JP7359487B2 - Guide route generation device, guide route generation method, program and recording medium - Google Patents

Description

The present invention relates to a guide route generation device, a guide route generation method, a program, and a recording medium.

2. Description of the Related Art A technique for receiving guidance services from a guidance display device that displays guidance such as a map has been reported (for example, Patent Document 1).

Japanese Patent Application Publication No. 2017-163294

However, there is a need for a technology that can alleviate congestion on the route to the guide destination, for example.

Therefore, an object of the present invention is to provide a guide route generation device, a guide route generation method, a program, and a recording medium that can alleviate congestion.

In order to achieve the above object, the guide route generation device of the present invention includes:
including an acquisition unit, a division unit, an estimation unit, a density calculation unit, a determination unit, a reference grid selection unit, and a guide route generation unit,
The acquisition unit acquires information on a map of a specific area including information on a start point and a goal point, information on a route from the start point to the goal point, and video data obtained by capturing an image of the specific area from above. death,
The dividing unit divides the map of the specific area into grid units divided at predetermined intervals,
The estimation unit estimates the number of guidance targets for each grid unit from the video data,
The density calculation unit calculates the density of the guided objects in each grid unit based on the number of guided objects,
The determination unit determines whether the density of the entire specific area exceeds a preset value based on the density of the guidance target,
When the reference grid selection unit exceeds the value, the reference grid selection unit connects the start point and the goal point with a straight line, and selects the density from among the grid units included in a planar figure having the connected straight line as one side. Select a reference grid based on
The guide route generation unit is a device that generates a route connecting the start point, the goal point, and the reference grid as a guide route based on the route information.

The guided route generation method of the present invention includes:
Including an acquisition process, a division process, an estimation process, a density calculation process, a determination process, a reference grid selection process, and a guide route generation process,
The acquisition step acquires information on a map of a specific area including information on a start point and a goal point, information on a route from the start point to the goal point, and video data obtained by capturing an image of the specific area from above. death,
The dividing step divides the map of the specific area into grid units divided at predetermined intervals;
The estimation step estimates the number of guided objects for each grid from the video data,
The density calculation step calculates the density of the guided objects in each grid unit based on the number of guided objects,
The determination step determines whether the density of the entire specific area exceeds a preset value based on the density of the guidance target,
In the reference grid selection step, if the value exceeds the value, the starting point and the goal point are connected with a straight line, and the density is selected from among the grid units included in a planar figure having the connected straight line as one side. Select a reference grid based on
The guide route generation step is a method of generating a route connecting the start point, the goal point, and the reference grid as a guide route based on the route information.

The program of the present invention is
A program for causing a computer to execute procedures including an acquisition procedure, a division procedure, an estimation procedure, a density calculation procedure, a determination procedure, a reference grid selection procedure, and a guidance route generation procedure,
The acquisition procedure acquires information on a map of a specific area including information on a start point and a goal point, information on a route from the start point to the goal point, and video data obtained by capturing an image of the specific area from above. death,
The dividing procedure includes dividing the map of the specific area into grid units separated at predetermined intervals;
The estimation procedure includes estimating the number of guided objects for each grid from the video data,
The density calculation procedure calculates the density of the guided objects in each grid unit based on the number of guided objects,
The determination procedure determines whether the density of the entire specific area exceeds a preset value based on the density of the guidance target,
In the reference grid selection procedure, if the value exceeds the value, the starting point and the goal point are connected with a straight line, and the density is selected from among the grid units included in a planar figure having the connected straight line as one side. Select a reference grid based on
The guide route generation procedure is a program that generates a route connecting the start point, the goal point, and the reference grid as a guide route based on the route information.

According to the present invention, congestion can be alleviated.

FIG. 1 is a block diagram showing the configuration of an example of an apparatus according to the first embodiment. FIG. 2 is a block diagram showing an example of the hardware configuration of the device according to the first embodiment. FIG. 3 is a flowchart illustrating an example of processing in the apparatus of the first embodiment. FIG. 4 is a schematic diagram showing an example of processing in the reference grid selection section of the apparatus according to the first embodiment. FIG. 5 is a schematic diagram illustrating an example of processing in the guide route generation unit of the device according to the first embodiment. FIG. 6 is a schematic diagram showing an example of a case where the start point and goal point become the goal point and start point for other guided targets in the same specific area. FIG. 7 is a schematic diagram showing an example of a case where the start point and goal point become the goal point and start point for other guided targets in the same specific area. FIG. 8 is a schematic diagram showing an example in which the device of Embodiment 1 is applied to a station. FIG. 9 is a flowchart illustrating an example of processing in the apparatus of the second embodiment. FIG. 10 is a schematic diagram showing an example of the traveling direction. FIG. 11 is a block diagram showing the configuration of an example of a device according to the third embodiment. FIG. 12 is a schematic diagram showing an example of a display device installed on the lower surface within a specific area. FIG. 13 is a schematic diagram showing an example of the density of each grid unit displayed on the display device.

In the guidance route generation device of the present invention, for example, when the guidance target is a human, the estimation unit may calculate the number of humans based on at least one of the human's face, head, and attachment attached to the head. It may also be an aspect of estimating.

