JPWO2020008685A1 - Information notification device, program for information notification device, and information notification system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information notification device capable of accurately and efficiently transmitting information for each type of moving body. An analysis that analyzes the speed and moving direction of a moving body based on a history of an acquisition unit that acquires information on the position and shape of a moving body that has entered a predetermined area and the acquired position of the moving body. Based on the information on the shape of the moving body and the acquired moving body, the discriminating unit for discriminating the type of the moving body, the position of the acquired moving body, the speed and the moving direction of the analyzed moving body, and the discriminating part were determined. It has a selection unit that selects a notification unit for transmitting information from a plurality of notification units based on the type of the moving body. [Selection diagram] Fig. 1

Description

The present invention relates to an information notification device, a program for the information notification device, and an information notification system.

Sound, voice, lighting or blinking of light, display of characters or images, or vibration of moving objects that detect moving objects such as vehicles and passersby and enter a predetermined range such as restricted roads and restricted areas. The technology of notifying by such means is known.

In relation to such a technique, the following technique is disclosed in Patent Document 1 below. Based on the detection signal from the infrared sensor or the like provided in the voice warning device, the voice warning device detects a passerby who has entered a certain range, and the speaker outputs a voice message based on the detection signal.

Further, Patent Document 2 discloses the following technology. The absolute distance, velocity, and moving direction of a moving object are measured by a plurality of Doppler radars using microwaves or the like. When it is determined that the moving body is a vehicle or the like based on the measured speed of the moving body, the notification unit corresponding to each radar notifies the contents according to the speed.

Japanese Unexamined Patent Publication No. 9-105116 Japanese Unexamined Patent Publication No. 2004-192097

However, the prior art described in Patent Document 1 originally detects a passerby who has entered a predetermined range depending on whether or not an object exists within the predetermined range based on a detection signal by an infrared sensor or the like. There is a problem that unnecessary notification is given to a moving object that is not a detection target.

Since the prior art described in Patent Document 2 determines the type of the moving body based on the speed of the moving body and notifies the moving body when the type is a predetermined type, unnecessary notification can be reduced to some extent. However, since the type of the moving body is determined only based on the speed of the moving body, for example, it is not possible to distinguish between a pedestrian and a slow-moving vehicle. Therefore, there is a problem that the information cannot be accurately transmitted to a predetermined type.

Further, the prior art described in Patent Documents 1 and 2 has a problem that an appropriate notification unit cannot be selected from a plurality of notification units for each type of moving body.

The present invention has been made to solve such a problem. That is, it is an object of the present invention to provide an information notification device, a program for an information notification device, and an information notification system that can accurately and efficiently notify information for each type of mobile body.

The above object of the present invention is solved by the following means.

(1) Based on the acquisition unit that acquires information on the position and shape of the moving body in a predetermined area and the history of the position of the moving body acquired by the acquisition unit, the speed and the moving direction of the moving body are determined. An analysis unit to be analyzed, a discriminating unit that determines the type of the moving body based on the shape information of the moving body acquired by the acquisition unit, a position of the moving body acquired by the acquisition unit, and the above. Based on the speed and moving direction of the moving body analyzed by the analysis unit and the type of the moving body determined by the discriminating unit, the notification unit for transmitting information is selected from a plurality of notification units. An information notification device having a selection unit.

(2) The information notification device according to (1) above, wherein the selection unit selects the notification unit for transmitting information from a plurality of notification units arranged at different positions.

(3) In the selection unit, the moving body passes through the notification unit based on the position of the moving body acquired by the acquisition unit and the speed and moving direction of the moving body analyzed by the analysis unit. The above-mentioned ( The information notification device according to 1) or (2).

(4) The selection unit switches the content of the information to be notified to the notification unit to be selected thereafter based on the moving direction of the moving body after the notification unit is notified of the information (3). ). Information notification device.

(5) The information notification device according to any one of (1) to (4) above, wherein the selection unit selects the notification unit for transmitting the information according to the shape or type of the moving body.

(6) The information notification device according to any one of (1) to (5) above, wherein the selection unit switches the content of the information to be notified to the notification unit according to the shape or type of the moving body.

(7) The information notification device according to any one of (1) to (6) above, wherein the acquisition unit acquires information on the position and shape of the moving body from the AF point cloud data.

(8) Any one of the above (1) to (6), wherein the acquisition unit acquires the position of the moving body from the AF point cloud data and acquires the shape information of the moving body from the captured image. The information notification device described in.

(9) The information notification device according to any one of (1) to (8) above, wherein the notification unit has at least one of a voice generator, a lighting device, and a display device.

(10) An information notification system including a measuring unit for measuring the position and shape of a moving body in a predetermined region and the information notification device according to any one of (1) to (9) above. The acquisition unit is an information notification system that acquires information on the position and shape of the moving body in the predetermined area from the measurement unit.

(11) A control program of an information notification device having an acquisition unit for acquiring information on the position and shape of a moving body, and a procedure for acquiring information on the position and shape of the moving body in a predetermined area by the acquisition unit. (A), the procedure (b) for analyzing the speed and the moving direction of the moving body based on the history of the position of the moving body acquired in the procedure (a), and the procedure (a) acquired in the procedure (a). The procedure (c) for determining the type of the moving body based on the information on the shape of the moving body, the position of the moving body measured in the procedure (a), and the analysis analyzed in the procedure (b). A procedure for selecting the notification unit for transmitting information to the moving body from a plurality of notification units based on the speed and moving direction of the moving body and the type of the moving body determined in the procedure (c). (D), A program for an information notification device for causing a computer to execute.

(12) The program for an information notification device according to (11) above, wherein the procedure (d) selects the notification unit for transmitting information from a plurality of the notification units arranged at different positions.

(13) In the procedure (d), the moving body is based on the position of the moving body acquired in the procedure (a) and the speed and the moving direction of the moving body analyzed in the procedure (b). Estimates the time it takes for the moving body to pass through the notification unit, and causes the notification unit that is passed through the moving body at the time when the moving body is estimated to pass the notification unit to notify the moving body of information. The program for the information notification device according to (11) or (12) above, which is selected as.

(14) The procedure (d) switches the content of the information to be notified to the notification unit based on the moving direction of the moving body after the notification unit is notified of the information to the above (13). The program for the information notification device described.

(15) The procedure (d) is described in any one of (11) to (14) above, wherein the notification unit is selected by displaying the information according to the shape or type of the moving body. Program for information notification device.

(16) The information notification according to any one of (11) to (15) above, wherein the procedure (d) switches the content of the information to be notified to the notification unit according to the shape or type of the moving body. Program for the device.

(17) The program for an information notification device according to any one of (11) to (16) above, wherein the procedure (a) acquires the position and shape of the moving body from the AF point cloud data.

(18) In the procedure (a), any one of (11) to (16) above, in which the position of the moving body is acquired from the AF point cloud data and the shape of the moving body is acquired from the captured image. Program for information notification device described in.

(19) The program for an information notification device according to any one of (11) to (18) above, wherein the notification unit has at least one of a voice generator, a lighting device, and a display device.

(20) The speed and moving direction of the moving body are analyzed based on the history of the position of the moving body measured by the measuring unit and the measuring unit for measuring the position and shape of the moving body in a predetermined region. An analysis unit, a discriminating unit that determines the type of the moving body based on the shape of the moving body measured by the measuring unit, and a plurality of notifications that notify the moving body within a predetermined area of information. Based on the unit, the position of the moving body measured by the measuring unit, the speed and moving direction of the moving body analyzed by the analysis unit, and the type of the moving body determined by the discriminating unit. An information notification system including a selection unit that selects the notification unit that notifies the moving body of information from a plurality of notification units.

