JP2022105346A - Individual navigation system and individual navigation method - Google Patents

Abstract

To guide people so as to avoid the risk of contamination with scattering material or virus infection.SOLUTION: An individual navigation system 1 includes: a measurement sensor 11 that measures positions of a first mobile body and a second mobile body; a mobile body path storage unit 13 that stores mobile path information for the first and second mobile bodies obtained by the measurement sensor 11; and a risk map generation unit 14 that generates a risk map containing risk regions from the past mobile path information of the first and second mobile bodies.SELECTED DRAWING: Figure 1A

Description

The present invention relates to an individual navigation system and an individual navigation method.

Due to the worldwide epidemic of COVID-19 (Coronavirus Disease-19), it is required to realize a society resistant to infectious diseases and to achieve both economic activities. The infection route is mainly droplet infection / contact infection, and the possibility of air (droplet nucleus) infection has also been suggested. As measures against COVID-19 infection, "maintaining a physical distance of 2 m or more", "hand disinfection", and "indoor ventilation" are considered to be effective measures.

However, this imposes a mental burden on people to maintain a physical distance of 2 m or more. Therefore, it is desired to reduce this mental burden and suppress the infection of COVID-19.

In Patent Document 1, a moving body control system that generates a risk map based on the relationship between moving bodies or obstacles using a measuring device including a distance measuring device and controls the moving body based on the risk map. Is described.

JP-A-2009-205652

It is difficult for flying objects and viruses derived from moving objects (humans) to directly measure themselves floating in the atmosphere in real time. Further, since the positions of scattered substances and viruses derived from mobile bodies (humans) change with time, it is not possible to create a risk map in advance, and the invention described in Patent Document 1 cannot be applied as it is. ..

Therefore, it is an object of the present invention to enable guidance that avoids risks.

In order to solve the above-mentioned problems, the individual navigation system of the present invention includes a distance measuring sensor for measuring the positions of the first moving body and the second moving body, and the first moving body and the first moving body obtained from the distance measuring sensor. 2. It is characterized by including a storage unit for storing the movement route information of the moving body and a calculation unit for generating a risk map including a risk area from the past movement route information of the first moving body and the second moving body. And.

The individual navigation method of the present invention includes a step of measuring the positions of the first moving body and the second moving body by the distance measuring sensor, and the movement of the first moving body and the second moving body obtained from the distance measuring sensor. A step of storing the route information in the storage unit, a step of generating a risk map including a risk area from the past movement route information of the first moving body and the second moving body, and a step of generating a risk map.
It is characterized by executing.
Other means will be described in the form for carrying out the invention.

According to the present invention, guidance that avoids risks is possible.

It is a functional block diagram which shows the outline structure of the individual navigation system of 1st Embodiment. It is a hardware configuration diagram which shows the outline configuration of an individual navigation device. It is a perspective view which shows the image which projects the risk map on the floor surface where a moving body exists. It is a figure which shows the example of the image which projects the risk map on the floor surface where a moving body exists by using an individual navigation system. It is a block diagram which shows the outline structure of the individual navigation system of 2nd Embodiment. It is a figure explaining the inclusion distance of the path information derived from the head height of a moving body. It is a figure explaining the inclusion distance of the path information derived from the head height of a moving body. It is a figure which shows the example of the image which projects the linear marker which guides a moving body to the floor surface where a moving body exists by using an individual navigation system. It is a figure which shows the example of the image which projects the triangular marker which guides a moving body to the floor surface where a moving body exists by using an individual navigation system. It is a block diagram which shows the outline structure of the individual navigation system of 3rd Embodiment. It is a block diagram which shows the outline structure of the individual navigation system of 4th Embodiment.

In each of the drawings for explaining the following embodiments, the same members are designated by the same reference numerals in principle, and the repeated description thereof will be omitted.

<< First Embodiment of Individual Navigation System >>
The inventors have invented a personalized guidance method using human coordinate measurement and navigation techniques so that people can implement COVID-19 infection control.

