WO2013136843A1 - 移動量推定システム、移動量推定方法、移動端末 - Google Patents

移動量推定システム、移動量推定方法、移動端末 Download PDF

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Publication number
WO2013136843A1
WO2013136843A1 PCT/JP2013/051099 JP2013051099W WO2013136843A1 WO 2013136843 A1 WO2013136843 A1 WO 2013136843A1 JP 2013051099 W JP2013051099 W JP 2013051099W WO 2013136843 A1 WO2013136843 A1 WO 2013136843A1
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WIPO (PCT)
Prior art keywords
floor
movement
movement amount
time
elevator
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Ceased
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PCT/JP2013/051099
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English (en)
French (fr)
Japanese (ja)
Inventor
高行 秋山
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Hitachi Ltd
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Hitachi Ltd
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Priority to US14/382,895 priority Critical patent/US9632107B2/en
Publication of WO2013136843A1 publication Critical patent/WO2013136843A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting
    • G01S5/02521—Radio frequency fingerprinting using a radio-map
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/02—Indoor

Definitions

  • the present invention relates to a movement amount estimation system that estimates the movement amount of a holder of a mobile terminal, and more particularly, to a movement amount estimation system that estimates a movement amount based on acceleration data measured by an acceleration sensor of the mobile terminal.
  • a location information service As a location information service, a past movement trajectory of a terminal is collected, a service that provides marketing based on a location where the holder of the terminal has moved, and a wide range of sensing by associating the movement trajectory with various sensor data There are services to provide.
  • the location information of the terminal holder is calculated when the terminal receives a GPS (Global Positioning System) signal.
  • GPS Global Positioning System
  • Various positioning methods are being established that enable positioning of the terminal even when the terminal holder is located indoors where GPS signals cannot be received. Such positioning methods include an environmental positioning method in which positioning devices are installed on the environment side and an autonomous positioning method in which no positioning devices are installed on the environment side.
  • the use of the autonomous positioning method is effective particularly in the indoor positioning method in which the positioning target area is wide.
  • a technique for calculating a horizontal movement amount using a triaxial acceleration sensor is known (for example, see Patent Document 1). Also known is a method for estimating the walking speed in the horizontal direction and the walking direction in the horizontal direction of the holder of the terminal based on data measured by a three-axis acceleration sensor, a magnetic orientation sensor, and a gyro (angular velocity) sensor. Yes.
  • the movement of the terminal holder indoors includes not only horizontal movement within the floor but also vertical movement between floors.
  • a method of calculating the amount of movement in the vertical direction using an atmospheric pressure sensor or the like is known, but since an atmospheric pressure sensor is not mounted on a general portable information terminal, an acceleration sensor mounted on a general portable information terminal is used. It is desirable to calculate using this.
  • Patent Document 2 a technique for calculating the amount of vertical movement by stairs, escalators, and elevators based on the peak acceleration in the height direction is known (see, for example, Patent Document 2).
  • Patent Document 3 a technique for recognizing elevator lift based on a pattern of acceleration sensor data is known (see, for example, Patent Document 3).
  • Patent Document 2 does not describe that the accurate elevator boarding start time and elevator boarding end time cannot be calculated and that the error of the elevator moving amount due to the error of the acceleration sensor itself is adjusted.
  • Patent Document 3 does not calculate the amount of movement of the elevator by detecting the elevator ascending or descending based on the acceleration pattern.
  • Patent Document 3 as in Patent Document 2, It is not described about adjusting the error of the moving amount of the elevator.
  • a moving amount estimation for accurately calculating an elevator moving amount is provided.
  • the purpose is to provide a system.
  • a representative example of the present invention includes a storage area for storing acceleration data including a time measured by an acceleration sensor included in a mobile terminal and an acceleration measured by the acceleration sensor, based on the acceleration data.
  • the movement amount estimation system for estimating the movement amount of the holder of the mobile terminal the start time and the end time of the boarding time of the elevator of the holder are detected based on the increase / decrease of acceleration data stored in the storage area
  • An elevator boarding time detection unit and integrating the acceleration data from the start time to the end time with the time from the start time to the end time, thereby
  • a moving speed calculation unit for calculating a moving speed; and one moving speed of the start time and the end time is set as the start time and the end time.
  • the holder is corrected by integrating the moving speed corrected by the moving speed correcting unit based on the other moving speed at the end time and the time corrected from the start time to the end time.
  • a movement amount estimation unit for estimating the movement amount moved by the elevator is corrected by integrating the moving speed corrected by
  • the movement amount estimation system of the present embodiment when estimating the movement amount of the holder of the mobile terminal 200 based on the acceleration data (acceleration sensor data 131) measured by the acceleration sensor 250 included in the mobile terminal 200, boarding an elevator
  • the movement speed at the start time and the end time of the time is corrected based on the other movement speed, and the movement amount of the moving terminal 200 is estimated by integrating the corrected movement speed of the boarding time.
