JP6893705B2 - Mobile guidance system and mobile guidance method - Google Patents

Description

The present invention relates to a moving body guidance system for inducing the stop of movement of a moving body such as a person itself or a vehicle operated by a person, and a moving body guiding method.

Conventionally, a system that urges a person who is moving or a person who operates a vehicle or the like to guide the movement by using the light emitted from the road surface or the wall surface or the light emitted from the road surface or the wall surface. There is.

In this type of system, a panel provided with a light emitting unit forms a floor surface on which a person moves, and a panel corresponding to a previously recognized movement path is made to emit light to present the movement path to a person. Is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2003-308590

However, since the system of Patent Document 1 only presents a movement route, it is possible to guide the movement of the moving body along the movement route, but not to induce the stop of the movement. There was a problem.

In addition, when only the movement route is presented, the person who is moving or the person who operates the vehicle or the like is made to feel that the action is restricted, which makes a person feel a great deal of stress. There was a risk.

The present invention has been made in view of the above points, and is a mobile body guidance system capable of inducing a person involved in a moving body to stop moving the moving body without causing a great deal of stress. , It is an object of the present invention to provide a method for inducing a moving body.

The mobile guidance system of the present invention
A mobile guidance system for stopping the movement of mobiles.
A movement recognition unit that recognizes the movement of the moving body with respect to an assumed position that is a position at which the movement of the moving body is stopped.
It is provided with a sign that can perform movement or a sign generation unit that generates a sign that can perform movement and morphological change.
When the moving body moves to a reference position which is a position separated from the assumed position, the sign generation unit generates the sign on the assumed position side of the moving body, and the moving body causes the moving body to generate the sign. As the reference position approaches the assumed position, the sign is brought closer to the assumed position, and when the sign reaches a position that coincides with the assumed position or a position before the assumed position, the movement of the sign is stopped and a form. It is characterized by performing at least one of the changes in.

Here, the "moving body" includes not only the moving person itself but also a vehicle operated by the person. Further, here, the "form" refers to a color, a shape, a pattern, a pattern of their change, and the like.

As described above, in the moving body guidance system of the present invention, when the moving body moves to the reference position, a sign capable of moving the moving body to the assumed position side (that is, the front side in the moving direction), or Generates markers that can move and change morphology. Then, as the moving body approaches the assumed position from the reference position, the sign is brought closer to the assumed position.

As a result, in this moving body guidance system, when the moving body starts to move from the reference position to the assumed position, the generated sign also starts to move toward the assumed position according to the movement. As a result, the sign indicates one's own action to the person who is a moving body or the person who is operating a vehicle or the like which is a moving body (hereinafter, these people may be referred to as "target person"). It can be shown that it is linked to (and thus induces itself).

After that, when the sign reaches a position that coincides with the assumed position or a position in front of the assumed position, the moving body guidance system executes at least one of stopping the movement of the sign and changing the morphology. That is, in this moving body guidance system, the position where the sign stops or changes (that is, the position where the moving body or the like should stop) is suggested by an indirect method of moving or changing the form of the sign.

As a result, in this moving body guidance system, the target person can be made to recognize the position where the moving body or the like should stop without being particularly conscious (that is, without giving the impression that the moving body or the like is forced).

Therefore, according to the moving body guidance system of the present invention, the target person can be made to recognize the position where the moving body or the like should stop without giving the impression that the moving body or the like should be stopped. It can be stopped at the expected position without stress.

Further, in the mobile guidance system of the present invention,
When the moving body moves to the reference position, the label generation unit preferably generates the sign between the current position of the moving body and the assumed position.

With this configuration, the moving direction of the generated sign can be matched with the moving direction of the moving body. As a result, it is possible to reduce the discomfort (and thus stress) given to the subject related to the moving object by moving the sign.

Further, in the mobile body guidance system of the present invention, in the case of a configuration in which a sign is generated between the current position and the assumed position of the moving body,
The label includes a first label and a second label located closer to the moving body than the first label.
It is preferable that the label generation unit executes at least one of the stop of movement of the second label and the change of morphology with a predetermined time delay from at least one of the stop of movement of the first label and the change of morphology.

