JP2947499B2 - Object guidance device for moving objects - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object plan for a mobile object.
Regarding internal equipment , especially vehicles, such as bridges, shrines, temples, parks,
The present invention relates to an object guide device for a mobile body that can provide correct guidance to a passenger flexibly when approaching a building or the like.

[0002]

2. Description of the Related Art When a sightseeing bus approaches an object for sightseeing guidance, a user manually operates a switch of a control device or operates a remote control or the like to input a guidance code, and a VTR or a cassette tape recorder is put in place. There is known an apparatus which can operate a sightseeing bus on behalf of a sightseeing bus guide by using a sound reproduced from a speaker.

[0003]

However, since the conventional apparatus uses a VTR or a cassette tape recorder, it is necessary to sequentially reproduce the data on the recording medium. Therefore, a sightseeing bus or the like is set in advance. It is necessary to move along the course in the order of the guide data, and there is an inconvenience that changing the course is very difficult.

[0004] As described above, the conventional device is a dedicated guide device for a predetermined route, and furthermore, is a device that cannot execute guidance unless manually operated.
When a moving object such as a sightseeing bus approaches an object for sightseeing guidance from an arbitrary direction, the device is inflexible and cannot provide correct guidance.

In view of the above problems, the present invention can provide correct and appropriate guidance information even when a moving object such as a sightseeing bus selects any route and approaches an object of sightseeing guidance from any direction. Object plan for moving objects
It is intended to provide an internal device .

[0006]

[MEANS FOR SOLVING THE PROBLEMS] In the moving object of the present invention,
When the moving object passes through a passage check point set at a key point distant from a fixed point near the guidance object, the object guidance device includes means for storing the fact, and the fixed point near the guidance object is When the moving object arrives, the direction word indicating the direction of the guidance target object seen from the moving object is passed through the passing check point stored in the means for storing that the moving object has passed the passing check point. Means for specifying information from the history and storing the information for specifying the directional phrase, means for storing the directional phrase related to the guidance target, and Means for identifying the guidance data of the guidance object from the current position of the body, storing the guidance data, and information for identifying the directional phrase when the mobile body reaches a fixed point near the guidance object. Remember Means for obtaining a directional word from the means for storing the information for specifying the directional word, based on the information for specifying the directional word stored in the means, and reporting the directional word, and Means for acquiring guidance data from means for storing guidance data about the guidance object, and notifying the guidance about the guidance target object based on the data.

[0007]

[0008]

[0009]

[Function] Set at a point away from the fixed point near the guidance target
When the moving object passes through the
The fruit is stored. The moving object is located near the guidance object.
When reaching a fixed point, the guidance object seen from this moving object
The directional phrase indicating the direction of an object is passed through the moving object.
It is specified from the passage history of the check point. And the guide pair
When the moving body reaches a fixed point near an elephant, the moving body
The guidance data of the guidance object is specified from the current position of
Then, the direction word is announced along with the guidance data.

The means for storing the information for specifying the directional phrase can be uniquely defined for each guidance start point or for each passing check point, so that when the moving body takes any route and approaches the guidance target, However, it is possible to notify a correct direction word for the guide object.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments will be described below in detail with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the present invention. In the figure, the navigation system 1
Has a GPS (Global Positioning System) sensor 2, and an output of the GPS sensor 2 is input to a positioning control device 3. Note that GPS is a global positioning system using artificial satellites managed by the United States Department of Defense, and it is possible to detect the current position of a mobile object.

The navigation system 1 has an azimuth sensor 4 and a distance sensor 5, and the respective outputs are inputted by the positioning control device 3. The azimuth sensor 4 is a device for detecting the traveling direction of the moving body. In this embodiment, an optical fiber gyro is used. Further, the distance sensor 5 has a function of detecting a traveling distance of the moving body.

The positioning control device 3 is roughly divided into an arithmetic processing unit 3-1 having a microcomputer and a display control unit 3-2. The map data storage medium 6 is a memory in which predetermined map data is stored in advance, and the data can be read out by an MPU of the microcomputer in the arithmetic processing unit 3-1 composed of the microcomputer.