The position and shape of the moving body are acquired, the speed and direction of the moving body are analyzed from the history of the position of the moving body, the type of the moving body is determined from the shape of the moving body, and the position, speed, and movement of the moving body are determined. A notification unit that notifies information is selected from a plurality of notification units based on the direction and type. As a result, information can be accurately and efficiently notified for each type of moving object.

It is a block diagram which shows the structure of the information notification system including the information notification device. It is a block diagram which shows the hardware configuration of an information broadcasting apparatus. It is sectional drawing which shows the simplified structure of a rider. It is explanatory drawing explaining the state which scans in the monitoring area by a rider. It is explanatory drawing for demonstrating the operation of the information processing apparatus which concerns on 1st Embodiment. It is a flowchart which shows the operation of the information notification device which concerns on 1st Embodiment. It is explanatory drawing for demonstrating the operation of the information processing apparatus which concerns on 2nd Embodiment. It is explanatory drawing for demonstrating the operation of the information processing apparatus which concerns on 3rd Embodiment. It is a flowchart which shows the operation of the information notification device which concerns on 3rd Embodiment. It is explanatory drawing for demonstrating the operation of the information processing apparatus which concerns on 4th Embodiment. It is a flowchart which shows the operation of the information notification device which concerns on 4th Embodiment. It is explanatory drawing for demonstrating the operation of the information processing apparatus which concerns on 5th Embodiment. It is a flowchart which shows the operation of the information notification device which concerns on 5th Embodiment. It is a flowchart which shows the operation of the information notification device which concerns on 5th Embodiment.

Hereinafter, the information notification device, the program for the information notification device, and the information notification system according to the embodiment of the present invention will be described with reference to the drawings. In the drawings, the same elements are designated by the same reference numerals, and duplicate description will be omitted. In addition, the dimensional ratios in the drawings are exaggerated for convenience of explanation and may differ from the actual ratios.

(First Embodiment)
FIG. 1 is a block diagram showing a configuration of an information notification system including an information notification device. FIG. 2 is a block diagram showing a hardware configuration of the information notification device.

The information notification system 10 includes an information notification device 100, a measurement device (measurement unit) 200, and a plurality of notification units (first notification unit to nth notification unit) 300. The number of the notification units 300 may be any number n depending on the size of the monitoring area 610 (see FIG. 5) described later. The information notification device 100 is communicably connected to the measuring device 200 and the plurality of notification units 300. The communication between the information notification device 100 and each notification unit 300 may be performed by wire or wirelessly.

(Information notification device)
The information notification device 100 is composed of a computer and includes a control unit 110, a storage unit 120, a communication unit 130, and an operation display unit 140. The control unit 110 and the communication unit 130 constitute an acquisition unit 111. Further, the control unit 110 constitutes an analysis unit 112, a discrimination unit 113, and a selection unit 114.

The control unit 110 is configured by a CPU (Central Processing Unit), and controls and performs arithmetic processing of each unit of the information notification device 100 according to a program. The operation of the control unit 110 will be described later.

The storage unit 120 may be composed of a RAM (Random Access Memory), a ROM (Read Only Memory), and an SSD (Solid State Drive). The RAM temporarily stores programs and data as a work area of the control unit 110. The ROM stores various programs and various data in advance. The SSD stores various programs including an operating system and various data.

The communication unit 130 is an interface for communicating with an external device. For communication, a network interface according to standards such as Ethernet (registered trademark), SATA, PCI Express, USB, and IEEE 1394 can be used. In addition, a wireless communication interface such as Bluetooth (registered trademark), 802.11, 4G, etc. can be used for communication.

The communication unit 130 receives the measurement data measured by the measuring device 200 from the measuring device 200. As described later, the measurement data includes a distance image which is a range-finding point cloud data measured by a lidar (LiDAR: Light Detection and Ranking) and an image taken by a camera (hereinafter, referred to as “photographed image”). And are included.

The operation display unit 140 is composed of, for example, a keyboard and a display, or a touch panel, receives various operations and inputs, and displays various information.

(measuring device)
The measuring device 200 is composed of, for example, a rider 210 and a camera 220. The measuring device 200 may be composed of only the rider 210. The camera 220 is composed of, for example, a visible light camera. The camera 220 may be configured by a thermal camera. Hereinafter, for the sake of simplicity, the measuring device 200 will be described as being composed of the rider 210 and the camera 220.

The measuring device 200 measures a three-dimensional distance image (distance measuring point cloud data) by the rider 210. The measuring device 200 captures a captured image with the camera 220.

The measuring device 200 measures the distance image taken by the rider 210 and the image taken by the camera 220 as measurement data for the monitoring area 610 (see FIG. 5) that monitors the approach of the moving object. The monitoring area (predetermined area) 610 may be an overlapping range of the measurement area of the distance image by the rider 210 and the shooting range of the captured image by the camera 220. The monitoring area 610 includes certain moving objects such as highways and other roads where people are prohibited from entering, private roads where only specific vehicles can enter, and restricted areas where all moving objects are prohibited from entering. A wide range of predetermined areas are prohibited from entering.

FIG. 3 is a cross-sectional view showing a simplified configuration of the rider.

The rider 210 emits a laser, measures the time until the emitted laser reflects off an object and returns, and obtains the distance. By performing this while scanning within a certain range, the distance is measured and a distance image is created.

In the example shown in FIG. 3, the rider 210 is attached to an inclined wall surface 500. As a result, the laser emission direction is set to the Z direction inclined from the vertical direction.

The lidar 210 includes, for example, a semiconductor laser 50, a collimating lens 51, a mirror unit 52, a lens 53, a photodiode 54, a processing circuit (not shown), a motor 55, and a housing 56. The semiconductor laser 50 is a pulse type laser that emits a laser luminous flux. The collimating lens 51 converts the divergent light from the semiconductor laser 50 into parallel light. The mirror unit 52 scans and casts the laser beam, which is parallel light by the collimated lens 51, toward the measurement region by the rotating mirror surface, and reflects the reflected light from the object. The lens 53 collects the reflected light from the object reflected by the mirror unit 52. The photodiode 54 receives the light focused by the lens 53. The processing circuit obtains distance information according to the time difference between the emission timing of the semiconductor laser 50 and the light reception timing of the photodiode 54. The motor 55 rotationally drives the mirror unit 52. The housing 56 houses these components. The photodiode 54 has a plurality of pixels arranged in the Y direction.

The semiconductor laser 50 and the collimating lens 51 form an emitting unit 70, and the lens 53 and the photodiode 54 form a light receiving unit 80.

It is preferable that the optical axes of the emitting unit 70 and the light receiving unit 80 are orthogonal to the rotation axis 57 of the mirror unit 52.

The box-shaped housing 56 fixed to the wall surface 500 has an upper wall 58, a lower wall 59 facing the upper wall 58, and a side wall 60 connecting the upper wall 58 and the lower wall 59. An opening 61 is formed in a part of the side wall 60, and a transparent plate 62 is attached to the opening 61.

The mirror unit 52 has a shape in which two quadrangular pyramids are joined in opposite directions and integrated, that is, four pairs (but not limited to four pairs) of mirror surfaces 63 and 64 tilted in a pair facing direction. ) Have. The mirror surfaces 63 and 64 are preferably formed by depositing a reflective film on the surface of the resin material.

