JP3558193B2 - Pedestrian route guidance device - Google Patents

Pedestrian route guidance device Download PDF

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Publication number
JP3558193B2
JP3558193B2 JP34460396A JP34460396A JP3558193B2 JP 3558193 B2 JP3558193 B2 JP 3558193B2 JP 34460396 A JP34460396 A JP 34460396A JP 34460396 A JP34460396 A JP 34460396A JP 3558193 B2 JP3558193 B2 JP 3558193B2
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Japan
Prior art keywords
pedestrian
displayed
route guidance
information
means
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Expired - Fee Related
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JP34460396A
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Japanese (ja)
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JPH10170300A (en
Inventor
典之 篠塚
利行 野坂
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本田技研工業株式会社
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Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a route guidance device, and more particularly to a portable pedestrian route guidance device.
[0002]
[Prior art]
Conventionally, a navigator system for a vehicle is known. In this system, the current position of a car is obtained from GPS position information and displayed on a map. As a result, the driver of the car can know the current position and can confirm the route to the destination based on the route information. However, a car navigator system has a large shape and is not suitable for carrying. In addition, large power is required to use GPS. In an automobile, an automobile battery can be used, but it is practically impossible to have such a large battery in a portable device. Therefore, it is generally difficult to always use GPS in a portable navigator system.
[0003]
JP-A-8-202982 discloses a pedestrian route guidance device that detects a current position by using a GPS or a geomagnetic sensor. However, the pedestrian route guidance device does not always hold the device in a fixed direction when the pedestrian carries the device. In some cases, the top, bottom, left and right are reversed. For this reason, highly accurate position detection is difficult. In addition, pedestrians move in various places. For example, when moving in a high-rise building or a building, the position cannot be detected by GPS.
[0004]
[Problems to be solved by the invention]
Therefore, the present invention can detect the current position even in a situation where GPS cannot be used, and can detect a current position using a step count sensor without relying on GPS even in a situation where GPS can be used. It is an object of the present invention to provide a route guidance device for persons.
[0005]
It is another object of the present invention to provide a pedestrian route guidance device as an information terminal that is suitable for carrying and that can be used as a route guidance device and also as a mobile phone.
[0006]
It is still another object of the present invention to provide a pedestrian route guidance device capable of receiving map information from the outside and guiding a route based on the received map information.
[0007]
Still another object of the present invention is to provide a pedestrian route guidance apparatus capable of obtaining position information from another communication station and displaying the position on a map.
[0008]
[Means for Solving the Problems]
In order to achieve the object of the present invention, a pedestrian route guidance device according to the present invention displays storage means for storing map information, step number detecting means for detecting the number of steps of a pedestrian, and information. For displaying a start point of a walking section where the pedestrian moves on foot within a specific route between the first and second positions on the map and a start of route guidance in a navigation mode. Means, and in the navigation mode, reading the map information from the storage means, displaying the map information on the display means, displaying the specific route on the displayed map information, and starting the route guidance by the instruction means. Is instructed, the distance from the start point is calculated based on the number of steps from the start point of the walking section detected by the step number detection means, and the walking calculated from the calculated movement distance is performed. And an output control means for displaying on the map information the predicted current position being the display.
[0009]
To achieve another object of the present invention, a pedestrian route guidance device according to the present invention includes a mode specifying means for specifying one of a navigation mode and a telephone mode, and a storage for storing map information. Means, a step number detecting means for detecting the number of steps of the pedestrian, a display means for displaying information, and the walking in a specific route between the first and second positions on the map in the navigation mode. Instruction means for instructing a start point of a walking section in which a person moves on foot and start of route guidance, and in a navigation mode, the map information is read from the storage means and displayed on the display means, and the specific route is displayed. It is displayed on the displayed map information, and when the start of the route guidance is instructed by the instructing means, the number of steps from the start point of the walking section detected by the number of steps detecting means Calculating the distance from the start point based on the calculated moving distance, and displaying the predicted current position of the pedestrian calculated from the calculated moving distance on the displayed map information. Output control means for displaying a list of ten keys or a plurality of telephone numbers on the basis of a telephone number input from the ten keys or a telephone number selected from the list, and making a call with the outside. Communication means for enabling communication.
[0010]
According to the above configuration, in the pedestrian route guidance device of the present invention, the number of steps is detected using the number of steps sensor such as the three-axis acceleration sensor while walking in the walking section of the specific route, and the moving distance is calculated based on the detected number of steps. Is calculated. The stride used for calculating the moving distance may be input by the user. Alternatively, it may be automatically updated based on the number of steps detected when the GPS current position information is obtained and the distance from the start point, or may be updated when the vehicle reaches a target point in the middle of movement. The moved route on the specific route is calculated from the calculated moving distance, and the predicted current position is displayed so as to be superimposed on the map information. Therefore, it is possible to easily and reliably reach the destination (the second position).
[0011]
Moreover, the pedestrian route guidance device of the present invention can be used not only for route guidance but also as a telephone. When used as a telephone, a numeric keypad is displayed, and a telephone number can be set by sequentially pressing the numeric keys. Alternatively, a list of already registered telephone numbers is displayed, and a telephone number is set by selecting one of them. A call is made based on the set telephone number.