The automatic guidance system 7 comprises an arithmetic processing section 8-1 comprising a microcomputer and a guidance control section 8-2.
The guidance control device 8 having an operation unit 9 and an output of the guidance data storage medium 10 is input to the guidance control device 8. The guidance control device 8 outputs necessary information to the operation display 11, the display 12, and the speaker 13. In this embodiment, a CD-ROM (Compact Disc R) is used as the guidance data storage medium 10.
ead Only Memory). The guidance control device 8 includes a microprocessor unit (MPU), a read-only memory (ROM), and a random access memory (R).
AM), a video RAM, an input / output controller, an audio data decompression circuit, an image data decompression circuit, etc., and receives data on the current position, azimuth, speed, time, and date of the moving object from the navigation system 1 to a predetermined data. When the arithmetic processing is executed and the guidance for the guidance target is not performed, the map display data from the navigation system 1 is received, and the navigation map screen is displayed on the operation display 11 and the display 12.

The operation unit 9 is an input device for operating the navigation system 1 and the automatic guidance system unit 7, and has an operation panel (a so-called keyboard or keyboard unit) having a plurality of operation keys. The operation display 11 is provided in the vicinity of the operation unit 9 and displays an operation screen for operating the microcomputer of the navigation system 1 or the microcomputer of the automatic guidance system unit 7, or performs the navigation as described above. The display device displays a map screen based on data output from the system 1. The speaker 13 is an output device that reproduces a sound for making an announcement for guidance, and the display 12 is a display device that displays guidance information for passengers. Note that the navigation system 1 and the automatic guidance system 7 are RS-2
They are connected by a 32C type interface.

FIG. 2 is a schematic diagram for explaining the data structure of the guidance data stored in the guidance data storage medium. As shown at the top of FIG.
1. Mesh point information 10-2, direction word information 10
-3, guide point information 10-4, guide output control information 10-5, and guide voice / image information 10-6, and these information are stored in the CD-ROM.

The header 10-1 is an identification code for identifying a CD-ROM or an identification code for identifying a season.
The mesh-specific point information 10-2 includes, for example, primary territories 10-2a, 10-2a, and primary meshes 10-2a, 1 which are divided into coarse territories and territorial seas in accordance with a map division issued by the Geographical Survey Institute. The area specified by the next mesh number is subdivided, the secondary mesh number 10-2b assigned to each of them is further subdivided, and the area specified by the secondary mesh number is further subdivided and assigned to each of them. A guide point number that includes the tertiary mesh number 10-2c and is assigned to a point near the position where the guidance target exists along with the tertiary mesh number 10-2c, and the X coordinate and the Y coordinate of the point are set as a set. Contains structured information (1
0-2d).

The directional phrase information 10-3 is a term for specifying a direction in a guidance announcement when performing guidance, for example,
Directional phrase information used to connect such terms to the audio data when such terms as right and left are needed. Many of these directional phrases are stored in a predetermined area of the CD-ROM 9 in the form of voice data (10-3a).

The guide point information 10-4 is information on a point where the guide object exists, and includes a guide point number, guide area information, and direction word information assigned to a point near the guide object. Information on the required number of sets is prepared as one set (10-4a) of the directional phrase number designated for extracting the optimal phrase information of 10-3 and the guidance output number assigned to each guidance object.

The guide output control information 10-5 is format information of the guide content, and the number of sets required as a set (10-5a) of the guide output number and the guide output control data assigned to each guide object. Information is provided. The guidance output control data is an identification code for implementing control such as outputting information to the speaker 13 by voice or displaying information on the display 12.

The guidance voice / image information 10-6 is information of voice data and image data used for guidance, and a set of guidance output number, image data, and voice data assigned to each guidance target object (10-). Information of the required number of sets is prepared as 6a).

The guide area information is information for identifying the correlation between the position near the object to be guided and the positions of roads and buildings around the object and the position of the moving object. This mobile object guidance device classifies and manages examples of guidance into the following four types so that the guidance information can be accurately adapted to various visual situations for an object to be guided from the vehicle window.

Case 1: This is a case where a term specifying a direction is not required in the guidance announcement, and the guidance announcement is within a predetermined area around the position A near the guidance target as shown in FIG. When the moving object enters, guidance corresponding to the guidance target is performed.

Case 2: In this case, as shown in FIG. 3 (b), points (or areas) A1 to A4 at which guidance is started are set for a position A near one guide object. At this point, a directional word that is suitable for the guidance object from that point is placed at the head of the guidance announcement. In this case, the guidance announcement is started immediately when the mobile body reaches points A1 to A4 at which guidance is started.

Case 3: In this case, as shown in FIG. 3 (c), passing check points (or areas) P1 and P2 are set for a position A near one guide object, and movement is performed. When the body reaches the point A, it is confirmed that the vehicle has passed the passing check point P1 or P2 with reference to the traveling history,
Guidance is started by putting a correct direction word that allows the guidance target to be seen from the relationship between the passage check point and the point A at the head of the guidance announcement.