With this configuration, the subject is given the impression that the second sign located on the moving body side (that is, the rear side in the moving direction) of the first sign is guided by the first sign. Can be done. At the same time, it is possible to give the subject a strong impression that he / she is being guided by the second sign located in front of him / herself.

As a result, the movement of the moving body related to the target person is performed in response to the change of the second sign at the same timing as the change of the second sign with respect to the change of the first sign without making the target person particularly aware. It can induce a stop. In addition, since the unexpected change of the sign of the subject is suppressed, the stress given to the subject who is looking at the sign can be further reduced.

Further, in the mobile guidance system of the present invention, in the case of a configuration in which the movement and change of the second label is executed with a predetermined time delay from the movement and change of the first label.
It is preferable that the label generation unit performs at least one of stopping the movement of the second label and changing the morphology in the same manner as the first label.

With this configuration, the subject can be made to recognize the timing of change more clearly. As a result, it is possible to more accurately induce the stop of the movement of the moving body related to the target person. In addition, the stress given to the subject who is looking at the sign can be further reduced.

Further, in the mobile guidance system of the present invention,
It is preferable that the sign generation unit brings the sign closer to the assumed position while reducing the moving speed as the moving body approaches the assumed position from the reference position.

With this configuration, it is possible to give the impression that the assumed position is ahead of the position where the moving speed is reduced, without making the subject particularly aware of it. As a result, it is possible to make the target person aware that the timing of stopping the movement of the moving body related to the target person is approaching without making the target person particularly aware. Moreover, since the sudden change of the sign is suppressed, the stress given to the subject who is looking at the sign can be further reduced.

Further, in the mobile guidance system of the present invention,
The sign generation unit moves that the moving body has reached a position that coincides with the assumed position or a position before the assumed position after the sign reaches a position that coincides with the assumed position or a position before the assumed position. When the recognition unit recognizes, it is preferable to perform at least one of the movement of the label, the change of the form of the label, and the generation of a new label.

In this way, when the moving body is configured to perform the movement or change of the sign after the moving body is stopped, the behavior of the person related to the moving body or the moving body is observed depending on the content of the movement or change of the sign. You will be able to convey some kind of message (for example, a reward for stopping) to a third party. As a result, the person involved in the moving object or a third party can be motivated to stop the movement by expecting to receive the message.

In addition, the induction method of the present invention
It is a method of guiding a moving body to stop the movement of the moving body.
A step in which the movement recognition unit recognizes the movement of the moving body with respect to an assumed position which is a position where the movement of the moving body is stopped.
When the sign generation unit moves to a reference position, which is a position separated from the assumed position, the moving body is moved to the assumed position side of the moving body. And the steps to generate a viable indicator of change in
As the moving body approaches the assumed position from the reference position, the sign generation unit brings the sign closer to the assumed position and reaches a position where the sign coincides with the assumed position or a position before the assumed position. It is characterized by comprising a step of stopping the movement of the marker and performing at least one of the morphological changes.

The schematic block diagram of the guidance system which concerns on 1st Embodiment. The block diagram which shows the structure of the processing part of the guidance system of FIG. The flowchart which shows the process performed when the guidance system of FIG. 1 guides a moving body. The schematic diagram which shows the change of the sign generated by the guidance system of FIG. The schematic diagram which shows the change of the sign generated by the guidance system which concerns on 2nd Embodiment. The schematic diagram which shows the change of the sign generated by the guidance system which concerns on 3rd Embodiment.

[First Embodiment]
Hereinafter, the guidance system S (mobile body guidance system) according to the first embodiment and the mobile body guidance method using the guidance system S will be described with reference to FIGS. 1 to 4.

Here, as shown in FIGS. 1 and 4, the guidance system S in the present embodiment is configured as a system for stopping the movement of the moving object P at the assumed line L1 (assumed position). There is.

In addition, the guidance system S in this embodiment and the second embodiment and the third embodiment described later assumes a target person P who is a moving person as a moving body, and the target person P is assumed to be a moving body. It is a system for stopping or guiding the movement. However, the moving body guidance system of the present invention is not limited to such a configuration, and the target moving body may be a person itself, a vehicle operated by a person, or the like.

