JPS58199376A - Current position display of moving object - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a current position display device for a moving body such as an automobile, which visually displays the current position of a moving body, a moving trajectory, a heading direction, and the like.

In general, 1. For example, when driving at night or in unfamiliar areas, in order to provide appropriate guidance so that the driver does not deviate from the planned driving course and get lost, the driver's vehicle is marked on a preset road map. A current value a display device has been developed that displays the current position, moving trajectory, direction of travel, etc. in the moving state @1.

Conventionally, this display device tK uses a distance detector to detect the moving distance of an automobile, etc., depending on the speed of the vehicle, and also uses a direction detector to detect the traveling direction of the automobile, etc. The change 11V is detected, and the current 11Z +il 't' calculation on the travel route of the car etc. is calculated from the valley detection + 1fi, and the supplied rice is stored and displayed on the display screen (by continuous point information that changes every 11 times). By comparing and comparing the displayed content with a map of roads, etc. in the form of a transparent sheet set in advance on the display screen, it is possible for the driver to confirm the location of the vehicle. ing.

However, if we set the current location to 110 steps, we would have to choose one of the multiple transparent sheet-like maps prepared for each area before the trip, depending on the area where we plan to travel. , the map has to be placed on the display screen, which makes the work complicated, and the map sometimes blurs, causing the image to become blurry! OK-& Compare and check the contents shown.

The present invention has been made in consideration of these points, and instead of setting a transparent sheet on which the KjtiL map is printed as in the past, it is possible to print the map on a microfilm in advance. Then, a map of the area where the vehicle is scheduled to travel is retrieved from the microfilm, photoelectrically converted, and based on the map information, a predetermined map is displayed directly on the display screen along with the vehicle's current position and trajectory.
The present invention provides a current position display device for a moving body which is capable of displaying the approximate direction to a target point.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows the basic configuration of a current position display device for a moving object according to the present invention. g increases with the distance traveled by a moving body consisting of
! A distance detector 1 that generates a signal and a rate type gyroscope that detects angular velocity in one direction, for example, outputs a signal proportional to the direction or direction change slope depending on the direction of the part of the moving body. Detector 2 and @+Jr]!
! ! The moving distance of the moving body is measured by counting pulses IN from the I detector l. An erasure processing device 3 that calculates the two-dimensional position of the moving body for each standard travel distance according to the number 1η and performs centralized control of the entire device, and the erasure processing device 3. A movement trajectory storage device (for R4 , a microfilm 5 on which a map has been photographed in advance, and a camera Mlt 6 that electrically reads necessary map information from the microfilm 5.
dDraw one station on the map according to the map information taken mV
When C is displayed, K is displayed.

Based on the position data stored in the memory device t4, the current position of the moving object, the previous movement trajectory, and the current direction of continuous lighting are constantly updated and marked on the same screen. A display command is given to the display device 7 to be displayed and the signal processing device 3, and the display device 11
7Ke: Select and specify the map to be displayed, change the direction of the displayed map and trajectory, shift the display position, partially enlarged display of the map and trajectory, and change display format settings such as selection of display scale. It is comprised of an operator, an operating device 8 that can perform over-the-top searches of maps, movement trajectories, and the like.

The production of the current position display device for a moving object according to the present invention constructed as described above will be explained below.

First, when a moving object such as a car is running, the operation value ll1
18, when the driver selects a map for the area to be traveled by specifying a map number, the signal processing device 3 selects a map from the microfilm 5 via the filtering device 6 in response to the map selection input. Map information for a given location jdk? The I-stake is extracted, and the read map information is sent to the display device 7 to display a map of the area to be traveled on the screen. At this time, the imager 16 continuously reads the required map information on the microfilm 5, and the map of the planned travel area is continuously displayed on the screen of the display area d7. Please note that the access method for the displayed map is M location J2a.
Value l! 130 system - This is carried out by frame-by-frame advance K of the microfilm 5 shown below, but in addition, by key operations on the operating device 8, the user can drive while displaying on the display device 7 a map of the horizontal area that is shadowed by the microfilm 5Kf1. It goes without saying that it is possible to take appropriate measures such as having the map displayed in the planned area selected.
After a long time, the display device 7 is pressed manually from the operating device 8.
1. After displaying the current position display mark and the direction mark indicating the moving direction of the moving body at the current position on the screen of 1, the current position display mark is displayed on the display map by operating the switch on the operating device 8. The display marks are shifted to the starting point position and rotated so that the direction display marks match the traveling direction of the moving body at the starting point to initialize each display mark. however.