  • the error of the acceleration in the height direction of the acceleration sensor 250 can be reduced, and the movement amount of the elevator of the holder can be accurately estimated.
  • FIG. 1 is an explanatory diagram of a configuration of a movement amount estimation system according to the first embodiment of this invention.
  • the movement amount estimation system includes a server 100 and a mobile terminal 200.
  • the mobile terminal 200 includes an acceleration sensor 250 for detecting acceleration due to movement of the holder of the mobile terminal 200, and stores acceleration sensor data 231 measured by the acceleration sensor 250.
  • the server 100 collects the acceleration sensor data 231 measured by the acceleration sensor 250 of the mobile terminal 200 and estimates the movement amount of the holder based on the collected acceleration sensor data 231.
  • the mobile terminal 200 includes a processor 210, a memory 220, an auxiliary storage device 230, a communication interface 240, and an acceleration sensor 250. These are connected to each other by a bus or the like.
  • the mobile terminal 200 may be a smartphone, for example, but is not limited to this as long as the acceleration of the holder can be measured by the acceleration sensor 250.
  • the processor 210 refers to the memory 220 and executes various arithmetic processes.
  • the memory 220 stores a sensor data acquisition program 221.
  • the sensor data acquisition program 221 stores the acceleration measured by the acceleration sensor 250 in the auxiliary storage device 230 as acceleration sensor data 231 associated with the time when the acceleration is measured.
  • the auxiliary storage device 230 stores acceleration sensor data 231.
  • the auxiliary storage device 230 is, for example, a portable storage medium.
  • the acceleration sensor data 231 will be described in detail with reference to FIG.
  • the communication interface 240 is an interface for connecting the mobile terminal 200 to the network 150.
  • the acceleration sensor 250 is a sensor capable of detecting three-axis accelerations in the vertical direction, the horizontal direction, and the height direction.
  • the server 100 includes a processor 110, a memory 120, an auxiliary storage device 130, and a communication interface 140. These are connected to each other by a bus or the like.
  • the processor 110 refers to the memory 120 and executes various arithmetic processes.
  • the memory 120 stores an elevator (EV) movement detection program 121, a data correction program 122, and a movement amount calculation program 123.
  • EV elevator
  • the EV movement detection program 121 sets the time when it is determined that the holder has moved in the elevator based on the acceleration sensor data 131 stored in the auxiliary storage device 130 of the server 100 of the acceleration sensor data 231 collected from the mobile terminal 200. The boarding time shown is detected. Details of the EV movement detection program 121 will be described with reference to FIG.
  • the data correction program 122 corrects the moving speed calculated by integrating the acceleration corresponding to the boarding time with the boarding time.
  • the data correction program 122 will be described in detail with reference to FIG.
  • the movement amount calculation program 123 estimates the movement amount by the elevator of the holder of the mobile terminal 200 by integrating the movement speed corrected by the data correction program 122 with the boarding time.
  • the auxiliary storage device 130 stores acceleration sensor data 131 collected from the mobile terminal 200.
  • the server 100 periodically transmits an acceleration sensor data acquisition request to the mobile terminal 200 via the network 150.
  • the mobile terminal 200 receives the acceleration sensor data acquisition request, the mobile terminal 200 transmits the acceleration sensor data not transmitted to the server 100 among the acceleration sensor data 231 stored in its auxiliary storage device 230 to the server 100 via the network 105. To do.
  • the server 100 receives acceleration sensor data from the mobile terminal 200, the server 100 stores the received acceleration sensor data in the auxiliary storage device 130.
  • the method by which the server 100 collects the acceleration sensor data 231 of the mobile terminal 200 is not limited to the method described above, and the server 100 directly reads out from the portable storage medium in which the acceleration sensor data 231 of the mobile terminal 200 is stored. May be.
  • the communication interface 140 is an interface that connects the server 100 to the network 150.
  • the movement amount estimation system is a computer that executes the EV movement detection program 121, the data correction program 122, and the movement amount calculation program 123, and is not limited to the server 100.
  • the mobile terminal 200 executes the EV movement detection program 121, the data correction program 122, and the movement amount calculation program 123 and calculates the movement amount by the elevator, it is a movement amount estimation system.
  • FIG. 2 is a functional block diagram of the movement amount estimation system according to the first embodiment of this invention.
  • the EV movement detection unit 1210 detects the boarding time of the elevator of the holder of the mobile terminal 200 based on the increase / decrease in the acceleration of the acceleration sensor data 131.
  • the EV movement detection unit 1210 is realized by the processor 110 executing the EV movement detection program 121.
  • the data correction unit 1220 uses the movement speed calculated by integrating the acceleration corresponding to the boarding time detected by the EV movement detection unit 1210, the movement speed at the end time of the boarding time as the movement speed at the starting time of the boarding time. To match.