First, the configuration of the guidance system S will be described with reference to FIGS. 1 and 2.

As shown in FIG. 1, the guidance system S includes a support column 1 grounded on a road shoulder or the like, and a drawing device 2 arranged on the support column 1. As shown in FIG. 2, the drawing device 2 is a sensor 2a (movement recognition unit) that recognizes the movement of the target person P, and a projector 2b (sign generation) that generates a sign on the road surface based on the recognition result of the sensor 2a. Part) and.

In the present embodiment, the sensor 2a uses a so-called motion sensor using infrared rays, ultrasonic waves, visible light, or the like.

The movement recognition unit of the present invention is not limited to such a motion sensor, and can recognize the movement of the moving body with respect to the assumed position which is the position where the movement of the moving body is guided or stopped. Just do it. For example, a GPS sensor held by a moving body may be used as a movement recognition unit, and the position information obtained by the GPS sensor may be used.

As will be described later, the projector 2b can generate the first sign M1 and the second sign M2 on the road surface, and the form of the sign and the moving speed (hereinafter, collectively referred to as "form and the like"). ) Is configured to be freely changeable.

Here, the "morphology" refers to colors, shapes, patterns, patterns of their changes, and the like.

The sign generation unit of the present invention is not limited to the projector, and may be any one capable of generating a sign whose form and the like can be changed. For example, instead of the projector, an irradiation device using a laser or an LED may be used. Further, for example, as in the system described in Patent Document 1, the floor surface of the moving region of the moving body may be configured by a light emitting panel or the like, and a sign may be generated through the light emitting panel.

Further, the change of the form or the like in the present invention can be made by changing the light beam to be irradiated or emitted to change the form or the like of the sign drawn by the light beam, or by exchanging or moving the slide film. It may be realized by using a method such as changing the form of the sign drawn through the slide film.

Further, the generation position of the sign of the present invention is not limited to the road surface, and may be on the assumed position side of the moving body. For example, in the case of the present embodiment, the assumed line L1 may be generated on the opposite side of the reference line L2 (see FIG. 4 and the like). Further, it may be generated on a wall surface provided on the side of the moving path between the moving body and the assumed position. Further, a three-dimensional sign may be generated in the space on the assumed position side of the moving body by using smoke, a laser, or the like.

Next, with reference to FIGS. 1 to 3, a process (that is, a moving body guidance method) executed when the guidance system S guides the target person P will be described.

In this process, first, the sensor 2a of the guidance system S is a reference line defined at a position separated from the assumed line L1 (specifically, the front side of the assumed line L1 in the moving direction of the target person P). It is determined whether or not the subject P has reached L2 (reference position) (FIG. 3 / STEP1).

When it is determined that the subject P has not reached the reference line L2 (NO in STEP1), the sensor 2a executes the process of STEP1 again.

On the other hand, when it is determined that the subject P has reached the reference line L2 (YES in STEP1), the projector 2b generates the first label M1 and the second label M2 (FIG. 3 / STEP2).

Specifically, the projector 2b has the first marker M1 and the first marker M1 between the current position of the target person P (that is, the reference line L2) and the assumed line L1 (that is, the assumed line L1 side of the target person P). A second label M2 located closer to the subject P than the first label is generated.

With this configuration, the moving directions of the generated first and second signs M1 and second signs M2 can be made to match the moving directions of the target person P. As a result, the discomfort (and thus stress) given to the subject P by the movement of the first sign M1 and the second sign M2 can be reduced.

Next, the sensor 2a determines whether or not the target person P has moved so as to approach the assumed line L1 (FIG. 3 / STEP3).

When it is determined that the subject P has not moved so as to approach the assumed line L1 (NO in STEP3), the projector 2b erases the generated first marker M1 and second marker M2 (FIG. 3). / STEP4).

Specifically, when the sensor 2a recognizes that the target person P is moving away from the assumed line L1, the projector 2b erases the first sign M1 and the second sign M2.