If a device capable of detecting the absolute direction, such as a compass, is used as the direction ejector 2, there is no need to initialize the direction display mark as described above.

However, when the moving object starts running, the distance detector l outputs 1 pulse signal for each unit distance traveled by 4! Sent to number processing unit [3].

By counting the number of pulses, the distance traveled can be measured.

The output of the direction ejector 2 is also sent to the signal processing *@3, where the direction of the moving body's misbehavior at every moment of the TF is determined. Based on changes in the moving distance and direction of the moving object, the current position on the is sequentially sent to the =7yC device t7 and also sent to the movement locus storage value fIIL4 for storage and retention.The stored contents are always read out and continuously sent to the display device 7.At the same time, the signal processing A direction signal at the current position is continuously inputted from the device 1.3 to the display device N?.As shown in FIG. A display mark Ml indicating the current position of the moving object, a small mark M2 indicating the direction in which the moving object is moving at the current M shift, and the current position 1 from the starting point.
The movement locus display mark M3 up to is displayed in a simulative manner following the movement state of the moving object. In addition, at that time, the current position 1 mark Ml and the direction mark M2
It is also possible to display the current position and the 4-line direction at the same time by giving directionality to the current position IIIL clothing mark and displaying it separately.

Also, Fig. 3 shows the current position of the moving object according to the present invention! A specific example of a display device is shown.

In this structure, the signal processor 111 functions as an input/output interface 31 for receiving and receiving signals. A CPU 32 and a logic circuit @33 for central processing control. ROM34 for the program. The control consists of a Glock driver. In addition, the rate output of the directional ejector 2 is converted to digital 1 by the AD converter 9.
! It is converted to r and input/output.

It is connected to the CPU 32 through the interface 31, so that the direction of movement of the moving body is detected every time. The pulse g1 is sent to the CPU 32 through the 31 shifter faces, and its internal counter counts the number of pulses g1, so that the traveling distance of the moving body can be sequentially detected. The operating device 18 includes an operating switch 481 and an operating switch @81.
It consists of a sub-CPU 82 for switch encoding which reads the input of the spider and provides each command signal to the CPU 32 through the input/output interface 31.

In addition, the microfilm 5 on which maps of many regions have been shown in advance is made into a cassette, and a drive mechanism unit that can feed the microfilm 5 in forward and reverse directions is provided, and the drive mechanism unit is connected to the CP. By operating the map as appropriate under the control of U 32, it is possible to access the desired map. That is, as the drive mechanism section, the microfilm 5
Forward and reverse sprockets 10 and 11 that work together with the sprocket hole for film feeding provided at After detecting the provided positioning slit, the motor driver 1
4, each motor 12, 13 is properly driven. In the figure, reference numeral 15 indicates a filter that converts the detection output of the position sensor S into a pulse shape. Also,
The lamp 164 is turned on from one side of the microfilm 5 where the desired map has been accessed, and the surface of the microfilm 5 is illuminated through the light diffusion plate 17.
The optical signal carrying the map information transmitted through the imaging lens 1
8 to the imaging device [6]. In the image pickup device 6@, the optical signal from the microfilm 5 is photoelectrically converted by the image pickup tube 61 (or a -dimensional or two-dimensional solid-state image sensor), and the map information is electrically converted into an RC signal. map information and the current position, direction, travel trajectory of the mobile body sent from the Eclipse S-munition device 3, etc.
A mixer 62 mixes the data for A,
In response to the mixed video (!r!), the CRT driver 71 of the display device 7 displays a map and the current position and direction of the moving object on the screen of the CRT 72.