Since the falling speed of the droplets emitted by humans is 30 to 80 cm / sec, even if the distance between humans is maintained at 2 m, the droplets reach others depending on the walking speed. The average walking speed is about 1.0 to 1.2 m / s, and when the person enters the space where the other person was at a normal speed, the floating other person's droplets may adhere to the hand or the like. The average length of the arm is 60 to 80 cm.
The inventors have found that navigation that maintains a human-to-human distance of 2 m or more is insufficient as a countermeasure against infectious diseases. Then, the inventors invented the following individual navigation system.

FIG. 1A is a functional block diagram showing an outline configuration of the individual navigation system 1 of the first embodiment. FIG. 1B is a hardware configuration diagram showing an outline configuration of an individual navigation device.
The individual navigation system 1 provides people with augmented reality to induce maintenance of physical distance.

The individual navigation system 1 shown in FIG. 1A includes a distance measuring sensor 11, a mobile coordinate calculation unit 12, a mobile route storage unit 13, a risk map generation unit 14, and a projector unit 15.

The distance measuring sensor 11 is a sensor that measures the distance and position coordinates to an object in a certain space.
The moving body coordinate calculation unit 12 calculates the coordinates of a plurality of moving bodies (humans) from the measurement results acquired by the distance measuring sensor 11.
The moving body route storage unit 13 stores the coordinates of each moving body calculated by the moving body coordinate calculation unit 12.

The risk map generation unit 14 calculates and generates a risk map based on the route information of each moving body stored in the moving body route storage unit 13.
The projector unit 15 projects the risk map generated by the risk map generation unit 14 on the floor surface or the like as an image. The projector unit 15 functions as an information output unit that outputs information in a state that can be recognized by a moving human being. The projector unit 15 functions as a presentation unit that presents the risk area in the risk map to the moving body. Here, the risk area is any one of a splash residue risk area, an airborne infection risk area, a contact infection risk area, and a collision risk area derived from another person.

Here, the distance measuring sensor 11 is a ToF (Time of Flight) type sensor that can obtain a distance from the target by measuring the time when the pulsed light irradiated in a predetermined direction is reflected from the target and returned. This is a stereo camera or the like in which a distance to an object can be obtained by stereoscopic viewing between a plurality of cameras arranged at different positions. Further, by combining a plurality of distance measuring sensors 11, all the moving bodies can be included in the measurement range even when a large number of moving bodies exist, and the coordinates can be recognized accurately.

The individual navigation device 8 shown in FIG. 1B includes a calculation unit 81 and a storage unit 82. The arithmetic unit 81 is a central processing unit, reads various data and programs stored in the storage unit 82, and executes the program. As a result, each functional unit such as the moving body coordinate calculation unit 12 and the risk map generation unit 14 described above is embodied.

The storage unit 82 stores information, and is, for example, a hard disk device, an SSD (Solid State Disk), or the like. The storage unit 82 embodies the above-mentioned mobile route storage unit 13 and the like.

FIG. 2 is a perspective view showing a plurality of moving objects and a risk map projected around them.
The projector unit 15 is installed on the ceiling and projects the projected image 2 on the floor surface. On the floor, a human first moving body 20a is walking to the right. Then, the second moving body 20b, which is a human, is walking toward the front. A risk region 22a derived from the first moving body 20a is displayed around the first moving body 20a. A risk region 22b derived from the second moving body 20b is displayed around the second moving body 20b.

FIG. 3 is a diagram showing an example of a projected image 2 in which a risk map is projected onto a floor surface on which a moving object is present by using the individual navigation system 1.
In the projected image 2, the current coordinates 21a of the first moving body 20a, the risk region 22a derived from the first moving body 20a, and the past movement path of the first moving body 20a that is the basis for generating the risk region 22a are shown. 23a and is included.

In the projected image 2, the current coordinates 21b of the second moving body 20b, the risk region 22b derived from the second moving body 20b, and the past movement of the second moving body 20b that is the basis for generating the risk region 22b are further shown. The route 23b and the like are included. The projector unit 15 projects these risk maps on the floor surface in real time.