When the sensor 2a recognizes that the target person P has not moved with respect to the assumed line L1, the projector 2b places the first sign M1 and the second sign M2 at the currently generated positions and shapes. Maintain at.

On the other hand, when it is determined that the target person P is moving so as to approach the assumed line L1 (YES in STEP3), the projector 2b moves the generated first marker M1 and second marker M2. At the same time, the shape is changed (Fig. 3 / STEP5).

Specifically, in the present embodiment, as will be described later, when the target person P is moving near the reference line L2, the first marker M1 and the second marker M2 are linked to the movement of the target person P. The shape of the subject P changes while moving away from the subject P, and when the subject P moves near the assumed line L1, the movement and the change of the shape of the first marker M1 and the second marker M2 are stopped. To.

Next, the projector 2b determines whether or not the first marker M1 and the second marker M2 have reached the specified positions (FIG. 3 / STEP6).

In the present embodiment, the specified position of the first sign M1 is set as a line corresponding to the assumed line L1, and the specified position of the second sign M2 is a predetermined distance to the reference line L2 side with respect to the assumed line L1. It is set as a line located at a distant position (see FIG. 4, especially FIG. 4E). Then, the projector 2b determines whether or not the first sign M1 and the second sign M2, which are generated and moved by the projector 2b, have reached the predetermined positions with respect to each of them.

If it is determined that the first marker M1 and the second indicator M2 have not reached the specified positions (NO in STEP6), the process returns to STEP5, and the projector 2b moves the first indicator M1 and the second indicator M2. continue.

On the other hand, when it is determined that the first marker M1 and the second indicator M2 have reached the specified positions (YES in STEP 6), the projector 2b stops the movement of the first indicator M1 and the second indicator M2, and then stops the movement of the first indicator M1 and the second indicator M2. This process is completed (Fig. 3 / STEP7).

Next, with reference to FIG. 4, the movement of the first label M1 and the second label M2 and the change in shape executed in STEP5 to STEP7 of the process described with reference to FIG. 3 will be described in detail.

Here, the guidance system S of the present embodiment is configured to guide the target person P, which is a moving body that has reached the reference line L2, to stop before the assumed line L1. Therefore, in the present embodiment, the reference line L2 is provided on the front side in the moving direction of the target person P in a plan view with respect to the assumed line L1.

First, as shown in FIG. 4A, when the target person P reaches the reference line L2, the first sign is between the reference line L2 and the assumed line L1 (that is, the front side in the moving direction of the target person P). M1 and a second marker M2 located closer to the subject P than the first marker are generated.

At this time, the shapes of the first sign M1 and the second sign M2 are both band-shaped so as to be convex toward the assumed line L1.

Next, when the subject P approaches the assumed line L1 so as to transition from the state of FIG. 4A to the state of FIG. 4B, the first marker M1 and the second marker M2 also change according to the movement of the subject P. Move so as to approach the assumed line L1.

At this time, the moving speeds of the first marker M1 and the second marker M2 are not the same, and the moving speed of the first marker M1 is set to be slower than the moving speed of the second speed M2. Therefore, as the subject P approaches the assumed line L1, the distance between the first sign M1 and the second sign M2 becomes shorter.

Further, at this time, the moving speeds of the first sign M1 and the second sign M2 are not constant, and are set to gradually slow down as they approach the assumed line L1. Therefore, as the subject P approaches the assumed line L1, the distance between the subject P and the first marker M1 and the second marker M2 becomes shorter.

When the moving speeds of the first marker M1 and the second marker M2 are configured to be gradually reduced in this way, the assumed line L1 is ahead of the position where the moving speed starts to decrease without making the subject P particularly aware. It can give the impression that there is.

As a result, the guidance system S can make the subject P recognize that the timing of the movement route or the movement mode (stopping the movement in the present embodiment) of the subject P is approaching without making the subject P particularly aware of it. It has become like. Further, unlike the case where the moving speed is not reduced, the sudden change in the morphology of the first label M1 and the second label M2 is suppressed, which surprises the subject P who is watching it. That is also suppressed.

