a speaker 17. The control unit 11 includes a CPU (Central Processing Unit) 11a and a memory 11b.

In the control unit 11, the CPU 11a controls the operation of various configurations included in the mobile terminal 10 by expanding and executing the program stored in the storage unit 13 or the like in the memory 11b, and also controls the execution of various processes. To do. Details of the processing executed by the control unit 11 will be described later.

The communication unit 12 is a communication interface for communicating with an external device. The communication unit 12 receives, for example, data or a command from an external device, or transmits the processing result of the mobile terminal 10 to the outside.

The storage unit 13 is a non-volatile storage device, and is composed of, for example, a semiconductor memory or the like. The storage unit 13 stores various programs and various information necessary for executing the processing in the control unit 11.

The operation unit 14 is a user interface for receiving a user's instruction of the mobile terminal 10 and outputting it to the control unit 11. The operation unit 14 is composed of, for example, operation keys, a touch panel, and the like.

The display unit 15 is a user interface for displaying the processing result of the mobile terminal 10. The display unit 15 is composed of a display device using a liquid crystal, an LED (Light Emitting Diode), or the like.

The sensor 16 is composed of various sensors. The sensor 16 can include, for example, a gyro sensor, an acceleration sensor, a geomagnetic sensor, a barometric pressure sensor, and the like. The sensor 16 can detect various actions of the user who carries the mobile terminal 10.

The speaker 17 outputs various sounds such as voice, music, and sound effects according to the processing control by the control unit 11.

In the present embodiment, the mobile terminal 10 is configured by a single information processing device, but the present invention is not limited to this, and the configuration and functions of the mobile terminal 10 by a plurality of information processing devices capable of communicating with each other. May be realized.

FIG. 2 is a block diagram showing a functional configuration of the mobile terminal 10. The mobile terminal 10 includes a database 110, a route guidance unit 111, a signal positioning unit 112, an autonomous navigation positioning unit 113, a positioning information acquisition unit 114, a position estimation unit 115, and a display control unit 116 as functional configurations. The database 110 is implemented by the storage unit 13. Further, the functions of the route guidance unit 111, the signal positioning unit 112, the autonomous navigation positioning unit 113, the positioning information acquisition unit 114, the position estimation unit 115, and the display control unit 116 include the CPU 11a in the control unit 11 and the storage unit 13 and the like. It is realized by expanding the program stored in the memory 11b and executing it. The details of each functional configuration included in the mobile terminal 10 will be described below.

The database 110 stores various information such as information necessary for the process executed by the mobile terminal 10 and information generated by the process.

The route guidance unit 111 acquires information on the guidance route from the departure point to the destination according to the input route search condition, and presents the guidance route to the user via the display unit 15. Provide route guidance. In the present embodiment, the guide route includes any route that can be moved by the user, such as a road, a plaza, and indoor and underground corridors.

Regarding the search for the guidance route, the route guidance unit 111 refers to, for example, map data stored in the database 110 (or acquired from an external device via the communication unit 12) according to the route search condition input by the user. , The information of the guide route is acquired by executing the route search. Alternatively, the route search process according to the input route search condition may be performed by an external device, and the route guide unit 111 may acquire the process result of the route search. As the route search method, any method such as the label determination method or the Dijkstra method can be used. The optimum route means that the cost information from the starting point to the destination point is the minimum. The cost information of the link can be set according to the purpose, such as distance, required time, charge, other parameters, and any combination of various parameters.

Further, the route guidance unit 111 presents the route via the display unit 15 for route guidance, displays the information of the user's current location specified by the process described later, and outputs the voice guidance via the speaker 17. You can also do it.

The signal positioning unit 112 positions the current position of the mobile terminal 10 (or the user of the mobile terminal 10) based on the GPS satellite signal received by the GPS receiver (not shown), and provides information on the positioned position (for example,). Latitude and longitude information) is output together with positioning time information. Further, the signal positioning unit 112 can position the current position of the mobile terminal 10 according to the signal received from the access point installed near the mobile terminal 10. Further, the mobile terminal 10 receives a signal of a radio signal transmitting device such as RFID (Radio Frequency Identification) or Bluetooth (registered trademark), and positions the current position of the mobile terminal 10 according to the received signal. You can also. The signal positioning unit 112 performs positioning processing at arbitrary timings and time intervals (for example, every second). Hereinafter, in the present embodiment, the positioning process performed in response to a signal received from an external device such as a GPS satellite signal, a signal from an access point, and an RFID radio signal is referred to as signal positioning.