Here, the individual navigation system 1 projects the risk region 22a derived from the first moving body 20a and the risk region 22b derived from the second moving body 20b in different colors. This makes it possible for each moving object to recognize a risk area derived from other than itself and avoid the risk at its own discretion.

The range of the risk area derived from each moving body changes depending on the assumed risk, but in the present embodiment, it is assumed that the moving body is a pedestrian, and the risk of virus infection through the exhaled breath of the pedestrian is avoided. Describe.

Here, the risk region derived from the i-th moving object is the coordinate value in the real space of each time t obtained from the moving object coordinate calculation unit 12, and the coordinate value of the projected image (x _i (t), y _i (t)) is converted, and among the pixels of the projected image, the RGB color data of the pixel whose pixel coordinates (x, y) satisfy the following equation (1) is assigned to the i-th moving object. It can be visualized by replacing it with.

Here, the route information used for the calculation of the risk area is limited to the past by a predetermined inclusion period t0 from the current time. Further, r indicates the distance from which the risk derived from each moving body spreads, and here, it is the distance that the droplets scattered from the mouth can reach. In the case of virus infection risk, the inclusion period t0 is the time required for the droplets containing the virus to sufficiently settle. In a general situation, the falling speed of the droplet is 30 to 80 cm / sec, so that t0 = 2 to 5 seconds and r = 100 cm are desirable.

According to the risk avoidance method performed by using the individual navigation system 1 of the first embodiment, the risk of virus infection, which is originally difficult to directly perceive, is visualized as augmented reality from the past route information of each pedestrian. .. Therefore, each pedestrian can be made to select a route that can prevent virus infection.

<< Second Embodiment >>
Next, a risk avoidance method using the individual navigation system 1 of the second embodiment will be described. FIG. 4 is a block diagram showing an outline configuration of the individual navigation system 1a of the second embodiment.

The individual navigation system 1a of the second embodiment has the same configuration as the individual navigation system 1 of the first embodiment, and has an operation determination unit 121, an environment sensor 16, a layout database 17, and a guidance marker generation unit. It has 18.

The environment sensor 16 is, for example, a temperature sensor or a humidity sensor, and measures the temperature and humidity of the environment in which each moving object is located.
The motion determination unit 121 determines the motion of a plurality of moving objects (humans) from the measurement results acquired by the distance measuring sensor 11. The operation determination unit 121 is embodied by the calculation unit 81 executing the operation determination process. After that, when a human (human) who is a moving body performs a predetermined hand-washing operation, the subsequent individual navigation service is provided. When a mobile human does not perform a hand-washing operation, he / she does not provide an individual navigation service. As a result, it is possible to request a human to perform an arbitrary action before entering a predetermined area.

The layout database 17 is a database that stores arrangement data such as obstacles in an area where an image is projected by the projector unit 15 and airflow data generated by ventilation or air conditioning. The layout database 17 is composed of a storage unit 82.

The guidance marker generation unit 18 generates a marker for guiding a moving object based on the risk map generated by the risk map generation unit 14. That is, the arithmetic unit 81 generates a guidance marker that guides the first moving body 20a so as to avoid the risk region derived from the second moving body 20b. The marker generated by the guidance marker generation unit 18 is projected as an image on the floor surface by the projector unit 15, and can be recognized by a moving human. Humans, who are mobiles, can reduce the risk of infection with diseases such as COVID-19 by walking according to the movement of this induction marker.

The individual navigation system 1a can more accurately estimate the time required for the droplets in the exhaled breath to fall to the floor surface by measuring the values of the temperature and humidity of the atmosphere using the environment sensor 16. Specifically, when the temperature of the atmosphere is lower than the body temperature of a person, the temperature of exhaled breath is relatively high and the density is low. The difference in density with the atmosphere causes an increase in exhaled breath, and the residual time of droplets contained in exhaled breath increases.