Next, when the subject P approaches the assumed line L1 further so as to transition from the state of FIG. 4B to the state of FIG. 4C, the first marker M1 and the second marker M2 also move according to the movement of the subject P. , Further move closer to the assumed line L1.

As a result, the first marker M1 approaches the defined position with respect to the first marker M1 (in the present embodiment, the position corresponding to the assumed line L1), and the second marker M2 approaches the defined position with respect to the second indicator (this). In the embodiment, when approaching the position on the front side of the assumed line L1), the shape of the band-shaped first marker M and the shape of the second marker M2 begin to change so that both ends thereof are separated from each other.

At this time, the change in the shape of the second label M2 is started with a predetermined time delay from the change in the shape of the first label M1. With this configuration, the second marker M2 located on the subject P side (that is, the rear side in the moving direction) with respect to the subject P is guided to the first marker M1. Can give the impression. At the same time, it is possible to give the subject P the impression that he / she is being guided by the second sign M2 located in front of him / herself.

As a result, the subject P responds to the change of the second marker M2 at the same timing as the timing of the change of the second marker M2 sense with respect to the change of the first marker M1 without making the subject P particularly aware. It is possible to induce the movement mode to be changed (specifically, the movement speed is reduced). In addition, since changes in the morphology of the first label M1 and the second label M2 that the subject P does not anticipate are suppressed, it is also suppressed that the subject P looking at them is surprised.

In the present embodiment, the change in the form of the first label M1 and the like and the change in the form and the like of the second label M2 are the same. However, even if the content of the change in each form or the like is different, if the change in the form or the like of the first label M1 is delayed by a predetermined time and the change in the form or the like of the second label M2 is caused to some extent. A similar effect can be obtained.

Next, when the subject P approaches the assumed line L1 further so as to transition from the state of FIG. 4C to the state of FIG. 4D, the first marker M1 stops at the specified position, and the change in its shape is also completed. .. Further, the second marker M2 stops at the specified position, and its shape further changes.

Next, when the subject P further approaches the assumed line L1 so as to transition from the state of FIG. 4D to the state of FIG. 4E, the position and shape of the first marker M1 are maintained in the state of FIG. 4D. Further, the change in the shape of the second marker M2 is completed while it is stopped at the specified position.

Finally, as shown in FIG. 4E, the first marker M1 stops so as to coincide with the assumed line L1, and the second marker M2 stops before the assumed line L1. With this configuration, the first sign M1 and the second sign M2 not only move prior to the subject P, but also stop so as to point to the assumed line L1. As a result, the target person P can be guided to stop at the assumed line L1 without making the target person P particularly conscious.

As described above, when the moving object P moves to the reference line L2, the guidance system S moves and forms the target person P on the assumed line L1 side (that is, the front side in the moving direction). The first label M1 and the second label M2 label that can carry out the change of the above are generated. Then, as the subject P approaches the assumed line L1 from the reference line L2, the first marker M1 and the second marker M2 are brought closer to the assumed positions.

As a result, in this guidance system S, when the subject P starts to move from the reference line L2 toward the assumed line L1, the generated first label M1 and second label M2 are also generated according to the movement. Start moving toward the expected position. In other words, between the reference line L2 and the assumed line L1, the first sign M1 and the second sign M2 are linked to one's own movement with respect to the target person P (and by extension,). , To induce oneself).

After that, in this guidance system S, when the first marker M1 reaches a position corresponding to the assumed line L1 and the second marker M2 reaches the front side of the assumed line L1, the first marker M1 and the second marker M2 Stop moving and change morphology. That is, in this guidance system S, the position where the first label M1 and the second label M2 are stopped or changed (that is, the position where the subject P should stop) is the movement or the form of the first label M1 and the second label M2. It is suggested by the indirect method of change of.

As a result, in this guidance system S, the subject P can be made to recognize the position where the subject P should stop without being particularly aware of it (that is, without giving the impression that the subject P is forced).

Therefore, according to the guidance system S, the position where the target person P should stop can be made to be recognized by the target person P without giving the impression that the target person P is forced to stop. , Can be stopped without stress.