The mirror unit 52 is connected to the shaft 65 of the motor 55 fixed to the housing 56 and is rotationally driven. In the example of FIG. 3, the axis (rotational axis) of the axis 65 extends in the Y direction inclined with respect to the vertical direction, and the Z-plane orthogonal to the Y-direction and the ZX plane formed by the X-direction are horizontal planes. It is leaning against it.

The measurement principle of the AF point cloud data by the rider 210 will be described. In FIG. 3, the divergent light emitted intermittently in a pulse shape from the semiconductor laser 50 is converted into parallel light by the collimated lens 51, incident on the first mirror surface 63 of the rotating mirror unit 52, and reflected here. Further, after being reflected by the second mirror surface 64, the light is scanned and projected as laser spot light having a vertically long rectangular cross section, for example, through the transparent plate 62 and directed toward the external monitoring space (measurement area). The direction in which the laser spot light is projected and the direction in which the projected laser spot light is reflected by the object and returned as reflected light overlap, and these two overlapping directions are referred to as light emitting and receiving directions. The laser spot luminous flux traveling in the same light emitting / receiving direction is detected by the same pixel.

FIG. 4 is an explanatory diagram illustrating a state in which the rider scans the inside of the measurement area.

Scanning in the measurement area (hereinafter, also referred to as “measurement space”) is performed by scanning in the measurement space with the laser spot light 90 (indicated by hatching) emitted in response to the rotation of the mirror unit 52.

Here, the crossing angles are different in the combination (pair) of the first mirror surface 63 and the second mirror surface 64 of the mirror unit 52.

The laser beam is sequentially reflected by the rotating first mirror surface 63 and the second mirror surface 64. First, the laser beam reflected by the first pair of the first mirror surface 63 and the second mirror surface 64 horizontally moves from left to right in the uppermost region 91 of the measurement space according to the rotation of the mirror unit MU. Is scanned.

Next, the laser beam reflected by the second pair of the first mirror surface 63 and the second mirror surface 64 horizontally covers the second region 92 from the top of the measurement space from the left in accordance with the rotation of the mirror unit 52. Scanned to the right.

Next, the laser beam reflected by the third pair of the first mirror surface 63 and the second mirror surface 64 horizontally covers the third region 93 from the top of the measurement space from the left in accordance with the rotation of the mirror unit 52. Scanned to the right.

Next, the laser beam reflected by the 4th pair of the first mirror surface 63 and the second mirror surface 64 horizontally moves from left to right in the lowermost region 94 of the measurement space in accordance with the rotation of the mirror unit 52. Is scanned. This completes one scan of the entire measurement space.

The images obtained by scanning the regions 91 to 94 are combined to obtain one frame 95. Then, after the mirror unit 52 makes one rotation, the first pair of the first mirror surface 63 and the second mirror surface 64 return to their original positions, so that the area 91 at the top of the monitoring space is the lowest again. The scan up to the region 94 of No. 94 is repeated, and the next frame 95 is obtained.

In FIG. 3, a part of the laser beam reflected by hitting the object among the light beams scanned and projected is transmitted through the transparent plate 62 again and incident on the second mirror surface 64 of the mirror unit 52 in the housing 56. Here, it is reflected, further reflected by the first mirror surface 63, condensed by the lens 53, and detected pixel by pixel on the light receiving surface of the photodiode 54, respectively.

Further, the processing circuit obtains the distance information according to the time difference between the emission timing of the semiconductor laser 50 and the light reception timing of the photodiode 54. As a result, it is possible to detect a moving object in the entire area in the measurement space and obtain a frame 95 (see FIG. 4) as a distance image having distance information (three-dimensional measurement value) for each pixel (measurement point). can.

(Notification unit)
A plurality of notification units 300 are arranged at predetermined intervals from each other and independently transmit information. A plurality of notification units 300 may be arranged at the same location. The predetermined interval can be arbitrarily set in consideration of the range of the moving speed of the moving body to be monitored in the monitoring area 610 and the like. For example, when the moving object to be monitored is a human being, the predetermined interval may be 2 m. The notification unit 300 includes, for example, a voice generator such as a speaker, a lighting device such as a warning light, and a display device such as an electric bulletin board. The notification unit 300 is arranged at a position and orientation in which information can be transmitted to a moving body in the monitoring area 610. That is, for example, when the notification unit 300 is a speaker, the speaker is arranged so that the center of the sound directing range of the speaker crosses the monitoring area 610. If the notification unit 300 is an electric bulletin board, the electric bulletin board may be arranged so that a perpendicular line to the center of the bulletin board on which information is displayed crosses the monitoring area 610. Further, for example, when the monitoring area 610 is set on the road, the electric bulletin board may be arranged so that the bulletin board on which the information is displayed faces the direction opposite to the traveling direction of the vehicle or the like on the road.

The operation of the control unit 110 of the information notification device 100 will be described.

As described above, the control unit 110 constitutes the acquisition unit 111 together with the communication unit 130, and also constitutes the analysis unit 112, the discrimination unit 113, and the selection unit 114.

The acquisition unit 111 receives the distance image taken by the rider 210 and the captured image taken by the camera 220 from the measuring device 200 by the communication unit 130.

The acquisition unit 111 calculates the position and shape of the moving body based on the distance image taken by the rider 210 and the image taken by the camera 220. As a result, the acquisition unit 111 acquires the position and shape of the moving body. The shape includes a size and a shape.

The acquisition unit 111 calculates the position and size of the moving body by the background subtraction method based on the distance image measured by the rider 210.

A measurement algorithm using background subtraction method for the position and size of a moving object based on AF point cloud data will be described. In the background subtraction method, a background image (also referred to as a reference image) that has been generated and saved in advance is used. Specifically, as a pre-preparation (pre-processing) for measurement, the laser spot light 90 is scanned from the rider 210 in the absence of a moving object such as a human or a vehicle. As a result, a background image can be obtained based on the reflected light obtained from the background object. In the actual measurement, when the moving body to be measured appears in front of the background object, the reflected light from the moving body is newly generated. By comparing the background image held in the storage unit 120 with the distance image at the present time, it is possible to recognize that some moving object has appeared in the measurement space when a difference occurs. Specifically, foreground data is extracted by comparing the background data with the current distance image using the background subtraction method. Then, the pixels (pixel group) of the extracted foreground data are divided into clusters according to, for example, the distance value of the pixels. Then, the size of the moving body is acquired by calculating the size of each cluster. The size of the cluster can be calculated, for example, by the vertical dimension, the horizontal dimension, the total area (number of pixels), and the like. The "size" referred to here is an actual size, and unlike the apparent size (angle of view, that is, the spread of pixels), a mass of pixel groups is determined according to the distance to the object. The acquisition unit 111 may acquire the position of the moving body as the position of the center or the center of gravity of each cluster. The current time is the time when the type is determined and the time when the image such as the distance is acquired. In the following, it is the time when the type is determined.

The acquisition unit 111 acquires the shape of the moving body by detecting the silhouette of the moving body (hereinafter, referred to as “moving body silhouette”) from a plurality of captured images taken by the camera 220. The moving body silhouette can be detected, for example, by extracting a range of pixels in which the difference is relatively large by the time difference in which the images whose shooting times are before and after are different. The moving body silhouette may be detected by the background subtraction method of subtracting the background image from the captured image.