  • the data correction unit 1220 is implemented by the processor 110 executing the data correction program 122.
  • the movement amount calculation unit 1230 estimates the movement amount by the elevator of the holder by integrating the movement speed corrected by the data correction unit 1220 with the boarding time.
  • the movement amount calculation unit 1230 is implemented by the processor 110 executing the movement amount calculation program 123.
  • FIG. 3 is an explanatory diagram of the acceleration sensor data 131 and 231 (hereinafter collectively referred to as acceleration sensor data) according to the first embodiment of the present invention.
  • the acceleration sensor data includes time 301, acceleration X302, acceleration Y303, and acceleration Z304.
  • time 301 the time when acceleration sensor data is measured is registered.
  • a lateral acceleration is registered in the acceleration X302.
  • the acceleration in the vertical direction is registered.
  • the acceleration in the height direction is registered in the acceleration Z304.
  • FIG. 4 is a flowchart of the movement amount estimation process according to the first embodiment of the present invention.
  • the movement amount estimation process is executed by the processor 110 of the server 100.
  • the processor 110 obtains the absolute value of the lateral acceleration registered in the acceleration X302 of the acceleration sensor data 131, the longitudinal acceleration registered in the acceleration Y303, and the acceleration in the height direction registered in the acceleration Z304 as acceleration data. And low-pass filtering processing is executed on the calculated acceleration data (401).
  • the low-pass filtering process is a process in which an acceleration component in the height direction that is equal to or higher than a predetermined frequency is deleted, and only an acceleration in the height direction that is less than the predetermined frequency is set. Specifically, the frequency of the acceleration data generated by the walking of the holder of the mobile terminal 200 is deleted by the low-pass filtering process.
  • the processor 110 extracts only the acceleration in the height direction of the acceleration sensor data 131, executes a low-pass filtering process on the extracted acceleration in the height direction, and executes the subsequent processes. May be.
  • the processor 110 is the boarding time, which is the time when the holder of the mobile terminal 200 has moved by the elevator based on the acceleration data on which the low-pass filtering process has been executed in the process of step 401 and a preset threshold value. Is detected (402).
  • the process of step 402 is executed by the processor 110 executing the EV movement detection program 121. Details of the processing in step 402 will be described with reference to FIG.
  • the processor 110 determines whether or not the boarding time is detected in the process of step 402 (403).
  • step 403 If it is determined in step 403 that the boarding time has not been detected in the process of step 402, the holder of the mobile terminal 200 does not board the elevator, and the amount of movement that the holder of the mobile terminal 200 has moved in the elevator is calculated. Since there is no need to estimate, the process ends.
  • step 403 when it is determined in step 403 that the boarding time is detected in the process of step 402, the processor 110 integrates acceleration data corresponding to the boarding time with the boarding time to calculate the moving speed. Then, the processor 110 corrects one moving speed of the start time and the end time of the boarding time based on the other moving speed (404).
  • the process of step 404 is executed by the processor 110 executing the data correction program 122. Details of the processing in step 404 will be described with reference to FIG.
  • the processor 110 calculates the amount of movement that the holder of the mobile terminal 200 has moved by the elevator by integrating the travel speed corrected in the process of step 404 with the boarding time (405), and ends the process.
  • the processing in step 405 is executed by the processor 110 executing the movement amount calculation program 123.
  • FIG. 5 is an explanatory diagram of the boarding time detection process by the EV movement detection program 121 according to the first embodiment of this invention.
  • the elevator gradually puts a person in the stop state and then gradually increases the absolute value of the moving speed.When the moving speed reaches a certain speed, it stops accelerating, moves at a certain moving speed, and moves near the target floor. Then, gradually decrease the absolute value of the moving speed, stop at the target floor and get off the person.
  • Acceleration data when the holder of the mobile terminal 200 gets on an elevator that moves to the upper floor with the upward direction as a positive direction is as shown in A of FIG.
  • the EV movement detection program 121 determines that the holder has started moving by the elevator and sets the time of the acceleration data to the boarding of the elevator Set to time start time (ts).
  • the acceleration data smaller than the second threshold value is equal to or greater than the second threshold value
  • the EV movement detection program 121 determines that the holder has finished moving by the elevator and sets the time of the acceleration data to the elevator. Set to the boarding time end time (te).
  • the first threshold value is preset to a value that is larger than the gravitational acceleration by a predetermined value
  • the second threshold value is preset to a value that is smaller than the gravitational acceleration by a predetermined value.
  • the first threshold value and the second threshold value may be different values or the same value.
  • the EV movement detection program 121 determines the time from the start time (ts) to the end time (te) as the time during which the holder moves in the elevator (boarding). Time).
  • Acceleration data when the holder of the mobile terminal 200 gets on the elevator moving to the lower floor is opposite to A shown in FIG. 5 as shown in B shown in FIG.