It should be noted that the movement of the label and the change in the form of the label (and thus the method of guiding the mobile body) executed in the mobile body guidance system of the present invention are carried out in STEP5 to STEP7 in FIG. 3 (that is, FIG. In addition to the one described with reference to 4), the one performed after STEP 7 may be included.

Specifically, for example, in the above embodiment, after the first marker M1 reaches a position corresponding to the assumed line L1 and the second marker M2 reaches the front of the assumed line L1, the subject P reaches the second marker. When the sensor 2a recognizes that the vehicle has stopped in the vicinity of the M2, the projector 2b may be configured to make a predetermined expression regarding the sign.

Here, as a predetermined expression regarding the sign, for example, blinking of the first sign M1 and the second sign M2 that have already been displayed, a change in their colors, and a new sign (for example, a character such as TAHNKYOU). Display etc. are included. In addition to this, various variations such as animation and changing geometric design can be assumed as patterns according to the field and the situation.

With this configuration, the operation of the target person P and the third party who saw that the target person P stopped due to the change of the sign (here, the fact that the target person P stopped). ) Will be able to convey a message such as thank you. As a result, the subject P and the third party can be motivated to stop the movement by expecting to receive the message.

The position where these expressions are expressed is not limited to the road surface or the like on which the first sign M1 and the second sign M2 have been displayed, and the field of view of the target person P and a third party who want to be motivated. Any place you can enter. For example, it may be a wall surface adjacent to a road surface, a utility pole, or the like.

By changing the position where the expression is performed in this way, the line of sight of the subject P and the third party can be guided in a predetermined direction.

For example, when the subject P is guided by the first sign M1 and the second sign M2, the line of sight of the subject P may be fixed on the road surface if it is left as it is. Therefore, after that, if the expression is made on the side wall of the road surface or the like, the line of sight of the subject P is guided in that direction, and the subject P can easily notice that another person or the like is approaching from that direction. be able to.

[Second Embodiment]
Hereinafter, the guidance system S according to the second embodiment will be described with reference to FIG.

In addition, the guidance system S of the second embodiment and the mobile body guidance method using the same guide system S of the first embodiment, except that the mode of change such as the movement and the form of the displayed sign is different. And, it has the same configuration as the moving body guidance method using it. Therefore, in the following description, the same or corresponding configurations are designated by the same reference numerals, and detailed description thereof will be omitted.

Here, the guidance system S of the present embodiment is configured to guide the target person P, which is a moving body that has reached the reference line L2, so as to change the direction and stop before the assumed line L1. There is.

Therefore, in the present embodiment, the reference line L2 is provided so as to intersect the assumed line L1 in a plan view. Further, a change line L3 is provided between the reference line L2 and the assumed line L1 as a reference position for changing the moving direction of the target person P. The direction of the change line L3 is the same as that of the reference line L2.

First, as shown in FIG. 5A, when the subject P reaches the reference line L2, the band-shaped first marker M1 and the subject P rather than the first marker between the reference line L2 and the change line L3. A strip-shaped second marker M2 located on the side is generated.

Next, when the subject P approaches the change line L3 so as to transition from the state of FIG. 5A to the state of FIG. 5B, the first marker M1 and the second marker M2 also change according to the movement of the subject P. Move closer to the change line L3.

Next, when the subject P approaches the change line L3 further so as to transition from the state of FIG. 5B to the state of FIG. 5C, the first marker M1 is attached to one end portion according to the movement of the subject P. It rotates around (the upper end in FIG. 5) as a fulcrum and moves slightly so as to approach the assumed line L1. Further, the second marker M2 further moves so as to approach the change line L3.

At this stage, it is suggested to the subject P that the movement direction is changed with reference to the change line L3 by the rotation and movement of the first marker M1.

Next, when the subject P further approaches the change line L3 so as to transition from the state of FIG. 5C to the state of FIG. 5D, the first marker M1 moves so as to approach the relative line L1 while further rotating. .. Further, the second marker M2 starts to rotate with one end (upper end in FIG. 5) as a fulcrum.