In the guidance route generation device of the present invention, for example, the density calculation section may calculate the density based on a preset occupied area per guidance target.

In the guide route generation device of the present invention, for example, when there are a plurality of routes from the start point to the goal point, the reference grid selection unit may select the density of the grid unit included in the route among the plurality of routes. The reference grids are selected in the order of the routes with the highest sum of
The guide route generation unit may generate the guide routes in descending order of the sum of the densities.

In the guide route generation device of the present invention, for example, the guide route generation unit may widen the width of the guide route when the guide route and another guide route having the same goal point overlap. There may be.

In the guide route generation device of the present invention, for example, when the guide route generated by the guide route generator overlaps with another guide route having a different goal point, the reference grid selection unit re-selects the reference grid. It may also be an aspect of selecting.

In the guidance route generation device of the present invention, for example, the estimation unit further estimates the traveling direction of the guidance target from the video data when the value exceeds the value;
The density calculating unit calculates the density of the guided target for each traveling direction in one grid unit based on the estimated traveling direction,
The reference grid selection unit may select the reference grid based on the density in the traveling direction.

The guide route generation device of the present invention further includes, for example, a display control section,
The display control unit may control a display device installed on a lower surface within the specific area to display the generated guide route.

In the guide route generation device of the present invention, for example, the display control unit may control the display device to display the density of each grid unit.

In the guidance route generation method of the present invention, for example, in the case where the guidance target is a human, the estimation step includes determining the number of humans based on at least one of the human's face, head, and attachment worn on the head. It may also be an aspect of estimating.

In the guidance route generation method of the present invention, for example, the density calculation step may be such that the density is calculated based on a preset occupied area per guidance target.

In the guide route generation method of the present invention, for example, in the reference grid selection step, when there are a plurality of routes from the start point to the goal point, the density of the grid unit included in the route among the plurality of routes is The reference grids are selected in the order of the routes with the highest sum of
In the guide route generation step, the guide routes may be generated in descending order of the sum of the densities.

In the guide route generation method of the present invention, for example, in the guide route generation step, when the guide route and another guide route having the same goal point overlap, the width of the guide route is widened. There may be.

In the guide route generation method of the present invention, for example, in the reference grid selection step, if the guide route generated in the guide route generation step and another guide route having a different goal point overlap, the reference grid is re-selected. It may also be an aspect of selecting.

In the guidance route generation method of the present invention, for example, the estimating step further includes estimating the traveling direction of the guidance target from the video data when the value exceeds the value;
The density calculation step calculates the density of the guided target for each traveling direction in one grid unit based on the estimated traveling direction,
In the reference grid selection step, the reference grid may be selected based on the density in the traveling direction.

The guide route generation method of the present invention further includes, for example, a display control step,
The display control step may be such that a display device installed on a lower surface within the specific area is controlled to display the generated guide route.

In the guide route generation method of the present invention, for example, the display control step may be such that the display device is controlled to display the density of each grid unit.

The program of the present invention is a program for causing a computer to execute each step of the method of the present invention as a procedure.

The recording medium of the present invention is a computer-readable recording medium that records the program of the present invention.

In the present invention, the "specific area" is not particularly limited, and may be any area in which a start point and a goal point can be set. Specifically, examples include areas such as stations, event venues, department stores, shopping malls, and areas around expressway toll gates.

Embodiments of the present invention will be described using figures. The present invention is not limited to the following embodiments. In each figure below, the same parts are given the same reference numerals. In addition, the explanations of each embodiment can refer to each other unless otherwise mentioned, and the configurations of the embodiments can be combined unless otherwise mentioned.

[Embodiment 1]
FIG. 1 is a block diagram showing the configuration of an example of a guide route generation device 10 of this embodiment. As shown in FIG. 1, the device 10 includes an acquisition section 11, a division section 12, an estimation section 13, a density calculation section 14, a determination section 15, a reference grid selection section 16, and a guide route generation section 17.

The present device 10 may be, for example, a single device including each of the sections described above, or may be a device to which each of the sections can be connected via a communication network. Further, the device 10 can be connected to an external device, which will be described later, via the communication line network. The communication line network is not particularly limited, and any known network may be used, and may be wired or wireless, for example. Examples of the communication line network include the Internet line, WWW (World Wide Web), telephone line, LAN (Local Area Network), SAN (Storage Area Network), DTN (Delay Tolerant Networking), etc. . Examples of wireless communication include WiFi (Wireless Fidelity), Bluetooth (registered trademark), and the like. The wireless communication may be either direct communication between devices (Ad Hoc communication) or indirect communication via an access point. This device 10 may be incorporated into a server as a system, for example. Further, the device 10 may be, for example, a personal computer (PC, e.g., desktop type, notebook type), a smartphone, a tablet terminal, etc., on which the program of the present invention is installed.

FIG. 2 illustrates a block diagram of the hardware configuration of this device 10. The device 10 includes, for example, a central processing unit (CPU, GPU, etc.) 101, a memory 102, a bus 103, a storage device 104, an input device 105, a display device 106, a communication device 107, and the like. Each part of the hardware configuration of the device 10 is interconnected via a bus 103 by respective interfaces (I/Fs).