It is set to display the driving trajectory etc. overlappingly. Note that when the image pickup tube 61 converts the map information in the form of an optical signal into an electrical signal, it is done in synchronization with the control clock of the g1 processing device 3iii1. The map information is read electronically. Further, as shown in FIG. 4, a part of the microfilm 5 contains digitized auxiliary data D (for example, the cassette number of the evaporated microfilm) for identifying the microfilm 5 itself to the signal processing device 3. etc.) are recorded, and the auxiliary data Kd detected at the time of imaging is stored in the digital information separation circuit 6.
5 and sent to a signal processing device 13. Furthermore, the microfilm 5 includes heading information a, b, c for each map W6Ae "e ce..."
, . . . are recorded, so that the map of the planned travel area displayed in −[kiK on the display device 7 can be easily confirmed. In Fig. 4, 51 is a sprocket hole for film feeding, and 52 is a positioning slit t provided corresponding to each map portion A, B, C, etc. recorded for each frame. 'Each is shown.

In addition, in the case of the configuration shown in FIG. 3, for example, when the car stops while driving, the ignition
Backup nonvolatile memory 19 for storing the minimum necessary information in preparation for displaying the current position when restarting the next run when the power to the system is partially turned off by turning off the power. is provided.

When the power of the system is turned off (the minimum necessary information to be stored and retained in the non-quadrupulous memory 19 is, for example, the cassette number of the microfilm used in the soul pillar, the currently displayed map number, the current display scale) , currently ff
The seated image and movement direction on the screen of the ff, a part of the travel trajectory to the current position jet (about 2 to 3 as minutes), and the guide mark of the traveling peak route can be placed on the map in advance using the 4 production device 18. , the position of the guide mark can be considered. When the system's power source is turned on when running is resumed, the signal processing device 13 reads the contents held in the non-fourth generation memory 19 and displays the same content as when the four power sources were turned off in the IjII direction of the display device 7. will be displayed, and the current position will be displayed as the moving object resumes its taxis.

In view of the current position of the moving pot constructed as described above, sometimes in the present invention, only a mark of the starting point is set on the map displayed on the entire surface by human power from the operator wt 8. 7e and 4'' Marks of destination points and passing points on the planned walking route e.
K so that the feet can be added as appropriate, and the starting point in signal processing *I13.

The destination point or ll as seen from the start point from each mark setting state with the destination point or passing point! 11@ Let f(Ilfr) the direction of the ugly point and the direction of the next passing point or destination point as seen from one passing point, Fig. 5 (a) e
(') K Indicator 5 is VCed to display the approximate direction to each destination using arrows near the start point and IM point on the map in the display direction. , In FIGS. 5(a) and 5(b), A indicates the starting point, B indicates the destination point, and C indicates the passing point.In addition, the internal memory of the 1-ba Yumiuri device 3 has multiple memory locations. The data divided into the opening direction arrows are stored, and the signal processing device 3 stores the data divided into
According to the direction to the destination determined as above, the data will be calculated appropriately and an arrow will be displayed at a predetermined position on one side of Table 1. , LF, left/right, diagonal 8
It is sufficient to indicate the approximate direction to the destination by means of arrows in the direction.

In addition, the approximate direction to such a destination is indicated by gji
As shown in Figure 6, the distance from starting point A to destination B is long, and multiple maps are connected to create an ugly map of the valley. Even in cases where it is necessary to switch the display, a similar direction display will be displayed for each map display. However, even if such maps of + By following the valley signposts step by step according to their approximate direction indications, it becomes possible to smoothly guide the moving object to its final destination. Note that in the figure, C1 to C6 indicate passage points that are set in advance as checkpoints on the planned route.

In addition, when there are multiple maps, the map is photographed on the microfilm 5 (at this time, as shown in FIG. A and B in FIG. 4 are transferred to the microfilm 5 in a predetermined order.