Case 4: As shown in FIG. 3D, this is a case in which Case 2 and Case 3 are combined, and guidance is started at a point A near one guidance target. Points (or areas) A1 to A4 are set, and passing check points P11, P21, P2 are set with respect to those guidance start points.
2, P31 and P41 are set. When the moving body reaches one guidance start point, it confirms that it has passed the passage check point corresponding to this guidance start point, and only when it confirms that it has passed, the guidance start point Guidance is started by putting a correct direction word in which the guidance object can be seen from the relationship with point A at the head of the guidance announcement.

The guide area information stores information that can identify a situation conforming to these cases. FIG. 4 is a flowchart of the initialization routine of the automatic guidance system 7. In step S1, it is determined whether or not the RAM has been initialized. If the RAM has not been initialized, the RAM is initialized in step S2, and the process proceeds to step S4. If the RAM has already been initialized, processing such as updating the date is performed in step S3, and the process proceeds to step S4. In the processing in step S4, initialization processing of hardware, for example, processing such as mode setting to an input / output interface chip and command setting is performed. Next, the process proceeds to step S5, where the CD-RO
Read the status of the interface between M and RS-232C. Then, in step S6, the automatic guidance system 7
A D-ROM is connected, and the navigation system 1 is connected via an RS-232C interface.
Is connected properly. If the connections are not normal, a message indicating that they are not connected is issued in step S7, and the system is reset. If the result of the determination in step S6 is that the connection of the CD-ROM or the like is normal, then in step S8 the CD-ROM
The ROM is accessed, and it is determined in step S9 whether a system program exists. If no system program is found, a message to that effect is issued in step S10,
Reset the system. If a system program is found, the system program is loaded in step S11, and thereafter, execution of the program is started.

FIG. 5 is a flowchart of the system program. In the figure, a title is displayed on the display 12 in a step S12. Then, step S1
In step 3, a CD-ROM search tree and data are created. This CD-ROM search tree and data consist of 10 CD-ROs.
This is a search program for making it easy to search for M in consideration of the current position of the moving object and data required for the search program. Next, in step S14, an adjustment command for the navigation system 1 is executed, and data relating to the current position of the moving object and its direction are correctly calibrated. In step S15, a map display command is executed for the navigation system 1. In step S16, it is determined whether or not the response from the navigation system 1 is status "0", that is, whether or not there is a correct response to the map display command. If the status is not "0", the process returns to step S15 to repeat the same processing. If the status has become "0", a list menu is displayed and a display prompting for menu selection is made in step S17. Next, the process proceeds to step S18, where a map screen based on the information sent from the navigation system 1 is displayed on both the operation display 11 and the display 12. Then, the process proceeds to execution of the automatic guidance program.

FIG. 6 is a flowchart of the automatic guidance program. In FIG. 5, in step S20, the X of the predetermined coordinate system sent from the navigation system 1 is set.
Coordinate and Y coordinate data are received, and based on the received data, the current position of the moving body is calculated in which mesh section, and it is specified. It is determined in step S21 whether or not the current position of the moving object has been specified. If the current position cannot be specified, the process returns to step S20 and starts over. If the current position of the moving object has been identified, the process proceeds to step S22, where the CD
-Search the ROM to find guidance data of the mesh section including the moving object, and store it in the RAM in step S23.
To save. Next, the status data of the operation unit 9 is read (step S24), and it is determined in step S25 whether or not there is a key input from the operation unit 9. If there is a key input from the operation unit 9, a process corresponding to the key input in step S26 is performed, and the process returns to step S25.
If it is determined in step S25 that there is no key input from the operation unit 9, the current position of the moving object (bus) is checked in step S27. Next, in step S28, it is determined whether or not the moving object has moved based on the relationship with the previously specified position. If it is determined that the moving object has moved, a movement status (register) is set so that the movement can be recognized in a later process (step S29). Next, the status is read to determine whether there is a transmission request from the navigation system 1 (step S30).
As a result of the determination in step S28, when it is determined that the moving object has not moved, the process directly proceeds to step S30 without executing step S29. If it is determined in step S30 that there is a transmission request from the navigation system 1, a process of receiving data transmitted from the navigation system 1 is performed in step S31. Next, the process proceeds to step S32 shown in FIG. If it is determined in step S30 that there is no transmission request from the navigation system 1, step S32 shown in FIG.
Proceed to.