Therefore, the risk map generation unit 14 may set the inclusion period t0 of the route information used for the calculation of the risk region from the present to the past longer than when the temperature of the atmosphere is high. In addition, the descending speed of the droplets decreases as the droplet size decreases, so that the residual time also increases. The lower the humidity of the atmosphere, the more the moisture contained in the droplets volatilizes and the smaller the size of the droplets. The lower the humidity measured by the environment sensor 16, the risk map generation unit 14 corrects the inclusion period t0 of the route information used for the calculation of the risk region longer than when the humidity of the atmosphere is high. As a result, the risk map generation unit 14 can generate a more accurate risk area.

Further, the risk map generation unit 14 uses the airflow data during ventilation, which is stored in the layout database 17 and obtained in advance by measurement or simulation. As a result, the risk map generation unit 14 can generate a risk map that reflects the difference in ventilation efficiency for each place. Specifically, the higher the ventilation volume per hour, the more the droplets derived from the moving body are diluted, so that the risk of virus infection decreases. Therefore, the larger the ventilation volume in the moving body route coordinates, the more accurate the risk region is generated by correcting the inclusion period t0 of the route information used for the calculation of the risk region to be shorter than in the case where the ventilation volume is small. be able to.

In the case of the risk of viral infection from a mobile body, the source of the droplets is the head. Therefore, the time it takes for the droplets to descend sufficiently depends on the height of the head of the moving body. For the position of the head of the moving body, the height of the head is adjusted to the coordinates of the moving body by using a three-dimensional distance measuring sensor such as 3D LiDAR (Light Detection and Ranging) for the distance measuring sensor 11. It can be estimated by the coordinate calculation unit 12.

5A and 5b are diagrams for explaining the inclusion distance of the route information derived from the height of the head of the moving body.
The broken line second moving body 20b shown in FIG. 5A is a position at time T0. The droplet 28b is emitted by the second moving body 20b having a broken line at time T0. The solid second moving body 20b is a position at time T2. The height (body length) of the second moving body 20b is H1. The length L1 is the length of the region where there is a risk of residual droplets due to the second moving body 20b. The inclusion period of the route information at this time is (T2-T0).

The broken line first moving body 20a shown in FIG. 5E indicates the position at time T0. The droplet 28b was released by the first moving body 20a at time T1. The solid first moving body 20a indicates a position at time T2. The height (body length) of the first moving body 20a is H2, which is lower than the height H1 of the second moving body 20b. The length L2 is the length of the region where the second moving body 20b has a residual risk of droplets, and is shorter than the length L1 of the residual risk of droplets caused by the second moving body 20b. The inclusion period of the route information at this time is (T2-T1).

When the head of the first moving body 20a is lower than that of the second moving body 20b, the calculation unit 81 calculates the risk region derived from the second moving body 20b in the risk map used for guiding the first moving body 20a. The inclusion period t0 of the route information used for is increased as compared with the case where the head heights of the first moving body 20a and the second moving body 20b are equal. This enables the calculation unit 81 to more accurately calculate the splash residue risk region or the airborne infection risk region.

On the other hand, the risk map used for guiding the second moving body 20b reduces the inclusion period t0 of the route information, contrary to the case of the first moving body 20a. With this correction, even when moving objects with different head heights when moving, such as adults and children, pedestrians and wheelchair users, are mixed, the calculation unit 81 can more accurately perform the splash residual risk area or air. Guidance to avoid infection risk areas becomes possible.

Here, the individual navigation system 1a in the second embodiment generates an individual risk map for each moving body by correction depending on the difference in head height between the moving bodies. Therefore, as shown in FIG. 3, it is difficult to transmit the risk map to the moving body by projecting the risk map directly on the floor surface. Therefore, the individual navigation system 1a of the second embodiment guides the route to each moving body that is a human by using the guidance marker assigned to each moving body.