  • the EV movement detection program 121 determines that the holder has started moving by the elevator, and determines the time of the acceleration data as boarding the elevator. Set to time start time (ts).
  • the EV movement detection program 121 determines that the holder has finished moving by the elevator and sets the time of the acceleration data to the elevator. Set to the boarding time end time (te).
  • the EV movement detection program 121 determines the time from the start time (ts) to the end time (te) as the time during which the holder moves in the elevator (boarding). Time).
  • the EV movement detection program 121 can detect the boarding time of the elevator from the acceleration data based on the relationship between the increase / decrease in the acceleration data and the two threshold values.
  • FIG. 6 is an explanatory diagram of data correction processing by the data correction program 122 according to the first embodiment of this invention.
  • the acceleration data A shown in FIG. 5 is integrated with the boarding time, whereby the speed V1 (t) shown in FIG. 6 is calculated. Since the elevator is originally stopped at the start of movement and at the end of movement, the movement speeds at the start and end of movement of the elevator are equal to zero. However, at the speed V1 (t) shown in FIG. 6, the moving speed at the start time (ts) of the boarding time does not match the moving speed at the end time (te), and an error occurs.
  • the EV movement detection program 121 detects the start time (ts) and end time (te) of the boarding time based on the first threshold value and the second threshold value, the start time (ts) and The end time (te) is considered to be caused by an error between the actual movement start time and movement end time of the elevator.
  • Another possible cause is an error in the acceleration sensor 250 itself of the mobile terminal 200.
  • the data correction program 122 corrects the speed V1 (t) so that the moving speed at the end time (te) of the speed V1 (t) shown in FIG. 6 matches the moving speed at the start time (ts).
  • the speed after the correction of the speed V1 (t) is shown as a speed V2 (t) in FIG.
  • the moving speed at the start time (ts) matches the moving speed at the end time (te).
  • “match” means that the moving speed at the end time (te) is positioned within a predetermined range from the moving speed at the start time (ts).
  • the data correction unit 1220 corrects the movement speed at the end time (te) so as to match the movement speed at the start time (ts), but the movement speed at the start time (ts) is changed to the end time ( te) may be corrected so as to coincide with the moving speed.
  • the data correction unit 1220 is away from 0 from the movement speeds at the start time (ts) and the end time (te).
  • One of the movement speeds may be specified, and the movement speed may be corrected so as to coincide with the other movement speed.
  • the server 100 integrates the moving speed obtained by matching one moving speed at the start time (ts) and the end time (te) with the other moving speed, thereby holding the mobile terminal 200. Since the movement amount by the elevator of the person is calculated, the movement amount by the elevator can be calculated accurately.
  • the EV movement detection program 121 determines the start time (ts) and the end time (te) of the boarding time based on the first threshold value and the second threshold value, the actual movement of the elevator A time later than the start time is detected as the start time (ts), and a time earlier than the actual movement end time is detected as the start time (te).
  • the detected start time (ts) is corrected to a time earlier than the time based on a preset time (correction parameter), and the detected end time (te) is set to a preset time. Based on the above, the start time (ts) and the end time (te) are made closer to the movement start time and the movement end time by correcting the time later than the time. Thereby, the movement amount by the elevator can be calculated more accurately.
  • FIG. 7 is a functional block diagram of the movement amount estimation system according to the second embodiment of the present invention.
  • the same functional blocks as the functional blocks shown in FIG. 2 of the first embodiment are given the same reference numerals, and description thereof is omitted.
  • the auxiliary storage device 130 of the server 100 stores the EV section correction parameter 132.
  • a correction parameter is registered for each building where an elevator is installed.
  • the EV section correction parameter 132 will be described in detail with reference to FIG.
  • the movement amount calculation unit 1230 executes EV section correction processing on the speed corrected by the data correction unit 1220. Specifically, the movement amount calculation unit 1230 calculates and detects, as a correction start time, a time obtained by subtracting a correction parameter corresponding to the building where the holder of the mobile terminal 200 is located from the detected start time (ts). A time obtained by adding the correction parameter to the end time (te) is calculated as a correction end time. Then, the movement amount calculation unit 1230 calculates the start time speed by integrating the acceleration data from the correction start time to the start time (ts) with the time from the correction start time to the start time (ts).
  • the movement amount calculation unit 1230 corrects the speed corrected by the data correction unit 1220 so that the speed at the start time (ts) and the speed at the end time (te) coincide with the calculated start time speed. Then, the movement amount calculation unit 1230 calculates the movement amount by the elevator by integrating the corrected movement speed with the boarding time.
  • FIG. 8 is a flowchart of the movement amount estimation process according to the second embodiment of the present invention.
  • the same processing as the movement amount estimation processing shown in FIG. 4 of the first embodiment is given the same reference numeral, and the description thereof is omitted.