[0012]
In the above pedestrian route guidance device, in the navigation mode, the first position and the second position are designated by the position designation means on the displayed map information. When the first position and the second position are designated, the route calculating means calculates a cost for each of the routes between the first position and the second position based on information related to the map information. Perform calculations. The cost calculation is performed based on at least one selected from travel time, travel cost, ease of travel, and the like. The specific route is selected from the calculated routes.
[0013]
When another communication station is called in the telephone mode, the position information transmitted from the other communication station is received and stored by the communication means. In the navigation mode, the position may be displayed on the map information displayed on the display means based on the position information received from the outside.
[0014]
In the navigation mode, the communication unit can receive map information other than the map information stored in the storage unit from an external station. In this case, the received information is stored in the storage unit so that the output control unit can display the received map information on the display unit.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a pedestrian route guidance device of the present invention will be described in detail with reference to the accompanying drawings.
[0016]
FIG. 1 is a block diagram illustrating a configuration of a pedestrian route guidance device 100 according to an embodiment of the present invention. With reference to FIG. 1, a pedestrian route guidance apparatus 100 includes a step number sensor 1 for detecting the number of pedestrians walking, a voice input / output unit 2 for inputting or outputting voice, and an antenna 10 And a GPS detector 3 for detecting the current position of the pedestrian, and storing information for map information such as a memory card and a CD-ROM storing map information and the like based on digital map data. A medium 4; a reproducing unit 5 for selectively reading map information of a designated area from the map information; and a display unit 6 for displaying a map of the designated area based on the read map information. , A walking distance is calculated based on the number of steps calculated by the step number sensor 1 and the position of the pedestrian detected by the GPS detecting unit 3, and the current position on the map is sequentially obtained from the calculated walking distance. A processing unit 7 comprising a microcomputer for updating the pedestrian's current position on the map displayed on the unit 6 and controlling the entire apparatus, and a map area to be displayed on the display unit 6 And an operation unit 8 for inputting an instruction or data to the processing unit 7 to specify the display scale of the map, to set a starting point or a destination on the displayed map, and And a communication unit 9 for communicating via an antenna 10. The antenna 10 is selectively used by the GPS detection unit and the communication unit 9.
[0017]
In the pedestrian route guidance device configured as described above, one of a route guidance mode for performing route guidance by the operation unit 8 and a telephone mode for causing the pedestrian route guidance device to function as a mobile phone is set. Is done.
[0018]
In the route guidance mode, the map information read from the information storage medium 4 and reproduced by the reproducing unit 5 is displayed on the display unit 6. The start position and the destination position are set on the map of the predetermined area displayed on the screen of the display unit 6 by the operation unit 8. The processing unit 7 obtains possible routes from the departure position and the destination position based on the displayed map information, performs a cost calculation specified for each of the routes, and displays the calculation result on the display unit 6. When there is a problem with the storage capacity of the information storage medium 4 or when there is a problem with the processing capacity of the processing unit 7, the communication unit 9 requests the external information station 200 for calculation, and the calculation result is received by the communication unit 9. And sends it to the processing unit 7. In this way, the calculation result may be displayed on the display unit 6. The user selects one of the displayed routes as the specific route. The selected specific route is displayed on the display unit 6. In determining the specific route, the user may directly specify the departure position and the destination position, and the route between them as the specific route. When a specific route is specified and a route guidance start instruction is input from the operation unit 8, the route guidance is started.
[0019]
When the route guidance is started and the pedestrian walks on the walking section of the specific route, the step number sensor 1 generates a walking signal corresponding to each step and supplies the signal to the processing unit 7. The processing unit 7 detects the number of steps from the walking signal and integrates the number of steps from the walking start position.
[0020]
When positioning using GPS is possible, the GPS detection unit 3 receives a GPS signal via the antenna 10 and transmits it to the processing unit 7. The processing unit 7 calculates the current position from the GPS signal. The calculated current position is displayed on the map displayed on the display unit 6 in an overlapping manner. At this time, the section that has been walked so far is also displayed. When GPS signals are received at two positions in the middle of walking, the distance between those positions is calculated, and the step length of the user is determined from the number of steps measured using the step number sensor 1. The determined step length is used for calculating the moving distance in the route guidance together with the number of steps to be integrated.
[0021]
When the user is in a high-rise building or indoors, the GPS signal may not be able to be received. In such a case, the stride cannot be determined from the GPS signal. In addition, since power is consumed when receiving a GPS signal from GPS, it is generally difficult to always perform route guidance using GPS when the user is carrying the pedestrian route guidance device 100. In this case, the stride may be determined by designating two positions on the map displayed on the display unit 6 with the operation unit 8. In this case, when two positions are designated, the distance between them is calculated based on the map information, and the average step length is determined from the accumulated number of steps between them. Alternatively, the value of the stride may be directly input by the operation unit 8. In any case, when the stride is determined, the route guidance is performed based on the determined stride. Note that the input stride length is stored in the processing unit 7, but is retained even when the power of the pedestrian route guidance device 100 is turned off. This eliminates the need to set the stride every time, thereby preventing power consumption.