6 and 7 are diagrams showing an example of an image in which a marker for guiding a moving body is projected onto a floor surface on which the moving body is present by using the individual navigation system 1a of the second embodiment.

FIG. 6 is an example of guidance when the destination 24 of the first moving body 20a is known in advance. In FIG. 6, in order to help understanding, the current coordinates 21a of the first moving body 20a, the current coordinates 21b of the second moving body 20b, the risk area 22b and the obstacle 25 derived from the second moving body 20b are projected by the projector. Although it is shown superimposed on the image 2, the information actually projected on the floor surface is only the linear marker 26 that guides the first moving body 20a.

The obstacle 25 is a pillar. The obstacle 25 is registered in the layout database 17 as obstacle shape information. The risk map generation unit 14 calculates the obstacle 25 as an inaccessible area together with the risk area derived from each moving body.

The linear marker 26 for guiding the first moving body 20a does not pass through the risk region 22b derived from the second moving body 20b in the risk map and the obstacle 25, and has the current coordinates 21a of the first moving body 20a and the destination. The path connecting the 24 is projected onto the floor surface as a result generated by the guidance marker generation unit 18.

Next, FIG. 7 shows an example of guidance in the case of free walking in which the destination of the first moving body 20a is unknown. In FIG. 7, for the sake of understanding, the current coordinates 21a of the first moving body 20a, the current coordinates 21a of the second moving body 20b, the risk area 22b derived from the second moving body 20b, and the obstacle 25 are shown in the projector. It is overlaid on the projected image 2. However, the information actually projected on the floor surface is only the plurality of triangular markers 27a that guide the first moving body 20a.

The plurality of triangular markers 27a for guiding the first moving body 20a are projections of the results generated by the guidance marker generation unit 18 on the floor surface. The projected coordinates of the plurality of triangular markers 27a for guiding the first moving body 20a are equidistant from the current coordinates 21a of the first moving body 20a when the first moving body 20a is sufficiently far from the risk area or the obstacle. Multiple projections are made at equal intervals.

When the first moving body 20a is close to the risk area 22b derived from the second moving body 20b, the corresponding direction depends on the distance and direction between the current coordinates 21a of the first moving body 20a and the risk area 22b. The projected coordinates of the triangular marker 27a of the above are changed to be close to the current coordinates 21a of the first moving body 20a. Thereby, the existence of the risk region can be transmitted to the first moving body 20a.

When the first moving body 20a is close to the obstacle 25, the projected coordinates of the triangular marker 27a in the corresponding direction depend on the distance and direction between the current coordinates 21a of the first moving body 20a and the obstacle 25. The change is made near the current coordinate 21a of the first moving body 20a. Thereby, the existence of the risk region can be transmitted to the first moving body 20a.

<< Third Embodiment >>
In the second embodiment, the configuration of the floor surface projection by the projector unit 15 has been described, but when the guide target is a visually impaired person, it is difficult to convey the presence of the guidance marker by the floor surface projection. Therefore, in the third embodiment, instead of the projector unit 15, voice guidance by a directional speaker and a portable device having a vibration function and a directional sensor are adopted to guide the direction of the guidance marker to the visually impaired. can do.
FIG. 8 is a block diagram showing an outline configuration of the individual navigation system 1b according to the third embodiment.

The individual navigation system 1b of the third embodiment further includes a directional speaker 151 and a communication unit 101 in addition to the same configuration as the individual navigation system 1a of the second embodiment.

The directional speaker 151 is installed in the space and notifies the sound only in a desired direction. Here, the directional speaker 151 transmits the guidance direction to the first moving body 20a by voice when the current coordinates 21a of the first moving body 20a deviate significantly from the guiding position of the guiding marker. That is, the directional speaker 151 functions as a presentation unit that presents the risk region to the first moving body.
The communication unit 101 is, for example, a wireless LAN unit, and transmits the guidance direction to the portable device 7 when the current coordinate 21a of the first mobile body 20a deviates significantly from the guidance position of the guidance marker. Here, the communication unit 101 and the portable device 7 function as a presentation unit that presents a risk region to the first mobile body.