The acquisition unit 111 may acquire the shape of the moving body as the silhouette of the foreground data extracted by the background subtraction method by using the distance image measured by the rider 210. In this case, the position and shape of the moving body can be acquired based only on the distance image measured by the rider 210 without using the captured image.

The analysis unit 112 analyzes the speed and the moving direction of the moving body based on the history of the position of the moving body acquired from each frame of the distance image. Each position of the moving object acquired from a plurality of frames having different shooting times constitutes a history of positions. The analysis unit 112 can analyze the speed of the moving body by dividing the amount of change in the position of the moving body between frames by the time interval of the frame. The analysis unit 112 can analyze the moving direction of the moving body as a vector of the changing direction of the position of the moving body between frames. The plurality of frames used for analyzing the speed and the moving direction of the moving body may be continuous frames, or may be a plurality of frames arbitrarily selected from the frames output from the rider 210.

The determination unit 113 determines the type of the moving body based on the shape of the moving body acquired by the acquisition unit 111. Types include a wide range of humans, vehicles, and non-human animals, as well as young people, old people, passenger cars, and trucks.

The discriminating unit 113 discriminates the type of the moving body from the shape of the moving body acquired by the acquisition unit 111, for example, by using a neural network learned in advance from a plurality of teacher data of a combination of the shape and the type of the moving body. Can be. Specifically, the type of the moving body is selected from the moving body silhouette acquired by the acquisition unit 111 by using a neural network pre-learned from a plurality of teacher data of the combination of the moving body silhouette and the type of the moving body silhouette. Can be discriminated. The discriminating unit 113 may discriminate the type of the moving body by using machine learning other than the neural network.

A plurality of selection units 114 are based on the position of the moving body acquired by the acquisition unit 111, the speed and moving direction of the moving body analyzed by the analysis unit 112, and the type of the moving body determined by the discriminating unit 113. From the notification unit 300, the notification unit 300 that notifies the moving body of information is selected. That is, the selection unit 114 selects the most suitable notification unit 300 for notifying the moving body among the plurality of notification units 300 based on the position, speed, movement direction, and type of the moving body. , Controls to notify the selected notification unit 300 of information.

The selection of the notification unit 300 by the selection unit 114 will be described.

(First Embodiment)
In the present embodiment, a notification unit that notifies information to a person who has entered a prohibited road is selected.

FIG. 5 illustrates an example of selecting a notification unit that notifies information from a plurality of notification units to a plurality of people who have entered a prohibited road, which is an operation of the information processing device according to the present embodiment. It is explanatory drawing for this. In the example of FIG. 5, the no-entry road 600 is a road (for example, an expressway) where no one is allowed to enter. FIG. 6 is a flowchart showing the operation of the information notification device when selecting a notification unit that notifies information from a plurality of notification units to a plurality of people who have entered a prohibited road. This flowchart is executed by the control unit 110 according to the program stored in the storage unit 120.

In the example of FIG. 5, the measuring device 200 is installed beside the no-entry road 600 and defines the monitoring area 610. The plurality of notification units 300 are speakers 310A to 310D, respectively, and are arranged on the side of the no-entry road 600 so as to notify information by voice toward the monitoring area 610 at intervals of 2 m from each other. ..

As shown in FIG. 6, the control unit 110 monitors the monitoring area 610 based on the detection of the mobile body 700 (S101). That is, the control unit 110 monitors the monitoring area 610 by detecting the moving body 700 by the background subtraction method based on the distance image measured by the rider 210 by the acquisition unit 111. Specifically, when the size of the cluster calculated according to the distance value of the pixels from the foreground data extracted from the distance image by the background subtraction method exceeds a predetermined threshold value, the cluster is detected as the moving body 700. The monitoring area 610 is monitored. The predetermined threshold value can be set to an arbitrary threshold value by experiments or the like. FIG. 5A shows a state in which the mobile body 700 has not entered the monitoring area 610. The control unit 110 detects that the mobile body 700 that has entered the monitoring area 610 is a person based on the measurement data by the measuring device 200 (see step S103), and then information is provided from the speakers constituting the notification unit 300. The time until the notification (sound is output) (hereinafter, also referred to as “output required time”) is, for example, 0.5 seconds. FIG. 5B shows a state in which a jogging young man 701 and an elderly person 702, which are mobile bodies 700, have entered the monitoring area 610. When the moving body 700 enters the monitoring area 610, the control unit 110 detects the young people 701 and the elderly people 702, which are the moving bodies 700 that have entered the monitoring area 610.

If the control unit 110 does not detect the moving body in the monitoring area 610 (S102: NO), the control unit 110 returns to step S101 and continues monitoring the monitoring area 610 based on the detection of the moving body 700.

When the control unit 110 detects a moving body in the monitoring area 610 (S102: YES), the control unit 110 acquires the position and shape of the moving body 700 (S103) and determines the type of the moving body from the shape (S104).

When the control unit 110 determines that the type of the moving body is not a person (S105: NO), the control unit 110 returns to step S101 and continues the detection of the moving body.

When the control unit 110 determines that the type of the moving body 700 is a person (S105: YES), the control unit 110 analyzes the speed and the moving direction of the moving body from the history of the position of the moving body 700 (S106).

The control unit 110 estimates the time for the mobile body 700 to pass through the speakers 310A to 310D, which are the notification units 300, from the current position, speed, and moving direction of the moving body 700 (S107). Here, "passing" means that if the notification unit 300 is speakers 310A to 310D, the moving body 700 crosses within the directivity range of the sound of the speaker, and more specifically, the front surface (direction) of the speaker. To cross the center of the range). Further, if the notification unit 300 is a display device, it also crosses within the display viewing angle or the center thereof. FIG. 5C shows an estimation of each mobile body 700 when 0.5 seconds, which is the time from when the type of the mobile body 700 is determined to be a person to when information is notified from the speakers 310A to 310D, has elapsed. It is a figure which shows the position which is done. The current position of each mobile 700 (when the type of mobile 700 is determined to be human) is indicated by a black silhouette, and each mobile 700 is estimated 0.5 seconds after the present. The position is indicated by the silhouette of the broken line. In the example of C in FIG. 5, the position of the young man 701 jogging is estimated to be an intermediate position between the speaker 310B and the speaker 310C, and the position of the elderly person 702 does not reach any of the speakers 310A to 310D. It is estimated that. The control unit 110 estimates, for example, that the time for the young man 701 to pass between the speaker 310B and the speaker 310C is 0.5 seconds after it is determined that the type of the young man 701, which is the mobile body 700, is a person. do. The control unit 110 estimates, for example, that the time for the elderly person 702 to pass through the speaker 310D is 1.5 seconds after it is determined that the type of the elderly person 702, which is the mobile body 700, is a person.