[0022]
The information storage medium 4 stores digital map information. The reproducing unit 5 reproduces a map from the medium 4. The processing unit 7 displays the map reproduced by the reproduction unit 5 on the display unit 6. The map is displayed with the top facing north. At the same time, the azimuth mark is displayed. When a specific route is selected, the selected specific route is displayed overlaid on the map. The specific route is displayed by, for example, a square mark string. The square is outlined. The starting position and the destination position are indicated by white circles. The current position is displayed as a black circle. The section where the user has already walked is filled with the square mark.
[0023]
The display unit 6 includes a liquid crystal display unit, on which a tablet input device is formed as a part of the operation unit 8. The position on the map displayed on the display unit 6 is designated by an input pen or a finger. For example, the designation of the starting position S and the destination position G, or the two positions for determining the above-mentioned stride length is performed in this manner. A command button (not shown) is displayed below the information displayed on the display unit 6. When the command button is operated, the processing assigned to the command button is executed by the processing unit 7. The command buttons include, for example, “enlarge” and “reduce” when specifying the position. In determining the stride length, "input", "GPS", "position designation" and the like are displayed. Other examples include “map input”, “communication”, and “current position output” for inputting map information from the outside or transmitting information to the outside. Further, in the telephone mode, a "map display" command button is also displayed.
[0024]
The communication unit 9 transmits and receives data, for example, position data to and from another device. The pedestrian route guidance device 100 of the present invention functions as a mobile phone in the telephone mode. In order to input a telephone number, the processing unit 7 reads numeric key information from the reproducing unit 5 and displays it on the display unit 6. By operating the displayed numeric keys in order, a desired telephone number is designated, and a call is made based on the telephone number. A plurality of telephone numbers may be registered in the list. By operating a "list" command button displayed below the numeric keypad, a telephone number list is displayed, and a call is made by selecting one of the telephone numbers using the operation unit 8. When the list is displayed, a command button "numeric keypad" is displayed.
[0025]
When the "communication" command button is operated in the route guidance mode, a numeric keypad or a telephone number list is displayed. When a telephone number of another pedestrian route guidance device 100 'equivalent to the pedestrian route guidance device 100 is selected, a call is made. At this time, the specific code is also transmitted. In the pedestrian route guidance device 100 ', when the communication unit 9 decodes the specific code, the processing unit 7 is activated, and the display unit 6 displays a command button "output current position". When the user of the pedestrian route guidance device 100 'operates the command button "current position output" displayed on the display unit 6, the current position data held in the pedestrian route guidance device 100' is displayed. The information is transmitted to the pedestrian route guidance device 100. In the pedestrian route guidance device 100, the processing unit 7 displays the map information from the reproduction unit 5 on the display unit 6 based on the current position data received by the antenna 10 and the communication unit 9, and the display unit 6 displays the map information. The current position of the pedestrian route guidance device 100 'is displayed on the map. In this manner, the current position of the pedestrian route guidance device 100 'can be displayed on the display unit 6 of the pedestrian route guidance device 100. For example, if the child is provided with the pedestrian route guidance device 100 ', the child can be easily found even if the child is lost.
[0026]
When the information station 200 is called by operating the command button “map input”, desired information is received from the information station 200 by the communication unit 9 and sent to the reproduction unit 5. As a result, the received information is displayed on the display unit 6 by the processing unit 7. In this way, even if sufficient map information is not stored in the information storage medium 4, necessary information can be obtained from the information bureau 200 to provide a service.
[0027]
In the telephone mode, the voice during a call as a mobile phone is output from the voice input / output unit 2 and input thereto. When "loud voice" is instructed, voice input / output becomes possible without putting the pedestrian route guidance device 100 in the ear. In the route guidance mode, the guidance of the traveling direction is output by a voice signal based on the loudspeaker voice output instruction from the processing unit 7, and is output from the voice input / output unit 2.
[0028]
As described above, in the pedestrian route guidance device of the present invention, when the current position measured when the positioning by the GPS detection unit 3 is possible, or when the positioning by the GPS detection unit 3 is impossible or undesirable, The predicted current position on the map obtained by calculation based on the walking distance of the user is displayed on the map. As described above, according to the present invention, the current position P is always displayed on the map while the pedestrian's walking distance is calculated without depending entirely on the GPS that cannot be located depending on the situation. Thus, guidance to the destination G can be accurately performed. At this time, a simple step number sensor 1 can be used without using a special sensor for detecting a walking distance. In the present invention, as will be described later, the number of steps of a pedestrian moving at a low speed is detected by using the three-axis acceleration sensor 22, so that it is not necessary to use a particularly low-speed and high-sensitivity acceleration detection sensor.
[0029]
The walking distance is calculated based on the pedestrian's stride. When positioning by GPS is possible, the pedestrian's stride is calculated based on position information obtained from the GPS detection unit. Further, when positioning by GPS is impossible or inappropriate, the stride length of the pedestrian can be calculated by inputting two positions during walking. In this way, it is possible to obtain a different stride for each pedestrian by using the number of steps detected by the number of steps sensor 1, and to appropriately determine the walking quadrangle of a pedestrian having individual differences, so that accurate route guidance is provided. It can be carried out.