  • the processor 110 executes the EV section correction process described above, proceeds to the process of step 405, integrates the travel speed for which the EV section correction process has been performed with the boarding time, and The amount of movement by is calculated.
  • FIG. 9 is an explanatory diagram of the EV section correction parameter 132 according to the second embodiment of this invention.
  • the EV section correction parameter 132 includes a building 901 and a correction parameter 902.
  • the building 901 identification information of the building where the elevator is installed is registered.
  • the correction parameter 902 a time to be subtracted from the start time (ts) is registered for each building.
  • the time registered in the correction parameter 902 is preferably set by the administrator estimating the time from when the elevator starts moving until it reaches the first threshold value and the second threshold value.
  • the correction parameter is registered for each building, but the correction parameter may be registered for each elevator model.
  • FIG. 10 is an explanatory diagram of EV section correction processing according to the second embodiment of the present invention.
  • the movement amount calculation unit 1230 calculates a time obtained by subtracting the correction parameter (tp) from the start time (ts) as the correction start time. Then, the movement amount calculation unit 1230 integrates the acceleration data from the correction start time to the start time (ts) with the correction parameter (tp) (time from the correction start time to the start time (ts)), and starts the start time (ts ) Is calculated (1001 shown in FIG. 10).
  • the movement speed of the elevator at the end time (te) is considered to be equal to the start time speed.
  • the movement amount calculation unit 1230 matches the movement speed at the start time (ts) and the movement speed at the end time (te) of the movement speed V2 (t) corrected by the data correction unit 1220.
  • the start time speed is added to the moving speed V2 (t) to calculate the moving speed V3 (t).
  • the movement amount calculation unit 1230 calculates the movement amount X (t) by integrating the movement speed V3 (t) with the time from the start time (ts) to the end time (te).
  • the movement speed at the end time (te) also becomes the movement speed at the start time (ts). Therefore, in the above description, only the correction start time is calculated. However, substantially, the start time (ts) is corrected to the correction start time before the time based on the correction parameter, and the end time (te) is set to the correction end time after the time based on the correction parameter.
  • the movement speed is calculated by correcting and integrating the acceleration data from the correction start time and the correction end time, and the movement amount by the elevator is calculated based on the calculated movement speed.
  • the movement amount calculation unit 1230 calculates the start time speed and adds the calculated start time speed to the movement speed V2 (t).
  • the movement speed of the elevator at the end time (te) (end) (Time speed) (1002 shown in FIG. 10) may be calculated, and the calculated end time speed may be added to the moving speed V2 (t) to calculate the moving speed V3 (t).
  • the time registered in the correction parameter 902 is preferably set by the administrator estimating the time required to stop from the first threshold value and the second threshold value of the elevator moving speed.
  • the movement amount calculation unit 1230 calculates a time obtained by adding the correction parameter (tp) to the end time (te) as the correction end time. Then, the movement amount calculation unit 1230 integrates the acceleration data from the end time (te) to the correction end time with the correction parameter (tp) (time from the end time (te) to the correction end time), and ends the time (te ) Is calculated (1002 shown in FIG. 10).
  • the start time speed or the end time speed is added to the moving speed V2 (t).
  • an average value of the start time speed and the end time speed may be added to the moving speed V2 (t).
  • the movement amount calculator 1230 integrates acceleration data from the correction start time to the correction end time with the time from the correction start time to the correction end time, and calculates the movement speed. Then, the data correction unit 1220 corrects one of the movement speeds at the movement end correction time and the correction start time calculated by the movement amount calculation unit 1230 based on the other movement speed. Then, the movement amount calculation unit 1230 may calculate the movement amount by integrating the movement speed corrected by the data correction unit 1220 with the time from the correction start time to the correction end time. In this case, the value of the correction parameter for calculating the correction start time and the value of the correction parameter for calculating the correction end time may be different.
  • the start time (ts) and the end time (te) detected by the EV movement detection unit 1210 can be brought close to the actual movement start time and movement end time of the elevator.
  • the amount of movement of the holder by the elevator can be accurately calculated.
  • the floor estimation unit 1240 estimates the floor on which the holder is located. .
  • This embodiment is applicable to the first embodiment and the second embodiment.
  • FIG. 11 is a functional block diagram of the movement amount estimation system of the third embodiment of the present invention.
  • the same functional blocks as the functional blocks shown in FIG. 2 of the first embodiment and the functional blocks shown in FIG. 7 of the second embodiment are assigned the same reference numerals and description thereof is omitted.
  • the auxiliary storage device 130 of the server 100 stores building data 133.
  • the building data 133 the floor of the building and the height of each floor are registered.
  • the building data will be described in detail with reference to FIG.
  • the floor estimation unit 1240 calculates the height at which the holder is located after the movement by adding the movement amount calculated by the movement amount calculation unit 1230 to the total movement amount before the movement amount is calculated. Then, the floor estimation unit 1240 estimates the floor having the height closest to the calculated height as the floor on which the holder has moved.