The autonomous navigation positioning unit 113 based on the movement information of the user of the mobile terminal 10 detected by the sensor 16, the movement distance, the movement direction, and the position information (latitude and longitude) of the mobile terminal 10 (or the user of the mobile terminal 10). Information) is measured by autonomous navigation and output as positioning information together with positioning time information. The autonomous navigation positioning unit 113 performs positioning processing at arbitrary timings and time intervals (for example, every second). For positioning by the autonomous navigation positioning unit 113, any autonomous navigation technique using a sensor 16 or the like can be adopted.

In order to perform positioning, the autonomous navigation positioning unit 113, for example, has the number of steps of movement from the reference position (positioning position specified at the time of the previous positioning) at the time of walking movement of the user due to the movement of the user detected by the sensor 16. And the movement direction are specified, and the information of the relative movement distance and the movement direction from the reference position is calculated based on the specified number of steps and the movement direction. The relative distance traveled is, for example, multiplied by the above-specified number of steps by multiplying, for example, a standard stride (or a pre-measured stride of the user of the mobile terminal 10) (for example, 65 cm) when a person walks. Calculated by. The autonomous navigation positioning unit 113 positions the current position of the mobile terminal 10 based on the calculated travel distance and travel direction information from the reference position. A more accurate current position may be specified by acquiring a reference position by the positioning process of the signal positioning unit 112.

Further, the autonomous navigation positioning unit 113 determines whether or not an escalator, an elevator, or a staircase is used based on the amount of change in the atmospheric pressure value with the passage of time measured by the sensor 16 (atmospheric pressure sensor). Autonomous navigation technology using barometric pressure sensors can be used to determine the use of escalators, elevators, or stairs. For example, when the autonomous navigation positioning unit 113 detects an increase or decrease in the atmospheric pressure value, it determines that the escalator, elevator, or stairs has been used, and further, the escalator is determined by the speed or acceleration of the change in the atmospheric pressure value. It is possible to identify whether an elevator, an elevator, or a staircase was used.

The autonomous navigation positioning unit 113 outputs the positioning information of the mobile terminal 10 specified as described above at an arbitrary timing and time interval (for example, every second). The positioning information includes information on the relative movement distance and movement direction from the previous positioning time, information on the number of steps from the previous positioning time, information on the current position (latitude and longitude information), and presence / absence of detection of ascent or descent. Information, information on the use of escalators, elevators, or stairs, etc. are included.

The positioning by the autonomous navigation positioning unit 113 is effective when the mobile terminal 10 cannot receive the GPS signal or the signal from the access point (for example, when the user carrying the mobile terminal 10 is indoors or underground). Alternatively, when the mobile terminal 10 can receive the above signal but the positioning accuracy by the signal positioning unit 112 is considered to be low (for example, when the user carrying the mobile terminal 10 is in a place surrounded by an outdoor skyscraper). However, positioning by the autonomous navigation positioning unit 113 is effective. Therefore, the mobile terminal 10 can switch whether to perform positioning by the signal positioning unit 112 or the autonomous navigation positioning unit 113 according to, for example, the reception status of a GPS signal or a signal from an access point.

The positioning information acquisition unit 114 receives the positioning information output from the autonomous navigation positioning unit 113 and supplies it to the position estimation unit 115.

The position estimation unit 115 specifies the estimated position of the mobile terminal 10 (or the estimated position of the user of the mobile terminal 10) on the guidance route. Specifically, the position estimation unit 115 specifies a position advanced by a predetermined distance in the direction of the destination along the guide path from the starting point position (previous estimated position) as the estimated position of the mobile terminal 10. The predetermined distance here is determined based on the positioning information output by the autonomous navigation positioning unit 113. For example, the moving distance included in the positioning information may be used as a predetermined distance. Further, it may be calculated by multiplying the number of steps included in the positioning information by a preset stride length. When the position estimation unit 115 has high positioning accuracy by the signal positioning unit 112 (for example, when the strength of the received GPS signal is strong), the position estimation unit 115 determines the position of the mobile terminal 10 positioned by the signal positioning unit 112. It can also be specified as an estimated position of 10.

Further, when the positioning information output by the autonomous navigation positioning unit 113 includes information that the stairs are used, the position estimation unit 115 calculates the estimated movement distance from the previous estimated position while using the stairs. It shall be the predetermined distance.