[0030]
Also, when entering a large department store or underground shopping mall, it receives the map and position data transmitted at a predetermined position inside the department store or underground shopping mall, and displays the data inside the department store or underground shopping mall displayed on its own screen. It is also possible to display the current position of the user on a map.
[0031]
2 and 3 are views showing an appearance of an example of the pedestrian route guidance device 100. FIG. FIG. 1 is a top view of the pedestrian route guidance apparatus 100, and FIG. 2 is a bottom side view. Referring to FIG. 1, a pedestrian route guidance apparatus 100 according to an embodiment of the present invention has a size similar to that of a mobile phone, and enables a pen input or a touch input with a finger or the like in the center. The tablet unit 8-1 as a part of the operation unit 8 is integrally formed with the display unit 6. A voice output unit 2-1 for voice output is provided above the display unit 6 of the pedestrian route guidance device 100, and a voice input unit 2-2 for inputting voice is provided below the structure. Is provided. A slot 4-1 for inserting the information storage medium 4 is provided on a lower side surface of the pedestrian route guidance apparatus 100, and the upper storage medium 4 is set in the slot 4-1. Thereby, the pedestrian route guidance device 100 can provide various services depending on the type of the information storage medium 4. In this example, the information storage medium 4 stores map information.
[0032]
A magnet 11 and a position specifying switch group 8-2 are provided between the voice input unit 2-2 and the structure. A part 8-3 of the operation unit 8 is provided alongside the voice input unit 2-2. The antenna 10 protrudes from the upper side surface of the pedestrian route guidance device 100. When the antenna 10 is not used, it can be stored in the device 100.
[0033]
The operation unit 8-2 includes direction designation switches 108-1 to 108-4 and a designation switch 108-5. The cursor is moved on the display unit 6 up, down, left, and right by the direction designation switches 108-1 to 108-4. When the cursor comes to a desired position, the designation switch 108-5 is pressed. Thereby, the position can be designated on the map displayed on the display unit 6.
[0034]
The operation unit 8-3 includes a route guidance mode setting switch 109-1, a telephone mode setting switch 109-2, a volume expansion setting switch 109-3, and a guidance start switch 104. When the route guidance mode setting switch 109-1 is pressed, the route guidance mode is set. As a result, information necessary for guiding the user can be input, and the guidance start switch 104 is enabled. When the telephone mode setting switch 109-2 is pressed, the telephone mode is set. In the telephone mode, for example, a numeric keypad is displayed on the display unit 6. When the volume increase setting switch 109-3 is pressed, the sound output from the audio output unit 2-1 or the volume of the audio is increased. Thereby, in the telephone mode, it is possible to talk while the pedestrian route guidance apparatus 100 is kept away from the ear. In the route guidance mode, voice guidance is given as to whether to turn left, go straight, turn right, and how many meters to go. As a result, it is possible to provide guidance to a person who has a disability in the eyes, and it is possible to widen the range of action of the people with a disability. Further, two vibrators may be connected to the pedestrian route guidance device 100 by an electromagnetic wave signal. In this case, in the route guidance mode, guidance by the vibrator is performed in addition to or instead of guidance by voice. For example, the vibrator is put in the left and right pockets, the left pocket vibrator is vibrated when turning left, and the right pocket vibrator is vibrated when turning right. Thereby, guidance can be reliably provided to the hearing impaired.
[0035]
The display unit 6 displays a map of the selected area. At this time, the map is displayed such that the upper side is north. Although a direction mark is also displayed on the map, the user often does not know which direction he or she is facing and cannot find the direction to go. Thus, a magnet 11 is provided. By moving the pedestrian route guidance device 100 so that the orientation of the magnet matches the orientation mark on the displayed map, it is possible to easily find the direction to go.
[0036]
FIG. 4 is a block diagram showing a detailed configuration of the pedestrian route guidance device 100 of the present invention. The operation of the pedestrian route guidance device 100 and the configuration of the processing unit 7 will be described with reference to FIG. First, the user turns on a power switch (not shown). Thereafter, the user presses the route guidance mode setting switch 109-1 or the telephone mode setting switch 109-2. As a result, the route guidance mode or the telephone mode is set. Alternatively, it may be automatically set to the mode used before.
[0037]
Here, it is assumed that the telephone mode is set. In the telephone mode, as shown in FIG. 5, numeric key information is read from the information storage medium 4 and converted into display data by the reproducing unit 5. The display data is sent to the output control unit 60 and displayed on the display unit 6.
[0038]
The user inputs a telephone number by operating the numeric keys in order. The input telephone number is stored in the telephone number register 64 and transmitted to the outside by the communication unit 9 via the antenna 10. This enables a call. When the "list" displayed below the numeric keypad is pressed with a pen or a finger, the registered telephone number list is read from the display information section 5-2 of the reproduction section 5. The output control unit 60 displays the read telephone number list on the display unit 6. By operating the operation unit 8-2 or by specifying one telephone number in the displayed telephone number list with a pen or a finger (by the operation unit 8-1), the telephone number is stored in the telephone number register. 64. In this way, a call is made in the same manner as described above. Thereafter, for example, it is possible to communicate with another pedestrian route guidance device 100 ′ (FIG. 1).