The control unit 110 selects the speakers 310A to 310D that are passed through the mobile body 700 at the estimated time as the speakers 310A to 310D for transmitting information, and generates sound from the selected speakers 310A to 310D to generate sound from the selected speakers 310A to 310A. Information is notified to the moving body 700 passing through the ~ 310D (S108). FIG. 5D is a diagram showing the relative positions of the speaker and the moving body when transmitting information to each moving body. The current position of each mobile 700 (when the type of mobile 700 is determined to be human) is indicated by a black silhouette, and the estimated position of the youth 701 when 0.5 seconds have passed since the present. , And the estimated position of the elderly 702 at 1.5 seconds from the present are indicated by dashed silhouettes, respectively. For the youth 701, the speakers 310B and the speaker 310C, which are passed through the youth 701 0.5 seconds after the type is determined to be a person, are selected as the speakers 310A to 310D for transmitting the information to the youth 701. Then, 0.5 seconds after the type is determined to be a person, the speaker 310B and the speaker 310C are notified of the information. As a result, information can be transmitted to the young man 701 from the speaker 310B and the speaker 310C closest to the young man 701 at the timing when the young man 701 comes closest to the speakers 310A to 310D. For the elderly person 702, the speakers 310D that are passed through the elderly person 702 1.5 seconds after the type is determined to be a person are selected as the speakers 310A to 310D that notify the elderly person 702 of the information. Then, 1.5 seconds after the type is determined to be a person, the speaker 310D is notified of the information. As a result, information can be transmitted from the speaker 310D closest to the elderly 702 to the elderly 702 at the timing when the elderly 702 is closest to the speakers 310A to 310D. As the information notified from the speakers 310A to 310D to the young people 701 and the elderly people 702, for example, "Entry into this road is prohibited. Please leave the road promptly."

(Second Embodiment)
In the present embodiment, a notification unit that notifies information to each type of vehicle that has entered a prohibited road is selected.

FIG. 7 shows an example in which a notification unit that notifies information for each type of vehicle is selected from a plurality of notification units for a vehicle that has entered a prohibited road, which is an operation of the information processing device according to the present embodiment. It is explanatory drawing for demonstrating. In the example of FIG. 7, the no-entry road is a road on which vehicles are prohibited from entering (for example, a pedestrian-only road).

In the example of FIG. 7, the plurality of notification units 300 are an electric bulletin board 320A and an electric bulletin board 320B installed on a pillar provided on the side of an entry-prohibited road (not shown). The electric bulletin board 320A is installed at a higher position than the electric bulletin board 320B. The electric bulletin board 320A and the electric bulletin board 320B each notify information in characters.

In A of FIG. 7, when it is determined that the type of the moving body 700 detected in the monitoring area 610 set on the no-entry road is a large vehicle such as a truck, the two electric bulletin boards 320A and 320B are included. The electric bulletin board 320A is selected as the notification unit 300 for notifying information. As a result, since the position of the driver's seat of the large vehicle is relatively high, the information is notified from the electric bulletin board 320A arranged at a relatively high position, which is easily visible to the driver of the large vehicle. , Information can be efficiently notified to the driver. In the example of FIG. 7, the information of the characters "Caution" is displayed on the electric bulletin board 320A, so that the information for warning the prohibition of entry to the prohibited road is notified.

In B of FIG. 7, when it is determined that the type of the mobile body 700 detected in the monitoring area 610 is a small vehicle such as an ordinary automobile, the electric bulletin board 320B is selected from the two electric bulletin boards 320A and 320B. It is selected as the notification unit 300 for notifying information. As a result, since the position of the driver's seat of the small vehicle is relatively low, information is notified from the electric bulletin board 320B arranged at a relatively low position, which is easily visible to the driver of the small vehicle. , Information can be efficiently notified to the driver.

The entry-prohibited road 600 in which the monitoring area 610 is set may be a road in which entry permission is set for each type of vehicle, such as a large automobile-only road. In this case, the notification unit 300 for notifying information can be selected for each type of vehicle, and the content of the information to be displayed on the selected notification unit 300 can be switched. For example, if it is determined that the type of the mobile body 700 that has entered the monitoring area 610 set on the large automobile exclusive road is a large vehicle, characters such as "passable" are displayed in blue on the electric bulletin board 320A. By doing so, the information that the passage is possible is notified. On the other hand, if it is determined that the type of the mobile body 700 that has entered the monitoring area 610 is a small vehicle, the traffic is prohibited by displaying characters such as "Caution (or no passage)" in red on the electric bulletin board 320B. Information is notified.

Further, the no-entry road 600 may be, for example, a general vehicle no-entry road on which only permitted vehicles permitted in advance can enter. In this case, for example, the electric bulletin boards 320A and 320B are provided with a wireless communication device capable of receiving a wireless signal from the licensed vehicle and a transmission device for wirelessly transmitting the authentication information to the licensed vehicle. Then, when the electric bulletin boards 320A and 320B receive the authentication information from the permitted vehicle, the characters such as "passable" are displayed in blue on any of the electric bulletin boards 320A and 320B only for the permitted vehicle. For the moving body 700 that notifies the information that it is possible to pass and does not send the authentication information, it is prohibited to pass by displaying characters such as "Caution (or prohibition)" in red on any of the electric bulletin boards 320A and 320B. Information may be notified.

Further, one of the two electric bulletin boards 320A and 320B may be selected as the electric bulletin boards 320A and 320B for notifying information according to the detected shape of the moving body 700. For example, for a moving body 700 having a high vehicle height such as a truck, information may be notified from an electric bulletin board 320A arranged at a relatively high position. For a moving body 700 having a low vehicle height such as an ordinary automobile, information may be notified from an electric bulletin board 320B arranged at a relatively low position.

(Third Embodiment)
In the present embodiment, a notification unit that notifies information to a moving body that has entered a prohibited road is selected, and information to be notified is switched for each type of moving body.

FIG. 8 shows the operation of the information processing device according to the present embodiment, in which a notification unit for notifying information is selected from a plurality of notification units and is notified to a moving body that has entered a prohibited road. It is explanatory drawing for demonstrating the example of switching the content of information. In the example of FIG. 8, the no-entry road is a road where vehicles and people are prohibited from entering (for example, a road under construction). FIG. 9 shows the operation of the information notification device when selecting a notification unit that notifies information from a plurality of notification units and switching the content of the information to be notified to a moving body that has entered a prohibited road. It is a flowchart which shows. This flowchart is executed by the control unit 110 according to the program stored in the storage unit 120.

In the example of FIG. 8, the measuring device 200 is installed beside the no-entry road 600 and defines the monitoring area 610. The plurality of notification units 300 are electric bulletin boards 330A and 330B, respectively, and are arranged on the side of the no-entry road 600 so as to notify information by characters at arbitrary intervals.

Since steps S201 to S204 of FIG. 9 are the same as steps S101 to S104 of FIG. 6, duplicated description will be omitted or simplified.

The control unit 110 monitors the monitoring area 610 based on the detection of the mobile body 700 (S201). FIG. 8A shows a state in which the mobile body 700 has not entered the monitoring area 610.

If the control unit 110 does not detect the mobile body 700 in the monitoring area 610 (S202: NO), the control unit 110 returns to step S201 and continues to detect the mobile body 700.

When the moving body 700 is detected in the monitoring area 610 (S202: YES), the control unit 110 acquires the position and shape of the moving body 700 (S203) and determines the type of the moving body from the shape (S204). FIG. 8B shows a state in which a young man 701 jogging, which is a mobile body 700, and a vehicle 703 have entered the monitoring area 610. In the example of B in FIG. 8, the types of the mobile body 700 are determined to be a person (or adolescent) 701 and a vehicle 703, respectively.

When the control unit 110 determines that the type of the moving body 700 is not a person or a vehicle (S205: NO), the control unit 110 returns to step S201 and continues to detect the moving body 700. In step S205, when it is determined that the type of the moving body 700 is not a person or a vehicle, for example, the moving body 700 may be an animal other than a human being.

When the control unit 110 determines that the type of the moving body 700 is a person or a vehicle (S205: YES), the control unit 110 analyzes the speed and the moving direction of the moving body from the history of the position of the moving body 700 (S206).