The estimated travel distance is calculated by subtracting a certain distance from the travel distance output by the autonomous navigation positioning unit 113. Specifically, on the premise that the stride length of one step is shorter than usual while using the stairs, the value obtained by multiplying the subtraction distance per step (for example, 30 cm) by the number of steps is subtracted. For example, when the positioning information of the autonomous navigation positioning unit 113 is output every second, the value obtained by multiplying the subtraction distance per step by the number of steps per second (for example, one step) is subtracted. That is, the estimated movement distance can be calculated by subtracting a preset distance (30 cm) from the movement distance measured by the autonomous navigation positioning unit 113.

Further, the estimated movement distance may be a value obtained by multiplying the normal stride length by a preset ratio (for example, 0.8 times) and shortening the stride length by the number of steps per second. That is, the estimated movement distance may be calculated by multiplying the movement distance measured by the autonomous navigation positioning unit 113 by a preset ratio (0.8 times).

As the starting point position on the guidance route, the position on the guidance route where the user of the mobile terminal 10 has started to move is set. Further, it is desirable that the information on the starting point position is set as highly reliable information as possible as the information on the position where the user actually started moving. For example, when the accuracy of positioning by the signal positioning unit 112 is high (for example, when the strength of the received GPS signal is strong), the position of the mobile terminal 10 positioned by the signal positioning unit 112 can be set as the starting position. ..

The display control unit 116 controls the display of various information and images on the display unit 15. For example, the display control unit 116 controls the display unit 15 to display the estimated position of the user on the guide path specified by the position estimation unit 115.

Next, the process executed in the mobile terminal 10 will be described with reference to the flowchart of FIG. Each processing step included in the processing flow described below can be arbitrarily changed in order or executed in parallel within a range that does not cause a contradiction in the processing contents, and other processing steps can be executed between the processing steps. You may add steps. Further, the steps described as one step for convenience can be executed by being divided into a plurality of steps, while those described as one step can be grasped as one step for convenience.

First, in step S11, the route guidance unit 111 refers to the map data and the like stored in the database 110 according to the route search conditions input by the user of the mobile terminal 10, and executes the route search from the departure point. Acquire information on the guide route to the destination.

Next, in step S12, the position estimation unit 115 sets the starting point position of the mobile terminal 10 on the guide path searched in step S11.

Next, in step S13, the autonomous navigation positioning unit 113 measures the moving distance and moving direction of the mobile terminal 10 based on the information on the movement of the user of the mobile terminal 10 detected by the sensor 16.

Further, in step S14, the autonomous navigation positioning unit 113 determines whether or not an escalator, an elevator, or a staircase is used based on the amount of change in the atmospheric pressure value with the passage of time measured by the atmospheric pressure sensor.

In step S15, the autonomous navigation positioning unit 113 includes positioning information including travel distance and travel direction information of the mobile terminal 10, current position information (latitude and longitude information), and information on whether or not an escalator, elevator, or stairs is used. The information is output to the positioning information acquisition unit 114.

Next, in step S16, the position estimation unit 115 acquires the positioning information output by the autonomous navigation positioning unit 113 from the positioning information acquisition unit 114, and determines whether or not the use of the stairs has been detected.

If it is determined in step S16 that the use of the stairs is detected (YES), the position estimation unit 115 calculates the estimated movement distance while using the stairs in step S17. If it is determined in step S16 that the use of the stairs has not been detected (NO), the process proceeds to step S19.

Next, in step S18, the position estimation unit 115 estimates the position of the mobile terminal 10 advanced by the estimated movement distance calculated in step S17 along the guide path from the previous estimated position (the starting point position in the case of the first time). Specify as a position.

In step S19, the position estimation unit 115 advances by the moving distance of the mobile terminal 10 output by the autonomous navigation positioning unit 113 along the guide path from the previous estimated position (the starting point position in the case of the first time). The position is specified as the estimated position of the mobile terminal 10.

Next, in step S20, the display control unit 116 controls the display unit 15 to display the estimated position of the mobile terminal 10 specified in step S18 or step S19.

Next, in step S21, the route guidance unit 111 determines whether or not the estimated position of the mobile terminal 10 has reached the destination of the guide route, and if not (NO), the process proceeds to step S13. To do. On the other hand, when the destination has been reached (YES), the process ends.