Specifically, consider the case where the first mobile body 20a possesses a portable device 7 such as a smartphone having a vibration function and an orientation sensor. At the entrance / exit of the guideable area of the individual navigation system 1, the calculation unit 81 associates the first mobile body 20a in the mobile route storage unit 13 in the individual navigation system 1 with the portable device 7 by using wireless communication or the like. ..
As a result, the calculation unit 81 links the movement route information of the first mobile body 20a with the mobile device 7 held by the first mobile body, and links the movement of the first mobile body 20a with the mobile device 7. Can be done.

Further, the calculation unit 81 transmits the information of the linear marker 26 (see FIG. 6) for guiding the first mobile body 20a and the information of the risk area to the mobile device 7 via the communication unit 101. As a result, when the orientation sensor of the mobile device 7 is different from the direction in which the linear marker 26 for guiding the first mobile device 20a is present, the mobile device 7 uses its own vibration function to indicate that fact to the first mobile device 20a. Present to humans.
Alternatively, when the plurality of triangular markers 27a for guiding the first moving body 20a coincide with the direction in which the risk region is close to the risk region, the portable device 7 has the risk region in the direction currently facing due to its vibration function. The existence is presented to the human being, the first mobile body 20a.

According to the risk avoidance method performed by using the individual navigation system 1a of the second embodiment and the individual navigation system 1b of the third embodiment, the risk area that changes individually depending on the state of the environment or the state of the moving body is moved. In both cases of guiding the body to a clear destination and free walking, guidance to avoid risk areas such as virus infection by the movement of the guidance marker can be realized by visual, auditory or tactile means.

<< Fourth Embodiment >>
Next, a modified example of the risk avoidance method using the individual navigation system 1c of the fourth embodiment will be described.
FIG. 9 is a block diagram showing an outline configuration of the individual navigation system 1c according to the fourth embodiment.

The individual navigation system 1c of the fourth embodiment further includes a movement route generation unit 19 and a movement route information communication unit 10 in addition to the same configuration as the individual navigation system 1a of the second embodiment.

The movement route generation unit 19 generates a movement route of the automatic transfer robot 6 based on the risk map generated by the risk map generation unit 14. That is, the calculation unit 81 embodies the movement route generation unit 19 by generating the movement route of the automatic transfer robot 6 based on the risk map generated by the risk map generation unit 14.

The movement route information communication unit 10 is, for example, a wireless LAN unit, and directly transmits the data of the movement route generated by the movement route generation unit 19 to the automatic transfer robot 6.
The automatic transfer robot 6 is a moving body that receives route guidance from the individual navigation system 1b.

In the fourth embodiment, application to an application in which the automatic transfer robot 6 is included in addition to a pedestrian in the space will be described. The automatic transfer robot 6 does not need to generate a risk map based on past route information, except when the conveyed object is a dangerous substance and is not in a sealed state. On the other hand, when another moving body invades the planned movement path of the automatic transfer robot 6, a collision risk occurs. Therefore, the individual navigation system 1c holds the movement route generated by the movement route generation unit 19 in the moving body route recording unit. This makes it possible to include the collision risk with the automatic transfer robot 6 in the risk map when generating the guidance marker or the movement path in another moving body.

Further, the automatic transfer robot 6 generates a route by the movement route generation unit 19 so as to avoid the risk of contact with droplets derived from other moving objects such as pedestrians, so that the conveyed object is contaminated by the droplets. This can be prevented and the indirect spread of virus infection via the transported material can be prevented.

Since the method of including the risk area differs depending on the type of each moving body, it is necessary to correctly grasp the type of moving body. When the automatic transfer robot 6 has a self-position estimation function by a sensor provided in the automatic transfer robot 6, the coordinate information transmitted from the automatic transfer robot 6 to the individual navigation system 1c matches the coordinate information obtained from the moving body coordinate calculation unit 12. Judgment is possible from gender.