Next, when the subject P starts to move toward the assumed line L1 with the position corresponding to the change line L3 as a boundary so as to transition from the state of FIG. 5D to the state of FIG. 5E, the subject P In response to the movement of the first marker M1, the first marker M1 rotates until it reaches the assumed line L1 which is the specified position, and then stops. Further, the second marker M2 rotates further.

Next, when the subject P further approaches the assumed line L1 so as to transition from the state of FIG. 5E to the state of FIG. 5F, the first marker M1 is maintained in the state of FIG. 5E while being stopped. Further, the second marker M2 rotates until it reaches the specified position (the position on the front side of the assumed line L1) and then stops.

The guidance system S of the present embodiment configured in this way can also achieve the same effect as the guidance system S of the first embodiment.

[Third Embodiment]
Hereinafter, the guidance system S according to the third embodiment will be described with reference to FIG.

The guidance system S of the third embodiment and the mobile body guidance method using the guidance system S of the first embodiment are different from the mode of change such as movement and form of the displayed sign. And, it has the same configuration as the moving body guidance method using it. Therefore, in the following description, the same or corresponding configurations are designated by the same reference numerals, and detailed description thereof will be omitted.

Here, the guidance system S of the present embodiment maintains the moving direction (upward direction in FIG. 6) after the subject P, which is a moving body that has reached the reference line L2, is brought closer to the assumed line L1 to some extent. At the same time, it is configured to guide the user to approach the direction of intersection (on the left side in FIG. 6) with respect to the moving direction, and then stop before the assumed line L1.

Therefore, a change line L3 is provided between the reference line L2 and the assumed line L1 as a reference position for changing the movement path of the subject P.

First, as shown in FIG. 6A, when the subject P reaches the reference line L2, between the reference line L2 and the change line L3, a strip-shaped first marker M1 and a subject P rather than the first marker P. A strip-shaped second marker M2 located on the side is generated.

Next, when the subject P approaches the assumed line L1 so as to transition from the state of FIG. 6A to the state of FIG. 6B, the first marker M1 and the second marker M2 also change according to the movement of the subject P. Move closer to the change line L3. It is assumed that the first marker M1 reaches the change line L3 when the state shown in FIG. 6B is reached.

Next, when the subject P approaches the change line L3 so as to transition from the state of FIG. 6B to the state of FIG. 6C, the position of the first marker M1 is changed to the assumed line according to the movement of the subject P. As it approaches L1, the shape of the first marker M1 begins to change to shorten its width (specifically, the right end in FIG. 6 approaches the left end). Further, the second marker M2 further moves so as to approach the change line L3. Here, it is assumed that the second marker M2 also reaches the change line L3 at the stage of the state shown in FIG. 6C.

At this stage, it is suggested to the subject P that the movement route is changed with reference to the change line L3 due to the change in the form of the first marker M1.

Next, when the target person P moves until the change line L3 is reached so as to transition from the state of FIG. 6C to the state of FIG. 6D, the position of the first marker M1 is changed according to the movement of the target person P. Further approaching the assumed line L1, the shape of the first marker M1 changes to further shorten its width. Further, the position of the second sign M2 also approaches the assumed line L1, and the shape of the second sign M2 also begins to change so as to shorten the width thereof, similarly to the first sign M1.

Next, the subject P starts moving toward the assumed line L1 side while changing the movement path with the position corresponding to the change line L3 as the boundary so as to transition from the state of FIG. 6D to the state of FIG. 6E. Then, the movement of the first sign M1 is stopped when it reaches the assumed line L1 which is the specified position, and at the same time, the change in the shape of the first sign M1 is completed. Further, the position of the second marker M2 is closer to the assumed line L1, and the shape of the second marker M2 is changed so as to further shorten the width thereof.

Next, when the subject P further approaches the assumed line L1 so as to transition from the state of FIG. 6E to the state of FIG. 6F, the first marker M1 is maintained in the state of FIG. 6E while being stopped. Further, the position of the second sign M2 stops when it reaches the specified position (the position on the front side of the assumed line L1), and at the same time, the change in the shape of the second sign M2 is completed.