The control unit 110 estimates the time for the moving body 700 to pass through the display plate 303 from the current position, speed, and moving direction of the moving body 700 (S207). FIG. 8C shows a state in which the electric bulletin board 330A notifies the vehicle 703 of information at the time when the vehicle 703 passes through the electric bulletin board 330A. Further, the state in which the information is notified to the young man 701 by the electric bulletin board 330B at the time when the young man 701 passes through the electric bulletin board 330B is shown. Note that, in FIG. 8, for the sake of simplicity, a state in which information is displayed on the two electric bulletin boards 330A and 330B at the same time is shown for convenience.

The control unit 110 determines whether or not the type of the mobile body 700 passing through the electric bulletin boards 330A and 330B is a person (S208). When the control unit 110 determines that the type of the moving body 700 passing through the electric bulletin boards 330A and 330B is a person (S208: YES), the electric bulletin board 330B passed through the person (young person) 701 who is the moving body 700. Is selected as the electric bulletin boards 330A and 330B for notifying information. Then, the information for the person is notified at the time when the selected electric bulletin board 330B is estimated to be passed by the person (S209). In the example of C in FIG. 8, at the time when the electric bulletin board 330B is estimated to be passed by the young man 701, the information of the characters "Please do not enter!" Is displayed on the electric bulletin board together with the mark indicating that no one is allowed to enter. The information is notified to the young man 701 by being displayed on the 330B.

When the control unit 110 determines that the type of the moving body 700 passing through the electric bulletin boards 330A and 330B is not a person (that is, a vehicle) (S208: NO), the control unit 110 is passed to the vehicle 703 which is the moving body 700. The electric bulletin board 330A is selected as the electric bulletin boards 330A and 330B for transmitting information. Then, the information for the vehicle 703 is notified at the time when the selected electric bulletin board 330A is estimated to be passed by the vehicle (S210). In the example of C in FIG. 8, the information of the characters "Vehicle entry prohibited!" Is displayed on the electric bulletin board 330A at the time when it is estimated that the electric bulletin board 330A will pass through the vehicle 703. Information is being broadcast.

In the example of FIG. 9, the content of the information to be displayed on the moving body 700 passing through the electric bulletin board 330A and 330B is switched depending on the type of the moving body 700, but the electric bulletin board 330A, depending on the shape of the moving body 700. The content of the information to be displayed on the moving body 700 passing through the 330B may be switched. That is, instead of determining the type of the moving body 700, a mark indicating that a person is prohibited from entering the moving body 700, which is relatively small in size equal to or less than a predetermined threshold value, is presumed to be a person. Information can be notified by displaying. Further, the information can be notified to the relatively large moving body 700 whose size exceeds a predetermined threshold value by presuming that it is a vehicle and displaying the characters "Vehicle entry prohibited!". The predetermined threshold value can be set to an appropriate value experimentally.

(Fourth Embodiment)
In the present embodiment, a notification unit that notifies information to a moving body that has entered a prohibited road is selected, and the information to be notified is switched according to the moving direction of the moving body.

FIG. 10 shows the operation of the information processing device according to the present embodiment, in which a notification unit for notifying information is selected from a plurality of notification units and is notified to a moving body that has entered a prohibited road. It is explanatory drawing for demonstrating the example of switching information according to the moving direction of a moving body. In the example of FIG. 10, the no-entry road 600 is a road (for example, an expressway) where no one is allowed to enter. FIG. 11 shows the operation of the information notification device when selecting a notification unit that notifies information from a plurality of notification units and switching the content of the information to be notified to a moving body that has entered a prohibited road. It is a flowchart which shows. This flowchart is executed by the control unit 110 according to the program stored in the storage unit 120.

In the example of FIG. 10, the measuring device 200 is installed beside the no-entry road 600 and defines the monitoring area 610. The plurality of speakers 310A to 310D constituting the notification unit 300 are arranged on the side of the no-entry road 600 so as to notify information by voice toward the monitoring area 610 at a distance of 2 m from each other.

Since steps S301 to S304 in FIG. 11 are the same as steps S101 to S104 in FIG. 6, duplicated description will be omitted or simplified.

The control unit 110 monitors the monitoring area 610 based on the detection of the mobile body 700 (S301).

If the control unit 110 does not detect the mobile body 700 in the monitoring area 610 (S302: NO), the control unit 110 returns to step S301 and continues the detection of the mobile body 700.

When the moving body 700 is detected in the monitoring area 610 (S302: YES), the control unit 110 acquires the position and shape of the moving body 700 (S303) and determines the type of the moving body from the shape (S304). FIG. 10A shows a state in which the elderly person 702, which is a mobile body 700, has entered the monitoring area 610. In the example of A in FIG. 10, each type of the mobile body 700 is determined to be a person (or an elderly person).

When the control unit 110 determines that the type of the mobile body 700 is not a person (S305: NO), the control unit 110 returns to step S301 and continues the detection of the mobile body 700.

When the control unit 110 determines that the type of the moving body 700 is a person (S305: YES), the control unit 110 analyzes the speed and the moving direction of the moving body 700 from the history of the position of the moving body 700 (S306).

The control unit 110 estimates the time for the moving body 700 to pass through the speakers 310A to 310D from the current position, speed, and moving direction of the moving body 700 (S307).

The control unit 110 selects the speakers 310A to 310D that are passed through the mobile body 700 at the estimated time as the speakers 310A to 310D for transmitting information. Then, by generating sound from the selected speakers 310A to 310D, the moving body 700 passing through the speakers 310A to 310D is notified of the warning information (S308). In the example B of FIG. 10, at the time estimated that the elderly person 702 will pass through the speaker 310D, the warning information is notified from the selected speaker 310D to warn the elderly person 702 passing through the speaker 301D. Information is being broadcast. As the warning information notified from the speaker 310D to the elderly person 702, for example, "Please do not enter!" Can be considered.

The control unit 110 determines whether the moving direction of the moving body 700 is the exit direction from the entry prohibited road 600 (S309). When the control unit 110 determines that the moving direction of the moving body 700 is not the exit direction (S309: NO), the control unit 110 proceeds to step S308. That is, the control unit 110 further estimates the time for the moving body 700 to pass through the speakers 310A to 310D from the current position, speed, and moving direction of the moving body 700. Then, the speakers 310A to 310D passed through the mobile body 700 at the estimated time are selected as the speakers 310A to 310D for notifying the information. Then, the selected speakers 310A to 310D further notify the moving body 700 passing through the speakers 310A to 310D of warning information (S308). If the moving direction of the moving body 700 is not the exit direction, it is considered that the warning information notified from the speakers 310A to 310D has not been transmitted to the moving body 700, so it is necessary to notify the moving body 700 of the warning information again. Because there is.

When the control unit 110 determines that the moving direction of the moving body 700 is the exit direction (S309: YES), the moving body 700 uses the speakers 310A to 310D based on the current position, speed, and moving direction of the moving body 700. The time to pass through is further estimated (S310).