[0039]
The sound input from the microphone 2-2 is transmitted from the antenna 10 via the communication unit 9. The sound received from the antenna 10 is sent from the communication unit 9 to the switch 66. The switch 66 is connected to the communication unit 9 in the telephone mode, and is connected to the output control unit 60 in the route guidance mode. The switch 68 is connected to the amplifier 70-2 when the volume expansion setting switch 68 is operated, and to the amplifier 70-1 when the volume expansion setting switch 68 is not operated. Thus, the audio signal from the communication unit 9 is supplied to the amplifier 70-1 or 70-2 via the switch 66. When connected to the amplifier 70-2, the sound is output from the speaker 2-1 through the two amplifiers 70-2 and 70-1, so that the pedestrian route guidance apparatus 100 needs to be brought close to the ear. There is no. When the audio signal is connected to the amplifier 70-1, the pedestrian route guidance device 100 can be used as a normal mobile phone.
[0040]
Next, when the route guidance mode is set, the map information is read from the information storage medium 4 and stored in the area 5-1 of the reproducing unit 5. The control information is stored in the area 5-2. The reproducing unit 5 first reproduces a map of Japan. Thereby, the output control unit 60 displays a map of the entire Japan on the display unit 6. At this time, the command buttons “enlarge” and “reduce” are displayed at the bottom of the display unit 6.
[0041]
When, for example, the Kanto region is designated by the command button of the operation unit 8-1 or by the designation switch 108-5 of the operation unit 8-2, the reproduction unit 5 performs the map of the Kanto region according to the instruction from the output control unit 60. To play. The output control unit 60 displays a map of the Kanto region on the display unit 6. In this way, the desired area is displayed by sequentially changing the scale.
[0042]
Here, the cursor movement switches 108-1 to 108-4 of the operation unit 8-2 are operated to move the cursor, and the designation switch 108-5 is operated to designate the first current position as a starting point. Similarly, the second position is designated as the destination. The designated first and second locations are stored in registers 82 and 84, respectively. Thereby, the output control unit 60 selects a possible route from the first position to the second position based on the displayed map information.
[0043]
For example, when the command button “input information” is operated when the target position is not stored in the information storage medium 4, the output control unit 60 sends a predetermined command to the communication unit 9. The communication unit 9 communicates with the information station 200 via the antenna 10. The map information obtained from the information station 200 is stored in the area 5-1 of the reproducing unit 5. In this way, even if the information storage medium 4 does not have a sufficient storage capacity, route guidance is executed by receiving necessary information from the outside.
[0044]
Subsequently, the output control unit 60 requests input of an item for cost calculation. That is, the control information is read from the area 5-2 of the reproducing unit 5 and displayed on the display unit 6. The cost items of the displayed control information include time, fee, and obstacle. When the time item is selected, the cost is calculated based on the time required to move from the first position to the second position. When the fee item is selected, the cost is calculated based on the fee required to move from the first position to the second position. When a failure item is selected, a route is selected based on the presence or absence of a failure on the way from the first position to the second position. This takes into account, for example, a situation in which a person with a physical disability is obstructed from moving.
[0045]
Here, as shown in FIG. 7, the map information D is configured by linking road information D1, railway line information D2, bus line information D3, and building information D4. Each of the information D1 to D4 has various attribute data, but the description is omitted here. The road information D1 is linked to road construction information D11, obstacle information D12 regarding obstacles such as a step when the vehicle passes on a road or a sidewalk, and a taxi fare table for traveling by taxi on the road. In addition, a toll table D21 and a required time D22 are linked to the railway line information D2. Further, a fare table D31 and a required time D32 are linked to the bus route information D3.
[0046]
When an item is selected, the output control unit 60 performs cost calculation with reference to the map information stored in the area 5-1 of the reproduction unit 5, and displays a route according to the calculation result. For example, if the toll item is designated, the road distance from the current position S to the destination position G is calculated, and the toll when a taxi is performed is calculated with reference to the taxi fare table D13. In the case where some railways and buses are used as other routes, the fare is calculated with reference to the fee schedules D21 and D31. Thus, various routes are displayed based on the cost required to move from the current position to the destination position. When the cost calculation is heavy for the processing unit 7, the first and second position information and the cost calculation item may be transmitted to the information station 200 by the communication unit 9 to obtain the calculation result.
[0047]
The user operates the operation unit 8-2, or presses the displayed calculation result with a pen or a finger, and selects one of the displayed routes as the specific route. The result is stored in the output control unit 60.
[0048]
As shown in FIG. 6, it is assumed that the user has arrived at the subway XY station according to the selected route. Here, the user operates the guidance start switch 109-4. At this time, "DPS" and "input" command buttons are displayed at the bottom of the display unit 6. To designate the current position as the starting position using the DPS signal, press the command button "DPS". When inputting with a pen or the like, "input" is pressed. Thus, the starting position is set. The current position detected by the GPS detection unit 3 or the input current position is set in the register 86 by the output control unit 60. Next, the output control unit 60 displays a specific route from the subway XY station S to the destination G according to the contents of the registers 82 and 84. At this time, a map in a range of 2 km centering on the XY station of the subway is displayed. An instruction is input from the operation unit 8-1 to enlarge the map, and as shown in FIG. 6, the walking sections of the specific route are displayed as continuous white squares. At this time, the destination is displayed with G together with a white circle.