A central processing unit (central processing unit) 101 is responsible for overall control of the device 10. In this device 10, a central processing unit 101 executes, for example, the program of the present invention and other programs, and also reads and writes various information. Specifically, for example, the central processing unit 101 functions as the acquisition unit 11, the division unit 12, the estimation unit 13, the density calculation unit 14, the determination unit 15, the reference grid selection unit 16, and the guide route generation unit 17.

For example, the bus 103 can also be connected to an external device. Examples of the external device include an external database, a printer, a storage device, an imaging device, and the like. The device 10 can be connected to the communication network, for example, by a communication device 107 connected to the bus 103, and can also be connected to an external device via the communication network.

An example of the memory 102 is a main memory (main storage device). When the central processing unit 101 performs processing, the memory 102 reads various operating programs such as the program of the present invention stored in the storage device 104 (described later), and the central processing unit 101 reads various operating programs from the memory 102. Receive data and execute program. The main memory is, for example, a RAM (random access memory). Further, the memory 102 may be, for example, a ROM (read-only memory).

The storage device 104 is also referred to as a so-called auxiliary storage device in contrast to the main memory (main storage device), for example. As mentioned above, the storage device 104 stores operating programs including the program of the present invention. The storage device 104 may be, for example, a combination of a recording medium and a drive that reads from and writes to the recording medium. The recording medium is not particularly limited, and may be of a built-in type or an external type, and examples include HD (hard disk), CD-ROM, CD-R, CD-RW, MO, DVD, flash memory, memory card, etc. It will be done. The storage device 104 may be, for example, a hard disk drive (HDD) in which a recording medium and a drive are integrated, or a solid state drive (SSD).

In the device 10, the memory 102 and the storage device 104 can also store access information and log information from an administrator, as well as information obtained from an external database (not shown).

The device 10 further includes an input device 105 and a display device 106, for example. The input device 105 is, for example, a touch panel, a keyboard, a mouse, or the like. Examples of the display device 106 include an LED display, a liquid crystal display, and the like.

Next, an example of the guide route generation method of this embodiment will be explained based on the flowchart of FIG. 3. The guide route generation method of this embodiment is carried out as follows using, for example, the guide route generation device 10 of FIG. 1. Note that the guide route generation method of this embodiment is not limited to the use of the guide route generation device 10 of FIG. 1.

First, the acquisition unit 11 collects information on a map of a specific area including information on a start point and a goal point, information on a route from the start point to the goal point, and video data obtained by capturing an image of the specific area from above. (S1). The start point and the goal point are not particularly limited; for example, if the specific area is an event venue, the start point is "any point in the direction of progress toward the entrance gate of the event"; The goal point becomes the "entrance gate for the event." Further, when the specific area is a station and a guidance route (described later) is generated in the direction from the train to the ticket gate, the starting point is the "train door" and the goal point is the "ticket gate." On the other hand, when generating a guidance route (described later) in the direction from the ticket gate to the train, the starting point is the "ticket gate" and the goal point is the "train door." There may be multiple start points and multiple goal points. The moving image data can be obtained from an external imaging device via the communication line network, for example. Further, the present device 10 may further include an imaging device that captures the moving image data. Each of the imaging devices may be fixedly arranged above an entrance indoors or outdoors, for example. Further, each of the imaging devices may be mounted on an autonomous flying device such as a drone, for example.

Next, the dividing unit 12 divides the map of the specific area into grid units divided at predetermined intervals (S2). The predetermined interval is not particularly limited, and can be arbitrarily determined depending on the area of the specific area, for example. A drawing of the map divided into grid units is also referred to as a grid drawing, for example.

Next, the estimation unit 13 estimates the number of guidance targets for each grid from the video data (S3). The target to be guided is not particularly limited, and may be, for example, a human, a moving object, or the like. The movable body is not particularly limited, and may be a device that can be operated by a person on board, or a device that can be remotely controlled. Specific examples include automobiles, trains, ships, watercraft, and flying devices such as drones. For example, when the guidance target is a human being, the estimating unit 13 estimates the number of humans from at least one of the human face, head, and attachment attached to the head. Examples of the wearable items include glasses, sunglasses, hats, and masks.

Next, the density calculation unit 14 calculates the density of the guided objects in each grid unit based on the number of guided objects (S4). The density calculation unit 14 may calculate the density based on a preset occupied area per guidance target, for example. The occupied area can be set, for example, from the average value of the shoulder width of the person, the size of the chest plate, etc., or the average value of the size of the moving object. Specifically, the density is calculated, for example, by multiplying the area occupied by each guided object by the number of guided objects, and dividing the multiplied value by the area of the grid unit. Further, the density may be calculated in percentage (%).

Next, the determination unit 15 determines whether the density of the entire specific area exceeds a preset value, based on the density of the guidance targets (S5). The value is not particularly limited and can be set arbitrarily, for example, 60% or more, 70%, or 80% or more. Further, the determination unit 15 may determine the congestion level based on the density, for example. Specifically, for example, the determination unit 15 determines that if the density is 75% or more, it is "crowded", if the density is 50% or more and 75% or less, it is "slightly crowded", and if the density is 50% or less, it is "slightly crowded". If so, it is determined to be "normal" or the like.