  • the floor estimation unit 1240 is implemented by the processor 110 executing a floor estimation program (not shown) stored in the memory 120.
  • the acceleration data when the elevator moves upward is as shown in FIG. 5A
  • the acceleration data when the elevator moves downward is data opposite to the acceleration data shown in FIG. 5A. It becomes.
  • the amount of movement when the elevator moves upward is a positive value
  • the amount of movement when the elevator moves downward is a negative value. Therefore, by adding the calculated movement amount to the total movement amount, the height at which the holder is moved after considering the movement in the vertical direction of the elevator is calculated.
  • FIG. 12 is a flowchart of the movement amount estimation process according to the third embodiment of the present invention.
  • the processor 110 After executing the process of step 405, the processor 110 adds the movement amount calculated in the process of step 405 to the total movement amount, refers to the building data 133, and holds the mobile terminal 200 indicated by the total movement amount after the addition.
  • the floor closest to the height at which the person is located is estimated (1201), and the movement amount estimation process ends.
  • FIG. 13 is an explanatory diagram of the building data 133 according to the third embodiment of this invention.
  • the building data 133 includes a building 1301, a floor 1302, and a height 1303. Building identification information is registered in the building 1301, and floor identification information is registered in the floor 1302. In the height 1303, the height of each floor is registered.
  • This embodiment is applicable to the third embodiment, and adjusts the correction parameter so that the height at which the holder is positioned matches the height of the floor estimated by the floor estimation unit 1240.
  • the amount of movement by the elevator can be calculated more accurately.
  • FIG. 14 is a functional block diagram of the movement amount estimation system of the fourth embodiment of the present invention.
  • the same functional blocks as the functional blocks shown in FIG. 11 of the third embodiment are given the same reference numerals and description thereof is omitted.
  • the floor estimation unit 1240 notifies the parameter adjustment unit 1250 of the calculated total movement amount and the estimated floor.
  • the parameter adjustment unit 1250 adjusts the correction parameter so that the difference between the calculated total movement amount and the estimated floor height becomes zero.
  • the parameter adjustment unit 1250 subtracts the total movement amount before the movement amount calculated by the movement amount calculation unit 1230 is added from the height of the floor estimated by the floor estimation unit 1240.
  • the target movement amount is calculated.
  • the parameter adjustment unit 1250 adjusts the correction parameter so that the movement amount calculated by the movement amount calculation unit 1230 matches the calculated target movement amount. For example, when the target movement amount is larger than the movement amount calculated by the movement amount calculation unit 1230, the parameter adjustment unit 1250 adjusts the correction parameter so as to be larger than the correction parameter used for calculating the movement amount.
  • the correction parameter is adjusted to be smaller than the correction parameter used for calculating the movement amount.
  • the parameter adjustment unit 1250 is implemented by the processor 110 executing a parameter adjustment program (not shown) stored in the memory 120.
  • FIG. 15 is a flowchart of the movement amount estimation process according to the fourth embodiment of the present invention.
  • the processor 110 After executing the processing of step 1201, the processor 110 adjusts the correction parameter so that the difference between the total movement amount calculated in the processing of step 1201 and the floor height estimated in the processing of step 1201 becomes zero ( 1501), and the movement amount estimation process ends.
  • the processor 110 subtracts the total movement amount before the movement amount calculated in the process in step 405 is added in the process in step 1201 from the floor height estimated in the process in step 1201. Thus, the target movement amount is calculated. Then, the processor 110 adjusts the correction parameter so that the movement amount calculated in the process of step 405 matches the target movement amount.
  • the correction parameter is adjusted so that the difference between the total movement amount calculated in the process of step 1201 and the floor height estimated in the process of step 1201 becomes zero.
  • the correction parameter may be adjusted so that the difference between the total movement amount calculated in the processing and the floor height estimated in the processing in step 1201 falls within a predetermined range.
  • the correction parameter is adjusted so that the total movement amount and the floor height estimated by the floor estimation unit 1240 coincide with each other, the movement amount by the elevator of the holder can be calculated more accurately.
  • the server 100 displays a floor map corresponding to the floor estimated based on the total movement amount on a display unit (not shown) of the mobile terminal 200, and is estimated based on the operation of the holder of the mobile terminal 200. It is determined whether the correct floor is the correct floor, and if the estimated floor is not the correct floor, the correction parameter is adjusted so that the correct floor height matches the total movement amount.
  • This embodiment is applicable to the third embodiment.
  • FIG. 16 is a functional block diagram of the movement amount estimation system of the fifth embodiment of the present invention.
  • the same functional blocks as those shown in FIG. 11 of the third embodiment are given the same reference numerals, and descriptions thereof are omitted.
  • the auxiliary storage device 130 of the server 100 stores a user operation history 134 for registering information related to the operation of the holder of the mobile terminal 200.