[0049]
In this case, the stride value previously used is set in the stride register 44, and that value may be used. Alternatively, a ten-key may be displayed using the command button “input” displayed on the display unit 6 to input a stride value. The input step length is input to the register 44 by the output control unit 60.
[0050]
The user moves the pedestrian route guidance device 100 so that the direction of the magnet matches the direction of the direction mark on the map, confirms the traveling direction, and starts walking.
[0051]
Here, the number-of-steps sensor 1 is configured not only in a case where the pedestrian route guidance device 100 is held in a hand, but also in consideration of being carried in a bag or the like. That is, in this embodiment, the three-axis acceleration sensor 22 that detects vibrations in three directions of the X-axis, the Y-axis, and the Z-axis in order to detect the vibrations caused by the pedestrian in all directions is the number of steps Used for sensor 1. Here, the X axis, the Y axis, and the Z axis are not based on the ground surface but are relative three-dimensional axes.
[0052]
The outputs Xo, Yo, and Zo of the respective axes of the acceleration sensor 22 are supplied to corresponding high-pass filters (HPF) 24-1, 24-2, and 23-3. The outputs Xo, Yo, and Zo of the respective axes are respectively supplied to low-pass filters (LPFs) 26-1, 26-2, and 26-3 provided correspondingly. The detector 32 detects the direction of gravity from the output from the low-pass filters 26-126-2 and 26-3 and outputs the direction to the axis correction circuit 34.
[0053]
The axis correction circuit 34 extracts the vibration components Gx ′, Gy ′, Gz ′ from the outputs of the high-pass filters 24-1, 24-2, 24-3 based on the direction of gravity detected by the detector 32. . The acceleration detector 36 detects, from the vibration components Gx ′, Gy ′, Gz ′, a change in acceleration in the vertical direction accompanying the walking of the pedestrian, from which the influence of the gravitational acceleration has been removed. At this time, the cycle of the change of the acceleration and the pattern of the change may be held.
[0054]
As described above, since the X-axis, the Y-axis, and the Z-axis are not absolute coordinate systems with respect to the ground surface, but are relative coordinate systems within the device, the outputs Xo, By passing Yo and Zo through the low-pass filters 26-1, 26-2, and 26-3, acceleration components Gxo, Gyo, and Gzo due to gravity are obtained. The direction of gravity is determined by the gravity direction detector 32 based on the obtained results of the acceleration components Gxo, Gyo, and Gzo due to gravity. In accordance with the determined direction of gravity, axis correction of the output of acceleration (vibration) components Gx, Gy, Gz accompanying the walking of the pedestrian obtained from the high-pass filters 24-1, 24-2, 24-3 is performed. As a result, acceleration (vibration) components Gx ′, Gy ′, Gz ′ due to walking on a vertical plane corresponding to the coordinate axes with respect to the ground surface are obtained from the axis correction circuit 34.
[0055]
The cutoff frequencies of the high-pass filters 24-1 to 24-3 and the low-pass filters 26-1 to 26-3 are about 1 to 2 Hz. In this way, the processing unit 7 determines the number of steps and the cycle from the acceleration (vibration) components Gx ′, Gy ′, Gz ′ due to the walking of the pedestrian whose axis has been corrected. Since the number of steps of a pedestrian moving at a low speed is detected by using the acceleration sensor 22, it is not necessary to use a particularly low-speed and high-sensitivity acceleration detection sensor.
[0056]
The number-of-steps detector 38 detects the number of steps from the change in acceleration from the detector 36 and integrates the detected number of steps.
[0057]
Since the stride value has already been set in the register 44, the measured distance register 46 calculates and holds the low-speed moving distance from the stride stored in the stride register 44 and the number of steps accumulated in the step register 38. The output control unit 60 paints a white square indicating a walking section on the specific route based on the low-speed moving distance stored in the register 46. Also, the current position obtained from the low-speed moving distance is displayed as a black circle. In this way, the low-speed moving distance is updated. Further, it is possible to know how far the user has approached the target position G.
[0058]
During the movement, one of the command buttons “GPS” and “input” displayed on the display unit 6 is operated by the operation unit 8-1, and the current position is input to the register 88. In response, the output control unit 60 calculates the distance of the walking section of the specific route from the position specified by the contents of the register 86 to the position specified by the contents of the register 88, and stores the calculated distance in the register 40. . The stride calculation unit 42 calculates a stride from the distance stored in the register 40 and the accumulated number of steps stored in the step count register 38, and sets the calculated step in the register 44. When the stride value in the register 44 is updated, the measured distance (slow moving distance) is stored in the measured distance register 46 by the output control unit 60. The measured distance of the register 46 is selected by the distance selector 58 and output to the display unit 6 by the output control device 60. That is, the square row of the walking section of the specific route is filled based on the recalculated moving distance. The current position is also corrected.