Make sure to take pictures of each of C1... and No.5.

Therefore, prior to traveling, each small map n of the area to be traveled is selected in advance by an input command from the operating device 18, and the order of the dredging destination for access is assigned.
The No. 1 processing 1113 reads the input data and stores it in the internal memory, and then the map (small map 23) displayed on the 1IiIi screen is sequentially switched as the moving object starts traveling and the current position of the moving object advances. At that time, the screen &
C The displayed map will change from ■ to ■ as shown in Figure 7, for example.
If it is switched to , the display position of the current position display mark M1 on the 11ii plane at the boundary will be different, but in that case, the rendering and numbing processing for coordinate conversion is performed in the 100 processing unit #13. The current position of the moving object will be displayed continuously from the new position after conversion on the small map that has been changed.In the case of Fig. 7, (Os Yl) in ■ But ■ in (
0, 0), then ■ and ■
The current position 11t on the boundary between The current position will be displayed with a connection between ■ and '
, you can display the approximate direction of the destination point or passing point as seen from the starting point, and the approximate direction of the next passing point or destination point as seen from one passing point. To enable a driver etc. to intuitively sense the direction to a destination, and to appropriately provide guidance while accurately controlling the direction to the destination even when driving on a winding road. become something that can be done.

In the above explanation, the microfilm 5 and its photographic device (a device 6) are used to display a map of the planned driving area on one screen, but instead of this, the map information is stored in advance in the recording medium IJi-. Then, it is possible to read out the necessary map information from the storage medium and display a predetermined map 1-1 on the screen.The above describes the dust location table W of a moving object and the device according to the present invention. 1, the position of the moving object on the two-dimensional coordinates is calculated by calculating the output of the distance 4 detector that detects the moving distance of the moving object and the output of the direction detector that detects the direction of the movement. The current position of a moving object is displayed on the screen based on the obtained constantly changing position data, and it is possible to set the base point and target point on the screen by manual operation commands. Determine the direction of the target point as seen from the base point or the direction of the next target point as seen from one target point, and display the approximate direction to the target point with an arrow near the base point or target point. It is designed to be used as a guide, and it is said that the electric map of the area where the moving object is scheduled to travel is compared to the current [(lit display) when guidance is given to the target location.'4N:111 Packed with great advantages.

[Brief explanation of the drawing]

FIG. 1 is a prologue configuration diagram showing the basic configuration of a current position display device for a moving body according to the present invention, FIG. 2 is a diagram showing an example of display contents on the display device of the same embodiment, and FIG. 3 is a diagram showing the present invention. A block diagram 1 shows an example of a four-body circuit configuration. FIG. 4 is a diagram showing one configuration N of microfilm, FIG. 5(a),
(b) is a diagram showing the approximate direction to the destination on the screen, Figure 6 is a diagram showing the large map divided into a number of small maps, and Figure 7 is displayed on the screen. FIG. 4 is a diagram for explaining sitting image conversion when switching the map to be displayed. l... and seat detector 2... direction detection 43...16
No. 1 Ri device 4... Movement trajectory storage device 5... Microfilm 6... Imaging device 7... Hair display device 18
...Operating device tA...Start point (base point) B.
・・Destination point (目橡子) C...Tong! 74 To the pond (target point) D... Approximate direction to the target point indicated by an arrow Applicant: Kiyoshi Torii Figure 4 Funeral Figure 5 (a) (b)

Claims (1)

[Claims] Calculate g and position of the moving object and two-dimensional coordinates based on the output of the distance detector that detects the movement of the moving object and the output of the direction detector that detects the direction of the movement. , in which the current position of the moving body is determined on the clear air based on the obtained instantaneous data that changes from moment to moment, each of the six points of the base point and the target point are performed on the screen by manual operation commands. and the direction of the target point as seen from the base point or the direction of the next target point as seen from one target point, and display the approximate direction to the target point using an arrow pointing to the base point or target point.
A device that shows the current position of a moving body, characterized by the fact that it takes 5K to do what it wants.'4.