After that, the control unit 110 selects the speakers 310A to 310D passed through the mobile body 700 at the estimated time as the speakers 310A to 310D for notifying the guidance information. Then, from the selected speakers 310A to 310D, the moving body 700 passing through the speakers 310A to 310D is notified by switching the information to be notified to the guidance information (S311). When the moving direction of the moving body 700 is the exit direction, it is considered that the warning information notified from the speakers 310A to 310D is transmitted to the moving body 700. Therefore, by notifying the moving body 700 of the guidance information and causing the moving body 700 to continue moving in the current moving direction, it is possible to urge the moving body 700 to leave the restricted road 600. In the example of C in FIG. 10, the guidance information from the selected speaker 310B at the time when the elderly person 702 moves in the exit direction (direction of the arrow) and the elderly person 702 is estimated to pass through the speaker 310B. The guidance information is notified to the elderly person 702 passing through the speaker 310B. As the guidance information notified from the speaker 310B to the elderly person 702, for example, "Please proceed as it is!" Can be considered.

(Fifth Embodiment)
In the present embodiment, a composite notification unit consisting of a combination of a plurality of notification units that notifies information to a moving body that has entered a prohibited road is selected, and the composite notification unit is used according to the type of the moving body. From the included notification units, the notification unit that notifies the information is selected, and the information to be notified is switched.

FIG. 12 selects a composite notification unit that notifies information from a plurality of composite notification units that notify information to a moving body that has entered a prohibited road, which is an operation of the information processing device according to the present embodiment. At the same time, it is explanatory drawing for demonstrating an example which changes the notification unit which notifies information from among the notification units included in the composite notification unit, and switches the information to notify according to the type of a moving body. The compound notification unit constitutes a plurality of notification units 300. In the example of FIG. 12, the no-entry road 600 is a road where vehicles and people are prohibited from entering (for example, a road under construction). In FIGS. 13A and 13B, a composite notification unit for notifying information is selected from a plurality of composite notification units for notifying information to a moving body that has entered a prohibited road, and a composite notification unit is used for each type of moving body. It is a flowchart which shows the operation of the information notification device at the time of changing the notification unit for notifying information from among the notification units included in the notification unit, and switching the information to be notified. This flowchart is executed by the control unit 110 according to the program stored in the storage unit 120.

In the example of FIG. 12, the measuring device 200 is installed beside the no-entry road 600 and defines the monitoring area 610. The plurality of composite notification units 340A and 340B are, for example, a set of an electric bulletin board, a speaker, and a warning light, respectively, and are arranged at arbitrary intervals beside the no-entry road 600. The electric bulletin board notifies the information by letters, the speaker notifies the information by sound, and the warning light emits light to notify the information. The warning light can emit information such as a warning by emitting light.

Since steps S401 to S404 of FIG. 13A are the same as steps S101 to S104 of FIG. 6, duplicated description will be omitted or simplified.

The control unit 110 monitors the monitoring area 610 based on the detection of the mobile body 700 (S401). FIG. 12A shows a state in which the mobile body 700 has not entered the monitoring area 610.

If the control unit 110 does not detect the mobile body 700 in the monitoring area 610 (S402: NO), the control unit 110 returns to step S401 and continues the detection of the mobile body 700.

When the moving body 700 is detected in the monitoring area 610 (S402: YES), the control unit 110 acquires the position and shape of the moving body 700 (S403) and determines the type of the moving body from the shape (S404). FIG. 12B shows a state in which a young man 701 jogging, which is a mobile body 700, and a vehicle 703 have entered the monitoring area 610. In the example of B in FIG. 12, the types of the mobile body 700 are determined to be a person (or adolescent) 701 and a vehicle 703, respectively.

When the control unit 110 determines that the type of the moving body 700 is not a person or a vehicle (S405: NO), the control unit 110 returns to step S401 and continues the detection of the moving body 700. When it is determined in step S405 that the type of the mobile body 700 is not a person or a vehicle, for example, the mobile body 700 may be an animal other than a human being.

When the control unit 110 determines that the type of the moving body 700 is a person or a vehicle (S405: YES), the control unit 110 analyzes the speed and the moving direction of the moving body from the history of the position of the moving body 700 (S406).

The control unit 110 estimates the time for the mobile body 700 to pass through the composite notification units 340A and 340B from the current position, speed, and moving direction of the moving body 700 (S407). Hereinafter, for the sake of simplicity, the time for the young man 701 to pass through the composite notification unit 340B is estimated, the information is notified to the young man 701 by the composite notification unit 340B, and the time for the vehicle 703 to pass through the composite notification unit 340A. Will be described as assuming that the information is notified to the vehicle 703 by the combined notification unit 340A. It should be noted that which of the combined notification units 340A and 340B should be used to notify which mobile body 700 the information may be determined so as to satisfy the following conditions. That is, the time it takes for the mobile body 700 to pass through the composite notification units 340A and 340B after the type of the mobile body 700 is determined is notified from the composite notification units 340A and 340B after the type of the mobile body 700 is determined. Can be determined to be greater than or equal to the output time required. In addition, it can be determined that the time to notification is the shortest.

When the control unit 110 determines that the type of the mobile body 700 is a person (S408: YES), the control unit 110 selects the composite notification unit 340B passed through the mobile body 700 as the composite notification unit 340A and 340B for transmitting information. .. Further, the control unit 110 selects the electric bulletin board, the speaker, and the warning light of the composite notification unit 340B as the notification unit 300 for transmitting information. That is, the electric bulletin board, the speaker, and the warning light, which are suitable for notifying the person who is the type of the mobile body 700, are selected as the notification unit 300 for notifying the information. Then, at the time when the selected composite notification unit 340B is estimated to be passed by the person, the information to the person is notified by the electric bulletin board, the speaker, and the warning light of the composite notification unit 340B (S409). In the example of C in FIG. 12, at the time when it is estimated that the compound notification unit 340B is passed through the young person 701, the characters "Please do not enter!" Are displayed together with the mark indicating that no one is allowed to enter. Information is notified to the young man 701 by being displayed on the electric bulletin board of the compound notification unit 340B. Information is notified by the voice "Please do not enter!" From the speaker. Further, the warning light is emitted to notify the warning information.

When the control unit 110 determines that the type of the mobile body 700 passing through the composite notification unit 340A and 340B is not a person (that is, a vehicle) (S408: NO), the control unit 110 passes the composite notification to the mobile body 700. The unit 340A is selected as the composite notification unit 340A and 340B for transmitting information. Then, at the time when the selected composite notification unit 340A is estimated to pass through the vehicle 703, the information for the vehicle 703 is notified by the electric bulletin board and the warning light of the composite notification unit 340A (S410). That is, an electric bulletin board and a warning light suitable for notifying the vehicle 703, which is a type of the mobile body 700, are selected as the notification unit 300 for notifying the information, and the selected electric bulletin board and the warning light are used to notify the vehicle 703. Notify information. In the example of C in FIG. 12, information is notified by displaying the characters "Vehicle entry prohibited!" On the composite notification unit 340A at the time when the compound notification unit 340A is estimated to pass through the vehicle 703. NS. Further, the warning light is emitted to notify the warning information. In the notification of information to the vehicle 703, the notification by the speaker is not performed. This is because the speaker notification is effective for pedestrians even at a relatively low volume, but it is also effective for drivers who often drive while listening to music in a moving vehicle. This is because it is necessary to raise the volume of the speaker in order to notify the signal, which causes a problem of noise.

The embodiment according to the present invention has the following effects.

The position and shape of the moving body are acquired, the speed and direction of the moving body are analyzed from the history of the position of the moving body, the type of the moving body is determined from the shape of the moving body, and the position, speed, and movement of the moving body are determined. A notification unit that notifies information is selected from a plurality of notification units based on the direction and type. As a result, information can be accurately and efficiently notified for each type of moving object.