[0059]
When the user further walks and reaches a distance of about 5 m from the target position G, the output control unit 60 connects the switch 68 to the amplifier 70-2 side. After that, the output control unit 60 outputs a voice message “Destination has arrived”. Since the switch 66 is connected to the output control unit 60 in the route guidance mode, the voice message is amplified and output from the speaker 2-1. Thus, the user can know the arrival at the destination.
[0060]
In this example, the value of the stride is corrected based on the distance from the starting point of the walking section to the position detected by the GPS detection unit 3, that is, one position. However, when at least two pieces of position data are input from the GPS detection unit 3, the output control unit 60 calculates the distance between the two positions, and corrects the stride value by setting the distance in the register 40. May be. Alternatively, for example, in the map shown in FIG. 6, when the user arrives at the neighborhood of the post office on the displayed map, the user may input the current position using the operation unit 8-2. The output control unit 60 calculates the distance from the subway XY station to the post office and sets the calculated distance in the register 40. Thereby, the stride length can be adjusted in the same manner as when the current position is detected by the GPS detection unit 3.
[0061]
It is conceivable that a pedestrian may run or step on the floor during actual use, causing a step to be disturbed. In order to cope with such a situation, a plurality of pairs of the step number register 38 and the step length register 44 are prepared, and the step number register 38 of any one of the plural register sets is updated based on the output pattern of the acceleration sensor 22. Then, the moving distance may be calculated from the total number of steps and the stride of all the sets. In order to determine a plurality of strides, when positioning by GPS is possible, a pattern of an output change (cycle change of the number of steps) of the acceleration sensor 22 when a pedestrian runs or steps, and a GPS The step length may be calculated from the actual walking distance calculated from the measurement position and stored in the corresponding register.
[0062]
Next, an operation when the user is moving at a relatively high speed on a vehicle such as a bicycle or a train will be described.
Even if a particularly high-accuracy sensor is not used as the acceleration sensor 22, the acceleration when moving at a relatively high speed can be detected with high accuracy. Therefore, when a pedestrian is moving at a relatively high speed on a vehicle such as a bicycle or a train, acceleration is detected from acceleration (vibration) components Gx ′, Gy ′, Gz ′ obtained from the detection output of the acceleration sensor 22. The detector 36 detects a change in the acceleration in the horizontal direction.
[0063]
Integrator 48 accumulates the product of the acceleration and the time component input from timer 52. That is, the acceleration is integrated with respect to time. Thus, the moving speed is obtained and stored in the speed register 50. The integrator 54 calculates the product of the value of the speed register and the time component from the timer 52. That is, the moving distance is calculated and stored in the high-speed moving distance register 56.
[0064]
If the moving speed obtained from the acceleration sensor 22 is about 5 to 10 km / h or less, the distance selector 58 outputs the low speed moving distance stored in the measured distance register 46 to the output control unit 60, and outputs 5 to 10 km / h. When the distance exceeds the range, the high-speed moving distance stored in the measured distance register 56 is output to the output control unit 60. Thus, it is possible to display a moving state when the user is moving at a relatively high speed on a vehicle such as a bicycle or a train.
[0065]
According to the present invention, by using the three-axis acceleration sensor 22, under the control of the processing unit 7, when walking at low speed, the number of steps is detected to determine the walking distance, and when walking at relatively high speed, the walking distance is detected. The moving distance is determined from the acceleration (vibration) components Gx ′, Gy ′, Gz ′ with respect to the horizontal plane. Distance information with high detection accuracy is selectively adopted according to the pedestrian's movement situation. That is, the distance selector 58 selects one of the walking distance and the high-speed moving distance and supplies the selected distance to the display control device 60. In this way, the current position P can be accurately displayed on the map both when walking and when moving with a vehicle, and guidance guidance can be accurately performed.
[0066]
【The invention's effect】
As described above, in the pedestrian route guidance device according to the present invention, the distance of the pedestrian's walking is detected, and the current position on the map is determined. When a user's current position is displayed on a map of a predetermined area displayed on the screen, a simple sensor that detects the number of steps based on the vibration caused by walking is used, so that walking which has been a conventional problem The walking distance of the person can be properly detected. Even in a situation where positioning by GPS cannot be performed, the current position of the pedestrian on the map can be accurately displayed, and guidance to the destination can be accurately performed.
[0067]
In addition, the present invention uses an acceleration sensor to determine the walking distance by detecting the number of steps from the sensor output when walking at low speed with poor detection accuracy, and determine the walking distance when moving at relatively high speed. The transfer distance has been determined. Therefore, the current position corresponding to the celebration of the moving state of the pedestrian at that time can be properly detected and displayed on the map both when walking and when moving by a vehicle.
[0068]
The pedestrian route guidance device according to the present invention can also be used as a mobile phone. Further, the user can communicate with the outside using the communication function to obtain necessary information.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a pedestrian route guidance device according to an embodiment of the present invention.
FIG. 2 is a top view of the appearance of the pedestrian route guidance device of the present invention.
FIG. 3 is a lower side view of the appearance of the pedestrian route guidance device of the present invention.
FIG. 4 is a diagram showing a detailed configuration of a pedestrian route guidance device according to an embodiment of the present invention.