Next, if the reference grid selection unit 16 exceeds the value (YES), the start point and the goal point are connected with a straight line, and the grid unit included in the planar figure having the connected straight line as one side A reference grid is selected from among them based on the density (S6). "The grid unit included in the planar figure" is, for example, "the grid unit included in the planar figure" if even a part of the grid unit is included in the planar figure. FIG. 4 shows an example of processing in the reference grid selection section 16. The plane figure is not particularly limited, and includes, for example, a quadrilateral, a triangle, a trapezoid, a parallelogram, etc., and is preferably a triangle. In FIG. 4, the planar figure includes a right triangle A formed by a straight line connecting the center point of the start point and the center point of the goal point, and two dashed lines, the center point of the start point, and the center point of the goal point. They are a right triangle B formed by a straight line connecting to the center point of the goal point and two long broken lines. In this way, when a plurality of planar figures are formed, it is preferable that the planar figures do not overlap, for example, when the same start point and the same goal point are used. Note that the present invention is not limited to the "center point", and any points within each planar figure can be connected with a straight line. Then, the reference grid selection unit 16 selects the grid unit having the highest density within the right triangles A and B as the reference grid SG. In addition, if a plurality of reference grids are required (that is, a plurality of guide routes are required), for example, a planar figure different from the planar figure in which the selected reference grid exists (for example, right triangle B in FIG. 4). ) may select the reference grid. Examples of cases in which a plurality of reference grids are required include cases in which the density of the entire specific area does not fall below a preset value in one guidance route, or cases in which the specific area is a station, as described above. In the same specific area, there are cases where the start point and the goal point can also serve as the goal point and the start point for other guided targets. If a plurality of reference grids are required, it is also possible to process, for example, according to the form described in Embodiment 2, which will be described later. On the other hand, if the value does not exceed the above value (NO), for example, the process ends as is (END).

Then, the guide route generation unit 17 generates a route connecting the start point, the goal point, and the reference grid as a guide route based on the route information (S7), and ends (END). FIG. 5 shows an example of processing in the guide route generation unit 17. In FIG. 5, reference grid SG is similar to reference grid SG shown in FIG. As shown in FIG. 5, the guide route generation unit 17, for example, sets a route connecting the center point of the start point, the center point of the reference grid SG, and the center point of the goal point with straight lines as the guide route. . In the figure, the grid unit serving as the guide route is filled in with diagonal lines (the same applies hereinafter). Note that the present invention is not limited to the "center point", and any points within each can be connected with a straight line. For example, when there are a plurality of goal points, the guide route generation unit 17 generates the guide route for each goal point. The route information may be, for example, at least one of all the acquired route information, and it is preferable that the route from the start point to the goal point is shorter. Thereby, the present device 10 can shorten the distance of the guide route, for example, in proportion to the shortness of the information on the route.

With reference to FIGS. 6 and 7, a case will be described in which the start point and the goal point can also serve as the goal point and the start point for other guided targets in the same specific area. Specifically, for example, assume the relationship between a station ticket gate and a train door.

In FIG. 6, the guidance route in the direction (direction D1) from the start point at the lower right to the goal point at the upper left and the reference grid SG1 in the direction D1 are the same as those in FIG. 4. Further, as the route information, as shown in FIG. Assume that information on a route in a direction (direction D2) from a point (point) to the goal point (start point in the direction D1) is acquired. In this case, for example, as shown in FIG. 7, the device 10 selects a reference grid SG2 from right triangles C and D, which are planar figures, to generate the guide route.

For example, when there are a plurality of routes from the start point to the goal point, the reference grid selection unit 16 and the guide route generation unit 17 calculate the sum of the densities of the grid units included in the routes among the plurality of routes. Each process may be performed in order of the highest route. Thereby, the present device 10 can guide the guidance target from a route with a high density of guidance targets, for example, and can efficiently alleviate congestion.

For example, when the guide route and another guide route having the same goal point overlap, the guide route generating unit 17 may increase the width of the guide route. Increasing the width of the guide route means, for example, including also the grid units adjacent to the grid units included in the guide route (hatched grid units in FIG. 5) in the guide route. Thereby, the present device 10 can efficiently alleviate congestion even when guidance routes to the same goal point overlap.

On the other hand, if the guide route overlaps with another guide route having a different goal point, the reference grid may be reselected by the reference grid selection unit 16, for example. Specifically, for example, the reference grids are reselected in descending order of density until there is no overlap with the other guidance routes. Thereby, the present device 10 can efficiently alleviate congestion even when guidance routes to different goal points overlap.

For example, the device 10 repeats the step (S6) and the step (S7) periodically (for example, every 5 minutes, every 10 minutes, etc.) until the density of the entire specific area falls below a preset value. May be executed.