  • the floor map display unit 1260 transmits floor map display information corresponding to the floor estimated by the floor estimation unit 1240 to the mobile terminal 200 via the network 150.
  • the mobile terminal 200 receives the floor map display information
  • the mobile terminal 200 displays a floor map corresponding to the floor map display information on a display unit (not shown).
  • the holder of the mobile terminal 200 operates the mobile terminal 200 and transmits a request to display the floor map of the floor currently positioned to the server 100.
  • the server 100 receives the display request, the floor map display unit 1260 stores the requested floor in the user operation history 134, determines that the estimated floor is different from the currently located floor, and determines the currently located floor. Is notified to the parameter adjustment unit 1250.
  • the floor map display unit 1260 is realized by the processor 110 executing a floor map display program stored in the memory 120.
  • the parameter adjustment unit 1250 adjusts the correction parameter so that the total movement amount matches the notified height of the floor at the current position.
  • FIG. 17 is a flowchart of movement amount estimation processing according to the fifth embodiment of the present invention.
  • the processor 110 After executing the process of step 1201, the processor 110 transmits the display information of the floor map corresponding to the floor estimated in the process of step 1201 to the mobile terminal 200 via the network 150, thereby estimating in the process of step 1201.
  • the floor map corresponding to the designated floor is displayed on the mobile terminal 200 (1701).
  • the processor 110 determines whether or not a request for displaying a floor map of a floor different from the floor map displayed on the mobile terminal 200 has been received from the mobile terminal 200 (1702).
  • the display request includes an instruction of a floor that the mobile terminal 200 desires to display.
  • the processor 110 determines whether or not a display request has been received within a predetermined time after transmitting the floor map display information in the processing of step 1701.
  • step 1702 If it is determined in step 1702 that the display request is not received within a predetermined time after the floor map display information is transmitted in step 1701, the floor and the holder estimated in step 1201 are determined. , The processor 110 ends the processing.
  • step 1702 determines whether the display request is received within a predetermined time after the floor map display information is transmitted in step 1701. Therefore, the processor 110 shifts the processing to step 1501 and adjusts the correction parameter so that the total movement amount matches the floor height included in the received display request. Then, the process ends.
  • the processor 110 refers to the building data 133 and specifies the height of the floor included in the received display request. Then, the processor 110 adjusts the correction parameter so that the total movement amount matches the specified height.
  • the specific process for adjusting the correction parameter is the same as the process in step 1501 shown in FIG.
  • the correction parameter is adjusted only when the total movement amount and the height at which the holder is actually positioned differ from the predetermined value (height of one floor) by more than this, so that erroneous adjustment of the correction parameter can be prevented, and The amount of movement can be calculated accurately.
  • the movement amount estimation system of the present embodiment calculates not only the movement amount of the holder of the mobile terminal 200 in the elevator (elevator movement amount) but also the movement amount of the holder of the mobile terminal 200 on the stairs (step movement amount). To do. Then, the movement amount estimation system includes a total up movement amount that is the sum of the up movement amount of the elevator movement amount and the up movement amount of the stair movement amount, and a down movement amount of the elevator movement amount and a down movement amount of the stair movement amount. And at least one of the total downlink movement amounts that is the sum of.
  • the total uplink movement amount is calculated.
  • the movement amount estimation system refers to the building data 133, specifies the height of the floor closest to the calculated total up movement amount, and the calculated total up movement amount does not match the specified floor height By adjusting the stairs movement amount, the total upward movement amount after the adjustment of the stairs movement amount is made to coincide with the floor height.
  • FIG. 18 is a functional block diagram of the movement amount estimation system according to the sixth embodiment of the present invention.
  • the EV movement detection unit 1210, the data correction unit 1220, and the movement amount calculation unit 1230 shown in FIG. 2 of the first embodiment are illustrated as an EV movement amount estimation unit 1800. Show. Since the building data 133 is the same as the building data 133 shown in FIG. 13 of the third embodiment, the description thereof is omitted.
  • the mobile terminal 200 of this embodiment includes a gyro sensor (not shown).
  • the gyro sensor detects the angle or angular velocity of the mobile terminal 200 for detecting the relative movement direction of the holder of the mobile terminal 200.
  • the sensor data acquisition program 221 of the mobile terminal 200 acquires the detection result of the gyro sensor, associates the acquired detection result of the gyro sensor with the detection time, and stores them in the auxiliary storage device 230 as unillustrated gyro sensor data.
  • the server 100 acquires gyro sensor data from the mobile terminal 200 and stores it as gyro sensor data 135 in its own auxiliary storage device 130.
  • the server 100 includes an EV movement amount estimation unit 1800, a stair movement amount estimation unit 1810, a floor estimation unit 1820, and a movement amount correction unit 1830.
  • the stair movement amount estimation unit 1810 is implemented when the processor 110 executes a stair movement amount estimation program (not shown) stored in the memory 120.