FIG. 5 is a diagram showing a display example when the pedestrian route guidance device according to one embodiment of the present invention is used as a mobile phone.
FIG. 6 is a diagram showing a display example when the pedestrian route guidance device according to one embodiment of the present invention is used for route guidance.
FIG. 7 is a diagram showing a configuration of information used in the pedestrian route guidance device according to one embodiment of the present invention.
[Explanation of symbols]
1: Step sensor
2: Voice input / output unit
3: GPS detector
4: Information storage medium
5: Reproduction unit
6: Display section
7: Processing unit
8: Operation unit
9: Communication unit
10: Antenna
22: 3-axis acceleration sensor
100, 100 ': Pedestrian route guidance device
200: Information Bureau

Claims (6)

  1. Storage means for storing map information;
    Step number detecting means for detecting the number of steps of the pedestrian;
    Display means for displaying information;
    Instruction means for instructing a start point of a walking section where the pedestrian moves on foot in a specific route between the first and second positions on the map and a start of route guidance in a navigation mode, and a navigation mode In, when the map information is read from the storage means and displayed on the display means, the specific route is displayed on the displayed map information, and when the start of route guidance is instructed by the instruction means, Based on the number of steps from the start point of the walking section detected by the step number detection means, a distance from the start point is calculated, and the predicted current position of the pedestrian is displayed from the calculated travel distance on the displayed map. A route guidance device for a pedestrian, comprising: output control means for displaying the information on information.
  2. Mode designating means for designating one of the navigation mode and the telephone mode;
    Storage means for storing map information;
    Step number detecting means for detecting the number of steps of the pedestrian;
    Display means for displaying information;
    Instruction means for instructing a start point of a walking section where the pedestrian moves on foot in a specific route between the first and second positions on the map and a start of route guidance in a navigation mode, and a navigation mode In, when the map information is read from the storage means and displayed on the display means, the specific route is displayed on the displayed map information, and when the start of route guidance is instructed by the instruction means, Based on the number of steps from the start point of the walking section detected by the step number detection means, a distance from the start point is calculated, and the predicted current position of the pedestrian is displayed from the calculated travel distance on the displayed map. Output control means for displaying on the information, and displaying a list of ten keys or a plurality of telephone numbers on the display means in the telephone mode,
    A pedestrian route guidance apparatus, comprising: communication means for making a call based on a telephone number input by the numeric keypad or a telephone number selected from the list and enabling telephone communication with the outside.
  3. The pedestrian route guidance device according to claim 1, wherein the step number detection unit includes a three-axis acceleration sensor.
  4. Position specifying means for specifying the first position and the second position on the displayed map information in a navigation mode;
    When the first position and the second position are designated, a cost calculation is performed for each of the routes between the first position and the second position based on information related to the map information. The pedestrian route guidance device according to any one of claims 1 to 3, further comprising: a route calculation unit; and a route selection unit for selecting the specific route from the calculated routes.
  5. The communication means calls another communication station in the telephone mode, receives the position information transmitted from the other communication station, and determines the current position based on the position information received from the outside in the navigation mode. The pedestrian route guidance device according to claim 4, wherein the pedestrian route guidance device is displayed on the map information displayed on the display means.
  6. The communication means may receive map information other than those stored in the storage means from an external station in a navigation mode, and the output control means may display the received map information on the display means. The pedestrian route guidance device according to claim 2, wherein the pedestrian route guidance device is stored in the storage means.
JP34460396A 1996-12-09 1996-12-09 Pedestrian route guidance device Expired - Fee Related JP3558193B2 (en)

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Application Number Priority Date Filing Date Title
JP34460396A JP3558193B2 (en) 1996-12-09 1996-12-09 Pedestrian route guidance device

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Application Number Priority Date Filing Date Title
JP34460396A JP3558193B2 (en) 1996-12-09 1996-12-09 Pedestrian route guidance device

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Publication number Priority date Publication date Assignee Title
IL126555D0 (en) * 1998-10-14 1999-08-17 Sapir Yehoshua A computerized instructional system
JP4476687B2 (en) 2004-05-07 2010-06-09 株式会社ナビタイムジャパン Portable navigation terminal, map display method and program
JP2006300780A (en) * 2005-04-21 2006-11-02 Denso Corp Route search system
EP1788357A1 (en) * 2005-11-16 2007-05-23 Alcatel Lucent System for locating pedestrian user
JP4946469B2 (en) * 2007-01-31 2012-06-06 富士通株式会社 Speed detection program, position identification system, in-vehicle device, and speed detection method
JP5348466B2 (en) * 2008-04-28 2013-11-20 富士通株式会社 Portable terminal device, moving route recording method, and program
JP2011022077A (en) * 2009-07-17 2011-02-03 Yahoo Japan Corp Map display device, and operation method of the same
CN101907467B (en) * 2010-08-06 2012-08-22 浙江大学 Method and device for personal location based on motion measurement information
JP5879048B2 (en) * 2011-04-27 2016-03-08 株式会社ゼンリンデータコム Navigation system
KR102075646B1 (en) * 2019-07-08 2020-02-10 (주)휴먼케어 method for guiding pedestrian crossing route for the blind

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