FIG. 8 shows an example in which the present device 10 is applied to a station. As shown in FIG. 8, the device 10 acquires the video data from a plurality of cameras 1 placed on the ceiling of the platform, and determines the guidance route from the train to the ticket gate and the direction from the ticket gate to the train. Two types of guidance routes are generated in the direction toward . Note that in FIG. 8, the device 10 generates two guidance routes in the direction from the ticket gate to the train in order to more efficiently alleviate congestion.

According to this embodiment, congestion can be alleviated by generating a guide route that includes a reference grid. Furthermore, according to the present embodiment, when there are a plurality of goal points, the flow of the guided objects can be controlled by the guide route, so that congestion at the goal points can be equalized.

[Embodiment 2]
In this embodiment, a mode will be described in which the reference grid is selected based on the density of the guided objects for each traveling direction.

An example of the guide route generation method of this embodiment will be explained based on the flowchart of FIG. 9. The guide route generation method of this embodiment is carried out as follows using, for example, the guide route generation device 10 of FIG. 1. Note that the guide route generation method of this embodiment is not limited to the use of the guide route generation device 10 of FIG. 1.

First, the steps (S1) to (S5) shown in FIG. 9 are executed in the same way as the steps (S1) to (S5) in FIG. 3 of the first embodiment. In the step (S5) shown in FIG. 9, if the value does not exceed the value (NO), for example, the process ends (END).

Next, the estimating unit 13 further estimates the traveling direction of the guidance target from the video data if the value exceeds the value (S6). When the guidance target is a human, the direction of travel can be estimated from the orientation of the human's face, shoulders, etc., for example. Further, when the guidance target is a moving object, the direction of movement can be estimated from the direction of the driver's seat, headlights, etc., for example. Further, the estimation unit 13 can estimate the traveling direction by comparing the moving image data captured several seconds (1 second, 3 seconds, etc.) before, for example. The estimated traveling direction is not particularly limited, and is, for example, any one of 2 directions, 4 directions, 8 directions, etc. FIG. 10 shows an example of the traveling direction. As shown in FIG. 10, hereinafter, with respect to the grid unit G, the direction of the goal point will be referred to as the "forward direction", the direction of the start point will be referred to as the "backward direction", and the direction to the right of the forward direction will be referred to as the "right direction". Yes, the left side of the front direction is called the "left direction." In particular, in the right direction, the direction closer to the front is referred to as the "front right direction", and the direction closer to the rear is referred to as the "rear right direction". Similarly, in the left direction, the direction closer to the front is referred to as the "front left direction", and the direction closer to the rear is referred to as the "rear left direction".

Next, the density calculating unit 14 calculates the density of the guided objects for each traveling direction in one grid unit based on the estimated traveling direction (S7). Specifically, for example, suppose that the number of guided subjects (people) in a grid unit is five, and the direction of movement of three of the five people is forward, and the direction of movement of the remaining two is forward and right. Suppose that it is estimated that the direction is to the left. In this case, the density in the "front direction" of the grid unit G is 60%, the density in the "front right direction" is 20%, the density in the "left direction" is 20%, and the density in other directions is 0%. Become.

Next, the reference grid selection unit 16 selects the reference grid based on the density in the traveling direction (S8). Specifically, for example, the grid unit with the highest density in the front direction is selected as the reference grid SG.

Then, in the same manner as the step (S7) in FIG. 3 of the first embodiment, a guidance route is generated (S9), and the process ends (END).

According to the present embodiment, the movement flow of the guided target can be taken into consideration, so that congestion can be alleviated more efficiently.

[Embodiment 3]
FIG. 11 is a block diagram showing the configuration of an example of the guide route generation device 10 of this embodiment. As shown in FIG. 11, in this embodiment, the guide route generating device 10 is the same as the guide route generating device 10 of the first embodiment, except that the guide route generating device 10 further includes a display control section 18. The hardware configuration of the guidance route generation device 10 of this embodiment is the same as that of the guidance route generation device 10 of the first embodiment shown in FIG. 2, except that the central processing unit 101 further includes a display control unit 18. be. Unless otherwise specified, the descriptions of Embodiments 1 and 2 can be used in this embodiment.

For example, after the step (S7) shown in FIG. 3 or the step (S9) shown in FIG. It may also be controlled to display. The lower surface within the specific area means, for example, a floor surface, a road surface, or the like. The display device installed on the lower surface within the specific area is, for example, an LED display, a liquid crystal display, or the like. For example, the display control unit 18 may be controlled to display the traveling direction on the guidance route using a traveling direction display parameter defined for each traveling direction on the guidance route. The traveling direction display parameters are not particularly limited, and include, for example, colors, characters, symbols, and the like. The traveling direction display parameter may be a parameter that can also express the density of the guidance target by changing the thickness or size of the arrow (symbol) indicating the traveling direction, for example.

Specifically, for example, as shown in FIG. 12, the display control unit 18 displays a grid diagram showing the guidance route generated by the guidance route generation unit 17, and fine lamps (such as LEDs) constituting the display device. ) may be superimposed on a design drawing in which the guidance route and the lamp overlap, and the display target may be a portion where the guidance route and the lamp overlap.