FIG. 7 is a flowchart subsequent to FIG. 6 of the automatic guidance program. In step S32, it is determined whether or not guidance is currently being executed. If the guidance is being executed, it is determined whether the moving body has entered the next guidance area (reached the guidance start point) (step S33). Next, in step S34, it is determined whether the ongoing guidance should be stopped. In order to avoid an unnatural end, when it is determined that the guidance should not be stopped yet, that is, before the reproduction process of the information included in the currently notified block is completed,
Voice and image block (Guidance voice and image information 10-
6) is reproduced to provide guidance (step S35).
Next, in step S37, it is determined whether the moving body has moved. If the result of determination in step S32 is that guidance is not currently being executed, the flow branches to step S37 to determine whether the moving object has moved. If the result of determination in step S33 is that the moving object has not yet entered the next guidance area, the flow branches to step S35 to continue guidance. Then, as a result of the determination in step S34, if the guidance should be stopped, that is, if the reproduction process of the information included in the currently notified block has been completed, the process in step S35 is not performed. The guidance is stopped, a guidance process for the next guidance area is performed in step S36, and the process returns to step S24.

If it is determined in step S37 that the moving object has already moved, step S38 is reached.
Then, it is determined whether the moving body has moved from one mesh section to another mesh section.
As a result, if the moving body is moving across different mesh sections, the data of the mesh section including the current position of the moving body is stored in step S39 in step S23.
Update the contents of the RAM saved in step (step S3)
9). Next, the process returns to step S24.

If it is determined in step S38 that the moving object has not moved across different mesh sections, it is determined whether or not the moving body has entered the guidance area in the mesh section (step S40). If the moving object has entered the guidance area, step S41
Then, the process returns to step S24 after performing a preparation process for starting guidance. When it is determined in step S37 that the moving object has not moved, and when it is determined in step S40 that the moving object has not entered the guidance area, the process returns to step S24.

The above is the object in the moving object according to the present invention .
Regarding the operation of the guide device , the main points of the present invention and a supplementary explanation will be given below. The order in which the guidance control device guides the guidance target object is calculated based on the data of the X coordinate and the Y coordinate acquired from the navigation system 1 in which mesh section the moving object is currently located (step S20). . That is, the current position of the moving object is specified. Then, guidance data relating to guidance objects scattered in the mesh section is referred to the mesh-specific point information 10-2,
The data is transferred from the guidance data storage medium 10 to an area corresponding to a predetermined address in the RAM (step S23). The guide point number of the guide point information 10-4 of the transferred guide data is checked for a match with the guide point number of the mesh-based point information 10-2, and after matching is confirmed, the mesh-based point information 1 is checked.
The distance between the position specified by the X coordinate and the Y coordinate of 0-2 and the current position of the moving object is calculated at regular intervals, and based on the calculation result, whether the moving object has reached the guidance start point or the guidance area. Is determined.

When it is determined that the guidance area of the guidance object has been reached, the guidance output number accompanying the guidance area information and the guidance output control information 10-
Then, the matching check with the guidance output number of No. 5 is confirmed, and the guidance output control information 10-5 is obtained.

The guidance data output control information 10
The contents of -5 are the number of audio blocks related to the guidance to be output (the description is divided into several blocks in a single guidance area in a unit that does not cause discomfort), the level, the season identification, and the guidance data storage medium 10. And information such as the number of images to be used for each audio block, the image output timing time code, and the image storage position in the guidance data storage medium 10.

The guidance is started in step S35. First, corresponding voice data is obtained from the directional phrase information 10-3 based on the directional phrase number in the guide point information 10-4. An audio signal based on the signal is output to the speaker 10. The direction word information is, for example,
The voice data of the guidance direction word such as "I see on the right hand". Next, the matching of the guidance output number accompanying the guidance area information with the guidance output number of the guidance voice / image information 10-6 is confirmed, and necessary image data and voice data are acquired. Immediately after the output of the directional phrase voice data being continued is completed, the guidance voice / image information 10-6 is output.
Is output to the speaker 10. The voice data of the directional phrase can be reproduced in such a manner as to be sandwiched between voice data obtained from the guidance voice / image information 10-6.

The image data obtained from the guidance voice / image information 10-6 is displayed on the display 12 in synchronization with the audio time code in accordance with the image output timing time code in the guidance output control information 10-5. At this time, the guidance control unit 8-2 in the guidance control device 8
The output of the display 12 is switched from the map display output from the navigation system 1 to the image display output of the guidance voice / image information 10-6.