Further, a plurality of notification units are arranged at different positions from each other. As a result, information can be notified to the moving body from the optimum location.

Further, based on the position of the moving body and the speed and direction of the moving body, the time for the moving body to pass through the notification unit is estimated, and the moving body is passed through the moving body at the estimated time for passing through the notification unit. The notification unit is selected as the notification unit that notifies the moving body of information. As a result, information can be notified to the moving body from the notification unit closest to the moving body.

Further, based on the moving direction of the moving body after the information is notified to the notification unit, the content of the information to be notified to the notification unit selected thereafter is switched. As a result, depending on whether or not the notified information is recognized by the moving body, the moving body can be moved out of the predetermined area by switching between continuing the warning to the moving body and guiding the moving body out of the predetermined area. You can effectively encourage your exit.

Further, a notification unit for transmitting information is selected according to the shape or type of the moving body. As a result, it is possible to select the most suitable notification unit for displaying information in response to the fact that the field of view of the driver or the like who drives the moving body differs depending on the type and shape of the moving body.

Further, the content of the information to be notified to the notification unit is switched according to the shape or type of the moving body. As a result, it is possible to notify the information of appropriate contents for each moving body.

In addition, the position and shape of the moving body is obtained from the rider. As a result, information can be accurately and efficiently notified for each type of moving object with a relatively simple configuration.

Further, the position of the moving body is acquired from the rider, and the shape of the moving body is acquired from the camera. As a result, information can be delivered more accurately and efficiently for each type of moving object.

Further, the notification unit is composed of at least one of a voice generator, a lighting device, and a display device. As a result, information can be effectively notified for each type of moving body.

The present invention is not limited to the embodiments described above.

For example, in the embodiment, a part or all of the processing executed by the program may be replaced with hardware such as a circuit and executed.

Further, the program may be stored and used in a recording medium such as a CD-ROM.

This application is based on a Japanese patent application filed on July 6, 2018 (Japanese Patent Application No. 2018-129138), the disclosure of which is referenced and incorporated as a whole.

10 Information notification system,
100 Information notification device,
111 acquisition part,
112 Analysis Department,
113 Discriminating part,
114 selection,
200 measuring device,
210 rider,
220 camera,
300 notification unit,
310A, 310B, 310C, 310D speakers,
320A, 320B electric bulletin board,
330A, 330B electric bulletin board,
340A, 340B combined notification unit.

Claims (20)

An acquisition unit that acquires information on the position and shape of a moving body in a predetermined area, and
An analysis unit that analyzes the speed and moving direction of the moving body based on the history of the position of the moving body acquired by the acquisition unit.
A discriminating unit that determines the type of the moving body based on the information on the shape of the moving body acquired by the acquiring unit.
A plurality of notifications based on the position of the moving body acquired by the acquisition unit, the speed and moving direction of the moving body analyzed by the analysis unit, and the type of the moving body determined by the discriminating unit. A selection unit that selects the notification unit that notifies information from the units, and a selection unit.
Information notification device having. The information notification device according to claim 1, wherein the selection unit selects the notification unit for transmitting information from a plurality of the notification units arranged at different positions. The selection unit determines the time for the moving body to pass through the notification unit based on the position of the moving body acquired by the acquisition unit and the speed and moving direction of the moving body analyzed by the analysis unit. Claim 1 or 2 which estimates and selects the notification unit which is passed through the moving body at the time when the moving body is estimated to pass through the notification unit as the notification unit for notifying the moving body of information. The information notification device described in. The third aspect of the present invention, wherein the selection unit switches the content of the information to be notified to the notification unit to be selected thereafter based on the moving direction of the moving body after the notification unit is notified of the information. Information notification device. The information notification device according to any one of claims 1 to 4, wherein the selection unit selects the notification unit for transmitting the information according to the shape or type of the moving body. The information notification device according to any one of claims 1 to 5, wherein the selection unit switches the content of the information to be notified to the notification unit according to the shape or type of the moving body. The information notification device according to any one of claims 1 to 6, wherein the acquisition unit acquires information on the position and shape of the moving body from the AF point cloud data. The information according to any one of claims 1 to 6, wherein the acquisition unit acquires the position of the moving body from the AF point cloud data and acquires the shape information of the moving body from the captured image. Notification device. The information notification device according to any one of claims 1 to 8, wherein the notification unit includes at least one of a voice generator, a lighting device, and a display device. A measuring unit that measures the position and shape of a moving body within a predetermined area,
An information notification system comprising the information notification device according to any one of claims 1 to 9.
The acquisition unit is an information notification system that acquires information on the position and shape of the moving body in the predetermined region from the measurement unit. It is a control program of an information notification device having an acquisition unit that acquires information on the position and shape of a moving body.
The procedure (a) of acquiring information on the position and shape of the moving body in a predetermined area by the acquisition unit, and
Based on the history of the position of the moving body acquired in the step (a), the procedure (b) for analyzing the speed and the moving direction of the moving body and the procedure (b).
Based on the information on the shape of the moving body acquired in the procedure (a), the procedure (c) for determining the type of the moving body and the procedure (c).
The position of the moving body measured in the procedure (a), the speed and the moving direction of the moving body analyzed in the procedure (b), and the type of the moving body determined in the procedure (c). Based on the procedure (d) of selecting the notification unit for transmitting information to the moving body from the plurality of notification units,
A program for an information notification device that causes a computer to execute. The program for an information notification device according to claim 11, wherein the procedure (d) selects the notification unit for transmitting information from a plurality of the notification units arranged at different positions. In the procedure (d), the moving body notifies the moving body based on the position of the moving body acquired in the procedure (a) and the speed and the moving direction of the moving body analyzed in the procedure (b). The time for passing through the unit is estimated, and the notification unit passed through the moving body at the time when the moving body is estimated to pass through the notification unit is selected as the notification unit for notifying the moving body of information. , The information notification device program according to claim 11 or 12. The information notification according to claim 13, wherein the procedure (d) switches the content of the information to be notified to the notification unit based on the moving direction of the moving body after the notification unit is notified of the information. Program for the device. The information notification device according to any one of claims 11 to 14, wherein the procedure (d) selects the notification unit to be notified by displaying the information according to the shape or type of the moving body. Program for. The program for an information notification device according to any one of claims 11 to 15, wherein the procedure (d) switches the content of the information to be notified to the notification unit according to the shape or type of the moving body. The program for an information notification device according to any one of claims 11 to 16, wherein the procedure (a) acquires the position and shape of the moving body from the AF point cloud data. The information according to any one of claims 11 to 16, wherein the procedure (a) acquires the position of the moving body from the AF point cloud data and acquires the shape of the moving body from the captured image. Program for notification device. The program for an information notification device according to any one of claims 11 to 18, wherein the notification unit includes at least one of a voice generator, a lighting device, and a display device. A measuring unit that measures the position and shape of a moving body within a predetermined area,
An analysis unit that analyzes the speed and direction of movement of the moving body based on the history of the position of the moving body measured by the measuring unit.
A discriminating unit that determines the type of the moving body based on the shape of the moving body measured by the measuring unit, and a discriminating unit that determines the type of the moving body.
A plurality of notification units that notify information to the moving body in the predetermined area, and
A plurality of notifications based on the position of the moving body measured by the measuring unit, the speed and moving direction of the moving body analyzed by the analysis unit, and the type of the moving body determined by the discriminating unit. A selection unit that selects the notification unit that notifies the moving body of information from the units, and a selection unit.
Information notification system with.

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