Further, the display control unit 18 may control the display device to display the density for each grid unit, for example, after the step (S3) shown in FIG. 3. The display device is not particularly limited, and may be, for example, the display device 106 or an external display device. The display device may be, for example, a display device within the specific area, or a display device in a terminal such as a terminal carried by the person, a terminal inside the moving object, or a terminal controlling the moving object. Specifically, there are signage devices, LED displays, liquid crystal displays, etc., for example. Further, the display control unit 18 may control the density display for each grid unit using, for example, a density display parameter defined for each density. The density display parameters are not particularly limited, and include, for example, colors, characters, symbols, and the like. FIG. 13 shows an example of the density of each grid unit displayed on the display device. FIG. 13 is an example of an image of the vicinity of the entrance (goal point) in an event venue taken from above, and the darker the color (the density display parameter), the higher the density. Note that although FIG. 13 shows people lining up at each entrance gate and staff members managing entry at each gate, the people and staff members may not be displayed on the display device. .

According to this embodiment, the generated guidance route can be displayed to the guidance target, so that congestion can be alleviated more efficiently. Further, according to the present embodiment, for example, the density can be visualized by using the density display parameter, so that the guidance target (a person, a person operating the moving body, etc.) can accurately determine the density. It is possible to grasp the Furthermore, according to the present embodiment, it is possible to guide the guide target without requiring personnel such as guide staff, so that human costs can be reduced.

[Embodiment 4]
The program of this embodiment is a program for causing a computer to execute each step of the method of the present invention as a procedure. In the present invention, "procedure" may be read as "process". Furthermore, the program of this embodiment may be recorded on, for example, a computer-readable recording medium. The recording medium is not particularly limited, and includes, for example, a read-only memory (ROM), a hard disk (HD), an optical disk, and the like.

Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. The configuration and details of the present invention can be modified in various ways within the scope of the present invention by those skilled in the art.

This application claims priority based on Japanese Patent Application No. 2020-36492 filed on March 4, 2020, and the entire disclosure thereof is incorporated herein.