4 (A) to 4 (C) are diagrams showing an example of a navigation screen displayed on the display unit 15 of the mobile terminal 10. The screens shown in FIGS. 4A to 4C show the user's estimated positions X1, X2, and X3 on the guide path R at times t1, t2, and t3, respectively. The times t1, t2, and t3 correspond to the timing at which the positioning information is output from the autonomous navigation positioning unit 113. Since the user walked along the guide path R between the times t1 and t2, the positioning information of the autonomous navigation positioning unit 113 at the time t2 includes the predetermined moving distance L12. Therefore, as shown in FIG. 4B, the position estimation unit 115 specifies the position advanced by the distance L12 from the position X1 as the estimated position X2 at the time t2. Since the user climbed the stairs existing on the guide path R between the times t2 and t3, the positioning information of the autonomous navigation positioning unit 113 output at the time t3 includes the information that the stairs are used. Is done. Therefore, the position estimation unit 115 calculates the estimated movement distance L23'by the stairs, and as shown in FIG. 4C, identifies the position advanced by the distance L23' from the position X2 as the estimated position X3 at the time t3.

As described above, according to the present embodiment, when the positioning information by the autonomous navigation positioning unit 113 includes the information that the stairs are used, the position estimation unit 115 determines the estimated movement distance while using the stairs. The calculated position is set as the estimated position of the user, which is the position advanced by the estimated movement distance on the guidance route. This makes it possible to correct the error between the positioning result by autonomous navigation and the actual travel distance that occurs when using the stairs. In addition, when the stairs are used, the estimated movement distance is calculated and the estimated position of the user is specified each time the positioning result by autonomous navigation is output, so that the error of the movement distance is almost real-time. The correction can be performed, and a natural display corresponding to the actual movement can be realized on the guidance screen of the mobile terminal 10.

Further, when calculating the estimated movement distance while using the stairs, the position estimation unit 115 subtracts a preset distance from the movement distance included in the positioning information by the autonomous navigation positioning unit 113, or is preset. Since the value multiplied by the ratio is used as the estimated travel distance, it is possible to accurately correct the error between the actual travel distance and the positioning result due to autonomous navigation.

The present invention is not limited to the above-described embodiment, and can be implemented in various other forms without departing from the gist of the present invention. The above embodiments are merely exemplary in all respects and are not to be construed in a limited manner.

In addition, the program of the present invention can be installed or loaded on a computer by downloading it through various recording media such as an optical disk such as a CD-ROM, a magnetic disk, or a semiconductor memory, or via a communication network or the like. ..

10 Mobile terminal, 11 Control unit, 12 Communication unit, 13 Storage unit, 14 Operation unit, 15 Display unit, 16 Sensor, 17 Speaker, 110 Database, 111 Route guidance unit, 112 Signal positioning unit, 113 Autonomous navigation positioning unit, 114 Positioning information acquisition unit, 115 position estimation unit, 116 display control unit

Claims (4)

An information processing device that estimates the user's position on the guidance route.
A positioning information acquisition unit that acquires positioning information including information on the movement distance of the user and information on whether or not the stairs are used, which is specified based on the information on the movement of the user detected by the sensor.
A position estimation unit that estimates the position of the user on the guide path based on the information of the travel distance of the user included in the positioning information is provided.
When the positioning information includes information indicating that the stairs have been used, the position estimation unit estimates that the stairs are being used based on the information on the moving distance of the user included in the positioning information. An information processing device that calculates a movement distance and estimates the position of the user on the guidance path using the estimated movement distance. The position estimation unit
When the positioning information includes information indicating that the stairs have been used,
The estimated movement distance is a value obtained by subtracting a preset distance from the movement distance of the user included in the positioning information, or a value obtained by multiplying the movement distance of the user included in the positioning information by a preset ratio. , The information processing apparatus according to claim 1. An information processing method that estimates the user's position on the guidance route.
A process of acquiring positioning information including information on the movement distance of the user and information on whether or not the stairs are used, which is specified based on the information on the movement of the user detected by the sensor.
Including a step of estimating the position of the user on the guide path based on the information of the travel distance of the user included in the positioning information.
In the step of estimating the position of the user, when the positioning information includes information indicating that the stairs have been used, the stairs are based on the information of the moving distance of the user included in the positioning information. An information processing method that calculates an estimated travel distance in use and estimates the position of the user on the guide path using the estimated travel distance. A computer that estimates the user's position on the guidance route,
A positioning information acquisition unit that acquires positioning information including information on the movement distance of the user and information on whether or not the stairs are used, which is specified based on the information on the movement of the user detected by the sensor.
It functions as a position estimation unit that estimates the position of the user on the guide path based on the information of the travel distance of the user included in the positioning information.
When the positioning information includes information indicating that the stairs have been used, the position estimation unit estimates that the stairs are being used based on the information on the moving distance of the user included in the positioning information. A program that calculates a travel distance and estimates the position of the user on the guide path using the estimated travel distance.

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