The guidance system S of the present embodiment configured in this way can also achieve the same effect as the guidance system S of the first embodiment.

[Other Embodiments]
Although the illustrated embodiment has been described above, the present invention is not limited to such an embodiment.

For example, in the above embodiment, the first label M1 and the second label M2 generated by the projector 2b, which is the label generation unit, are configured so that the shape can be changed and the moving speed can be changed. There is. However, the label of the present invention is not limited to such a configuration, and may be any one capable of performing movement or a change of movement and morphology.

For example, the moving speed of the sign may be constant. Further, the sign may be one in which the form does not change and only movement can be performed. Further, the change in morphology may be a change in color, a pattern, and a pattern of a combination thereof, in addition to a change in shape.

Further, in the above embodiment, the first label M1 and the second label M2 are generated as labels. However, the number of labels produced in the present invention is not limited to two. For example, the number of labels may be one or three or more. Further, as one of the changes in morphology, one sign may be divided into a plurality of signs, or a plurality of signs may be integrated into one.

1 Strut 2 Drawing device 2a Sensor (movement recognition unit)
2b projector (sign generator)
L1 Assumed line (Assumed position)
L2 reference line (reference position)
L3 Change line M1 1st sign M2 2nd sign P Target person (moving body)
S Guidance System (Mobile Guidance System)

Claims (5)

A mobile guidance system for stopping the movement of mobiles.
A movement recognition unit that recognizes the movement of the moving body with respect to an assumed position that is a position at which the movement of the moving body is stopped.
It is provided with a sign that can perform movement or a sign generation unit that generates a sign that can perform movement and morphological change.
The label includes a first label and a second label located closer to the moving body than the first label.
The label generator
When the moving body moves to a reference position which is a position separated from the assumed position, the first marker and the second marker are generated between the current position of the moving body and the assumed position. ,
As the moving body approaches the assumed position from the reference position, the closer the first label to the assumed position, when the first indicator has reached the front position or the assumed position matching the assumed position , performing at least one of a change in stop and forms of movement of the first label, and, together with the closer the second label to the assumed position, the position or the assumed position said second label is consistent with the assumed position When it reaches the front of the first marker, at least one of the stoppage of movement and the change of morphology of the second marker is executed with a predetermined time delay from at least one of the stop of movement of the first marker and the change of morphology. Mobile guidance system. In the mobile guidance system according to claim 1,
The mobile body guidance system, wherein the label generation unit executes at least one of stopping the movement of the second label and changing the morphology in the same manner as the first label. In the mobile guidance system according to claim 1 or 2.
The mobile body guidance system is characterized in that, as the moving body approaches the assumed position from the reference position, the sign generating unit brings the sign closer to the assumed position while reducing the moving speed. In the mobile guidance system according to any one of claims 1 to 3.
The sign generation unit moves that the moving body has reached a position that coincides with the assumed position or a position before the assumed position after the sign reaches a position that coincides with the assumed position or a position before the assumed position. A mobile guidance system comprising, upon recognition by a recognition unit, at least one of movement of the sign, change in morphology of the sign, and generation of a new sign. It is a method of guiding a moving body to stop the movement of the moving body.
A step in which the movement recognition unit recognizes the movement of the moving body with respect to an assumed position which is a position where the movement of the moving body is stopped.
When the sign generation unit moves to a reference position where the moving body is separated from the assumed position, a sign capable of moving between the current position of the moving body and the assumed position. Alternatively, a step of generating a first label and a second label located closer to the moving body than the first label as markers capable of moving and changing the form, and
Label generation section, wherein as mobile approaches the assumed position from the reference position, the made closer to the first label to the assumed position, before the position or the assumed position of the first label matches the expected position upon reaching, performing at least one of a change in stop and forms of movement of the first label, and, together with the closer the second label to the assumed position, the second label is consistent with the assumed position When the position or the assumed position is reached, at least one of the stop of movement of the second marker and the change of morphology is delayed by a predetermined time from at least one of the stop of movement of the first marker and the change of morphology. A method of guiding a moving object, characterized in that it comprises a step to be performed.

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