<Additional notes>
Part or all of the above embodiments may be described as in the following additional notes, but are not limited to the following.
(Additional note 1)
including an acquisition unit, a division unit, an estimation unit, a density calculation unit, a determination unit, a reference grid selection unit, and a guide route generation unit,
The acquisition unit acquires information on a map of a specific area including information on a start point and a goal point, information on a route from the start point to the goal point, and video data obtained by capturing an image of the specific area from above. death,
The dividing unit divides the map of the specific area into grid units divided at predetermined intervals,
The estimation unit estimates the number of guidance targets for each grid unit from the video data,
The density calculation unit calculates the density of the guided objects in each grid unit based on the number of guided objects,
The determination unit determines whether the density of the entire specific area exceeds a preset value based on the density of the guidance target,
When the reference grid selection unit exceeds the value, the reference grid selection unit connects the start point and the goal point with a straight line, and selects the density from among the grid units included in a planar figure having the connected straight line as one side. Select a reference grid based on
The guide route generation unit is a guide route generation device, wherein the guide route generation unit generates a route connecting the start point, the goal point, and the reference grid as a guide route based on the information on the route.
(Additional note 2)
The guide route generation according to supplementary note 1, wherein the estimation unit estimates the number of people from at least one of a face, a head, and an attachment attached to the head of the person when the guide target is a human. Device.
(Additional note 3)
The guidance route generation device according to appendix 1 or 2, wherein the density calculation unit calculates the density based on a preset occupied area per guidance target.
(Additional note 4)
When there is a plurality of routes from the start point to the goal point, the reference grid selection unit selects the reference grids in the order of the highest sum of the densities of the grid units included in the route among the plurality of routes. Make a selection,
The guide route generation device according to any one of Supplementary Notes 1 to 3, wherein the guide route generation unit generates the guide routes in descending order of the sum of the densities.
(Appendix 5)
The guide route generating device according to any one of Supplementary Notes 1 to 4, wherein the guide route generation unit widens the width of the guide route when the guide route and another guide route having the same goal point overlap. .
(Appendix 6)
According to any one of appendices 1 to 5, the reference grid selection unit reselects the reference grid when the guide route generated by the guide route generation unit and another guide route having a different goal point overlap. The guide route generating device described above.
(Appendix 7)
The estimation unit further estimates the traveling direction of the guidance target from the video data when the value exceeds the value;
The density calculating unit calculates the density of the guided target for each traveling direction in one grid unit based on the estimated traveling direction,
The guide route generation device according to any one of Supplementary Notes 1 to 6, wherein the reference grid selection unit selects the reference grid based on the density in the traveling direction.
(Appendix 8)
Furthermore, it includes a display control section,
8. The guide route generation device according to any one of Supplementary Notes 1 to 7, wherein the display control unit controls a display device installed on a lower surface within the specific area to display the generated guide route.
(Appendix 9)
9. The guide route generation device according to any one of Supplementary Notes 1 to 8, wherein the display control unit controls a display device to display the density for each grid unit.
(Appendix 10)
Including an acquisition process, a division process, an estimation process, a density calculation process, a determination process, a reference grid selection process, and a guide route generation process,
The acquisition step acquires information on a map of a specific area including information on a start point and a goal point, information on a route from the start point to the goal point, and video data obtained by capturing an image of the specific area from above. death,
The dividing step divides the map of the specific area into grid units divided at predetermined intervals;
The estimation step estimates the number of guided objects for each grid from the video data,
The density calculation step calculates the density of the guided objects in each grid unit based on the number of guided objects,
The determination step determines whether the density of the entire specific area exceeds a preset value based on the density of the guidance target,
In the reference grid selection step, if the value exceeds the value, the starting point and the goal point are connected with a straight line, and the density is selected from among the grid units included in a planar figure having the connected straight line as one side. Select a reference grid based on
The guide route generation step includes generating a route connecting the start point, the goal point, and the reference grid as a guide route based on the route information.
(Appendix 11)
The guidance route generation according to supplementary note 10, wherein in the estimation step, when the guidance target is a human, the number of humans is estimated from at least one of a human face, a head, and an attachment attached to the head. Method.
(Appendix 12)
The guidance route generation method according to appendix 10 or 11, wherein the density calculation step calculates the density based on a preset occupied area per guidance target.
(Appendix 13)
In the reference grid selection step, when there is a plurality of routes from the start point to the goal point, the reference grids are selected in the order of the route having the highest sum of the densities of the grid units included in the route among the plurality of routes. Make a selection,
The guide route generation method according to any one of Supplementary Notes 10 to 12, wherein the guide route generation step generates the guide routes in descending order of the sum of the densities.
(Appendix 14)
The guide route generation method according to any one of appendices 10 to 13, wherein the guide route generation step widens the width of the guide route when the guide route and another guide route having the same goal point overlap. .
(Appendix 15)
According to any one of appendices 10 to 14, the reference grid selection step reselects the reference grid when the guide route generated in the guide route generation step and another guide route having a different goal point overlap. The guided route generation method described above.
(Appendix 16)
The estimating step further includes estimating the traveling direction of the guiding target from the moving image data when the value exceeds the value;
The density calculation step calculates the density of the guided target for each traveling direction in one grid unit based on the estimated traveling direction,
16. The guide route generation method according to any one of appendices 10 to 15, wherein the reference grid selection step selects the reference grid based on the density in the traveling direction.
(Appendix 17)
Furthermore, including a display control step,
17. The guide route generation method according to any one of appendices 10 to 16, wherein in the display control step, a display device installed on a lower surface within the specific area is controlled to display the generated guide route.
(Appendix 18)
18. The guide route generation method according to any one of appendices 10 to 17, wherein the display control step controls a display device to display the density for each grid unit.
(Appendix 19)
A program for causing a computer to execute procedures including an acquisition procedure, a division procedure, an estimation procedure, a density calculation procedure, a determination procedure, a reference grid selection procedure, and a guidance route generation procedure:
The acquisition procedure acquires information on a map of a specific area including information on a start point and a goal point, information on a route from the start point to the goal point, and video data obtained by capturing an image of the specific area from above. death,
The dividing procedure includes dividing the map of the specific area into grid units separated at predetermined intervals;
The estimation procedure includes estimating the number of guided objects for each grid from the video data,
The density calculation procedure calculates the density of the guided objects in each grid unit based on the number of guided objects,
The determination procedure determines whether the density of the entire specific area exceeds a preset value based on the density of the guidance target,
In the reference grid selection procedure, if the value exceeds the value, the starting point and the goal point are connected with a straight line, and the density is selected from among the grid units included in a planar figure having the connected straight line as one side. Select a reference grid based on
The guide route generation procedure generates a route connecting the start point, the goal point, and the reference grid as a guide route based on the route information.
(Additional note 20)
19. The program according to appendix 19, wherein the estimation procedure estimates the number of people from at least one of a person's face, a head, and an attachment worn on the head when the guidance target is a human.
(Additional note 21)
21. The program according to appendix 19 or 20, wherein the density calculation procedure calculates the density based on a preset occupied area per guided target.
(Additional note 22)
In the reference grid selection procedure, when there is a plurality of routes from the start point to the goal point, among the plurality of routes, the reference grids are selected in the order of the route having the highest sum of the densities of the grid units included in the route. Make a selection,
22. The program according to any one of appendices 19 to 21, wherein the guide route generation procedure generates the guide routes in descending order of the sum of the densities.
(Additional note 23)
23. The program according to any one of appendices 19 to 22, wherein the guide route generation procedure widens the width of the guide route when the guide route and another guide route having the same goal point overlap.
(Additional note 24)
The reference grid selection procedure reselects the reference grid when the guide route generated by the guide route generation procedure and another guide route having a different goal point overlap, according to any one of appendices 19 to 23. Programs listed.
(Additional note 25)
The estimation procedure further includes estimating the traveling direction of the guidance target from the video data when the value exceeds the value;
The density calculation procedure calculates the density of the guided target for each traveling direction in one grid unit based on the estimated traveling direction,
25. The program according to any one of appendices 19 to 24, wherein the reference grid selection procedure selects the reference grid based on the density in the traveling direction.
(Additional note 26)
Furthermore, it includes a display control procedure,
26. The program according to any one of appendices 19 to 25, wherein the display control procedure controls a display device installed on a lower surface within the specific area to display the generated guide route.
(Additional note 27)
27. The program according to any one of appendices 19 to 26, wherein the display control procedure controls a display device to display the density for each grid unit.
(Additional note 28)
A computer-readable recording medium recording the program according to any one of appendices 19 to 27.