The end of the guidance for one guidance area is determined by the guidance output control information 10 corresponding to the guidance area.
According to -5, when the voice guidance / image guidance corresponding to the guidance area is output to the end, and when the moving object enters another guidance area before all the guidance is completed, the guidance is stopped at the point where the guidance is well separated. There are times when you do. If a moving object enters another guidance area in the middle of the guidance, the guidance based on the audio block output at the time of entering the guidance area is completed, and if there is any remaining audio block, it is ignored. To end the guidance. Then, the posture of the automatic guidance system 7 is adjusted to the guidance corresponding to the new guidance area where the moving object is currently in progress. This technique is also applied to the following cases. If you know in advance a route that will prevent you from seeing the guidance object from the moving object while providing guidance or a route that is unnatural or inappropriate for continuing guidance, a pseudo ( The guide area of dummy) is scattered. Thereby, the guidance control device 8
It is determined that the vehicle has already entered another guidance area, and the guidance can be stopped as soon as the guidance by the voice block that is currently performing the guidance is completed.

The mode of guidance can be performed by a method according to the above-described example of guidance according to the size of the guidance target and the situation of the place where the guidance target exists. , The correct direction word suitable for the situation at that time can be included in the guidance announcement.

In order to perform the processing corresponding to the case 3, when the moving object passes through the set passing check point,
A flag that can distinguish the fact is stored in a memory or a register. Then, when the moving body reaches a fixed point near the guidance target, the contents of the flag are checked, which passing check point is passed, a correct direction word corresponding to the passing check point is notified, and then the guidance announcement is made. To do. In this embodiment, as the guidance data storage medium 10, a plurality of CD-ROMs are housed in a cassette, and one of the CD-ROMs can be selected and reproduced. Although the reader is used, the present invention is not limited to this, and a single player-type reader, a battery-backed large-capacity DRAM, a magnetic disk, an optical disk, or the like may be used. Further, the display 11 and the display 12 are not limited to the CRT, and may be a display device such as a liquid crystal display or an EL display. Further, in the above-described embodiment, an example has been described in which the navigation system 1 and the automatic guidance system 7 are separately configured to form a system.
Alternatively, a single system can be realized by adopting a multi-CPU configuration.

[0041]

As described above in detail, according to the present invention, even when the mobile body moves along an arbitrary route, the mobile body enters the guidance start point near the guide object. In addition, a direction word indicating the correct direction of the guidance target viewed from the moving object can be automatically included in the guidance announcement to notify the passenger in the moving object.

Further, when the moving object has already moved from one guidance area to another guidance area, it is possible to stop the guidance at an appropriate place and to avoid continuing the guidance that does not suit the actual situation.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a schematic diagram illustrating a data configuration of guidance data stored in a guidance data storage medium.

3 (a) is a schematic diagram illustrating a guide case 1; FIG. 3 (b) is a schematic diagram illustrating a guide case 2; FIG. 3 (c) is a schematic diagram illustrating a guide case 3; It is a schematic diagram explaining the example 4 of guidance.

FIG. 4 is a flowchart of an initialization routine of the automatic guidance system 7.

FIG. 5 is a flowchart of a system program.

FIG. 6 is a flowchart of an automatic guidance program.

FIG. 7 is a flowchart following the automatic guidance program shown in FIG. 6;

[Explanation of symbols]

 Reference Signs List 1 navigation system 2 GPS sensor 3 positioning control device 3-1 arithmetic processing unit 3-2 display control unit 4 direction sensor 5 distance sensor 6 map data storage medium 7 automatic guidance system 8 guidance control device 8-1 arithmetic processing unit 8-2 Guidance control unit 9 Operation unit 10 Guidance data storage medium 11 Operation display 12 Display 13 Speaker

Claims (1)

(57) [Claims] 1. An object guiding apparatus for a moving object having a function of specifying a current position of the moving object, wherein the moving object moves through a passage check point set at a key point distant from a fixed point near an object to be guided. Means for storing the fact when passing, when the moving body reaches a fixed point near the guidance target object,
A direction word indicating the direction of the guidance target object seen from the moving object is specified from the passage history of the passage check point stored in the means for storing that the moving object has passed the passage check point, and Means for storing information for specifying a directional phrase; means for storing a directional phrase relating to the guidance target; and when the mobile reaches a fixed point near the guidance target, the guidance is provided from the current position of the mobile. Means for specifying guidance data of the object and storing the guidance data; and means for storing information for specifying the directional phrase when the moving body reaches a fixed point near the guidance object. Based on the information for specifying the directional phrase, a directional phrase is obtained from a means for storing the information for specifying the directional phrase, the directional phrase is notified, and the guidance data relating to the guidance target is obtained. Get the guidance data from the means for storing data, the object guiding instrumentation in a mobile, characterized in that it comprises means for informing the guidance regarding the guidance object on the basis of this data, the
Place.