On the other hand, when the automatic transfer robot 6 does not have the self-position estimation function, the shape data obtained from the distance measuring sensor 11 is compared with the shape model of the automatic transfer robot 6, and the type of the moving body is selected based on the consistency. Identify.

According to the risk avoidance method performed by using the individual navigation system 1c of the fourth embodiment, the automatic transfer robot 6 serves meals in an area where a person in a warehouse or a factory and an automatic transfer robot 6 collaborate, or in a restaurant. It is possible to prevent the spread of virus infection through the transported goods in applications such as those carried by the robot.

<< Modification example >>
The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. It is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

Each of the above configurations, functions, processing units, processing means, and the like may be partially or wholly realized by hardware such as an integrated circuit. Each of the above configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files that realize each function can be placed in a recording device such as a memory, hard disk, SSD (Solid State Drive), or a recording medium such as a flash memory card or DVD (Digital Versatile Disk). can.
In each embodiment, the control lines and information lines indicate what is considered necessary for explanation, and do not necessarily indicate all the control lines and information lines in the product. In practice, it may be considered that almost all configurations are interconnected.

1,1a, 1b, 1c Individual navigation system 11 Distance measurement sensor 12 Mobile coordinate calculation unit 121 Motion determination unit 13 Mobile route storage unit 14 Risk map generation unit 15 Projector unit (presentation unit)
151 Directional speaker (presentation unit)
16 Environment sensor 17 Layout database 18 Guidance marker generation unit 19 Movement route generation unit 101 Communication unit 10 Movement route information communication unit (communication unit)
2 Projection image 20a First mobile body 20b Second mobile body 21a, 21b Current coordinates 22a, 22b Risk area 23a, 23b Movement route 24 Destination 25 Obstacle 26 Linear marker 27a Triangular marker 6 Automatic transfer robot 7 Portable device 8 Individual Navigation device 81 Calculation unit 82 Storage unit

Claims (9)

A distance measuring sensor that measures the positions of the first moving body and the second moving body, and
A storage unit that stores the movement path information of the first moving body and the second moving body obtained from the distance measuring sensor, and
An arithmetic unit that generates a risk map including a risk area from the past movement route information of the first moving body and the second moving body, and
An individual navigation system characterized by being equipped with. A presentation unit that presents the risk area to the first moving body is further provided.
The individual navigation system according to claim 1. The arithmetic unit generates a guidance marker that guides the first moving object so as to avoid the risk area.
A presentation unit that presents a guide marker to the first moving body is further provided.
The individual navigation system according to claim 1. The calculation unit associates the movement route information of the first mobile body with the mobile device held by the first mobile body, and links the movement of the first mobile body with the mobile device.
The individual navigation system according to any one of claims 1 to 3, wherein the individual navigation system is characterized. The first moving body is an automatic transfer robot.
The calculation unit generates a movement path of the first moving body so as to avoid the risk area.
A communication unit for transmitting the movement route to the first moving body is provided.
The individual navigation system according to claim 1. The first moving body and the second moving body are human beings.
The risk area is any one of a splash residue risk area, an airborne infection risk area, a contact infection risk area, and a collision risk area derived from the second mobile body.
The individual navigation system according to any one of claims 1 to 5, wherein the individual navigation system is characterized. The calculation unit sets the splash residual risk region or the airborne infection risk region based on the height of the head of the first moving body and the height of the head of the second moving body.
The individual navigation system according to claim 6. The calculation unit sets the splash residue risk region or the air infection risk region based on any one of the temperature, humidity, and airflow conditions of the ambient environment of the second moving body.
The individual navigation system according to claim 6 or 7. The step of measuring the positions of the first moving body and the second moving body by the distance measuring sensor, and
A step of storing the movement route information of the first moving body and the second moving body obtained from the distance measuring sensor in the storage unit, and
A step of generating a risk map including a risk area from the past movement route information of the first moving body and the second moving body, and
An individual navigation method characterized by performing.

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