According to the present invention, congestion can be alleviated. Therefore, the present invention is particularly useful in areas such as stations, event venues, department stores, shopping malls, and areas around expressway toll gates.

10 Guide route generation device 11 Acquisition unit 12 Division unit 13 Estimation unit 14 Density calculation unit 15 Judgment unit 16 Reference grid selection unit 17 Guide route generation unit 18 Display control unit

Claims (10)

including an acquisition unit, a division unit, an estimation unit, a density calculation unit, a determination unit, a reference grid selection unit, and a guide route generation unit,
The acquisition unit acquires information on a map of a specific area including information on a start point and a goal point, information on a route from the start point to the goal point, and video data obtained by capturing an image of the specific area from above. death,
The dividing unit divides the map of the specific area into grid units divided at predetermined intervals,
The estimation unit estimates the number of guidance targets for each grid unit from the video data,
The density calculation unit calculates the density of the guided objects in each grid unit based on the number of guided objects,
The determination unit determines whether the density of the entire specific area exceeds a preset value based on the density of the guidance target,
When the reference grid selection unit exceeds the value, the reference grid selection unit connects the start point and the goal point with a straight line, and selects the density from among the grid units included in a planar figure having the connected straight line as one side. Select a reference grid based on
The guide route generation unit is a guide route generation device, wherein the guide route generation unit generates a route connecting the start point, the goal point, and the reference grid as a guide route based on the information on the route. The guide route according to claim 1, wherein when the guide target is a human being, the estimation unit estimates the number of people from at least one of a human face, a head, and an attachment attached to the head. generator. The guidance route generation device according to claim 1 or 2, wherein the density calculation unit calculates the density based on a preset occupied area per guidance target. When there is a plurality of routes from the start point to the goal point, the reference grid selection unit selects the reference grids in the order of the highest sum of the densities of the grid units included in the route among the plurality of routes. Make a selection,
The guide route generation device according to any one of claims 1 to 3, wherein the guide route generation unit generates the guide routes in descending order of the sum of the densities. The guidance according to any one of claims 1 to 4, wherein the guidance route generation unit widens the width of the guidance route when the guidance route and another guidance route having the same goal point overlap. Route generation device. 6. The reference grid selection unit reselects the reference grid when the guide route generated by the guide route generation unit and another guide route having a different goal point overlap. The guide route generation device according to item 1. The estimation unit further estimates the traveling direction of the guidance target from the video data when the value exceeds the value;
The density calculating unit calculates the density of the guided target for each traveling direction in one grid unit based on the estimated traveling direction,
The guide route generation device according to any one of claims 1 to 6, wherein the reference grid selection section selects the reference grid based on the density in the traveling direction. Furthermore, it includes a display control section,
The guide route according to any one of claims 1 to 7, wherein the display control unit controls a display device installed on a lower surface within the specific area to display the generated guide route. generator. Including an acquisition process, a division process, an estimation process, a density calculation process, a determination process, a reference grid selection process, and a guide route generation process,
The acquisition step acquires information on a map of a specific area including information on a start point and a goal point, information on a route from the start point to the goal point, and video data obtained by capturing an image of the specific area from above. death,
The dividing step divides the map of the specific area into grid units divided at predetermined intervals;
The estimation step estimates the number of guided objects for each grid from the video data,
The density calculation step calculates the density of the guided objects in each grid unit based on the number of guided objects,
The determination step determines whether the density of the entire specific area exceeds a preset value based on the density of the guidance target,
In the reference grid selection step, if the value exceeds the value, the starting point and the goal point are connected with a straight line, and the density is selected from among the grid units included in a planar figure having the connected straight line as one side. Select a reference grid based on
The guidance route generation step generates a route connecting the start point, the goal point, and the reference grid as a guidance route based on the route information;
A guide route generation method , wherein each of the steps described above is executed by a computer . A program for causing a computer to execute procedures including an acquisition procedure, a division procedure, an estimation procedure, a density calculation procedure, a determination procedure, a reference grid selection procedure, and a guidance route generation procedure:
The acquisition procedure acquires information on a map of a specific area including information on a start point and a goal point, information on a route from the start point to the goal point, and video data obtained by capturing an image of the specific area from above. death,
The dividing procedure includes dividing the map of the specific area into grid units separated at predetermined intervals;
The estimation procedure includes estimating the number of guided objects for each grid from the video data,
The density calculation procedure calculates the density of the guided objects in each grid unit based on the number of guided objects,
The determination procedure determines whether the density of the entire specific area exceeds a preset value based on the density of the guidance target,
In the reference grid selection procedure, if the value exceeds the value, the starting point and the goal point are connected with a straight line, and the density is selected from among the grid units included in a planar figure having the connected straight line as one side. Select a reference grid based on
The guide route generation procedure generates a route connecting the start point, the goal point, and the reference grid as a guide route based on the route information.

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