  • the floor estimation unit 1820 is implemented by the processor 110 executing a floor estimation program (not shown) stored in the memory 120.
  • the movement amount correction unit 1830 is implemented by the processor 110 executing a movement amount correction program (not shown) stored in the memory 120.
  • the stair movement amount estimation unit 1810 Based on at least the acceleration sensor data 131, the stair movement amount estimation unit 1810 detects the time during which the holder of the mobile terminal 200 is moving on the stair (step movement time), and calculates the acceleration in the height direction of the stair movement time. The amount of stair movement is calculated by integrating twice. For example, the stair movement time may be detected based on the acceleration sensor data 131 using the technique described in Patent Document 2. Further, the stair movement amount estimation unit 1810 determines the time when the acceleration in the height direction is equal to or greater than a predetermined value and the gyro sensor data 135 is equal to or greater than a predetermined angle based on the gyro sensor data 135 and the acceleration sensor data 131.
  • the stair movement amount estimation unit 1810 determines the time when the acceleration in the height direction is equal to or less than a predetermined value and the gyro sensor data 135 is equal to or greater than a predetermined angle based on the gyro sensor data 135 and the acceleration sensor data 131. It may be detected as the start time of the movement time, and the time when the acceleration in the height direction becomes a predetermined value or more and the gyro sensor data 135 becomes a predetermined angle or more may be detected as the end time of the downstairs movement time.
  • the stair movement amount estimation unit 1810 does not perform low-pass filtering on the acceleration sensor data 131 and detects the stair movement time based on the acceleration including the walking cycle component. Since it is easy to misdetect as time, the amount of stair movement is likely to include an error.
  • the acceleration when the holder of the mobile terminal 200 moves to the upper floor by a staircase has a positive value
  • the staircase movement amount has a positive value
  • the acceleration is a negative value
  • the amount of stairs movement is a negative value. Therefore, it is possible to determine whether the moving amount is ascending or descending stairs by determining whether the moving amount of stairs is positive or negative.
  • the floor estimation unit 1820 sums the up-stairs movement amount calculated by the stair movement amount estimation unit 1810 and the up-elevator movement amount calculated by the EV movement amount estimation unit 1800, and the stair movement amount estimation. At least one of the total downward movement amount obtained by summing the downward staircase movement amount calculated by the unit 1810 and the downward elevator movement amount calculated by the EV movement amount estimation unit 1800 is calculated. Then, the floor estimation unit 1820 refers to the building data 133 and identifies the closest floor height from the calculated total movement amount.
  • the movement amount correction unit 1830 matches the height of the floor specified by the floor estimation unit 1820. Adjust the amount of stairs to move.
  • the building data 133 is the building data shown in FIG. 13, and the holder of the mobile terminal 200 moves from the first floor to the second floor by an elevator, and the elevator from the second floor to the third floor The case of moving with will be described.
  • the EV movement amount estimation unit 1800 calculates 4 m as the upward elevator movement amount
  • the stair movement amount estimation unit 1810 calculates 3 m as the upward stair movement amount
  • the floor estimation unit 1820 calculates the total upward movement amount as 7 m (4 m + 3 m), refers to the building data 133, and specifies the floor height as 8 m.
  • the movement amount correction unit 1830 adjusts the upward step movement amount (3 m) to 4 m.
  • the error of the upward stair movement amount is adjusted.
  • the floor height is specified for each of the total upward movement amount and the total downward movement amount, the floor where the holder of the mobile terminal 200 has entered the building and the floor that has exited the building may be different.
  • this embodiment is applicable.
  • the modification of the present embodiment assumes that the holder of the mobile terminal 200 enters the building and the floor coming out of the building are the same floor, and the total upward movement amount and the total downward movement amount are different.
  • the floor height is specified from at least one of the total upward movement amount and the total downward movement amount, and the stair movement amount of the first total movement amount that is distant from the specified floor height is set to the second one closer to the specified floor. Adjust to match the total travel.
  • the floor estimation unit 1820 calculates the total up movement amount obtained by summing up the up stair movement amount and the up elevator movement amount, and the total down movement amount obtained by summing up the down stair movement amount and the down elevator movement amount. Then, when the total uplink movement amount and the total downlink movement amount are different, the floor estimation unit 1820 refers to the building data 133 and specifies the floor height closest to at least one of the uplink total movement amount and the downlink total movement amount. To do.
  • the movement amount correction unit 1830 selects, as the first total movement amount, the one farther from the height of the floor specified by the floor estimation unit 1820 from the total uplink movement amount and the total downlink movement amount, and the other as the second total movement amount. select. Then, the movement amount correction unit 1830 adjusts the step movement amount of the first total movement amount so that the first total movement amount and the second total movement amount coincide with each other.
  • the floor stay time indicating the time from when the EV movement detection unit 1210 detects the elevator boarding time end time (te) until the next elevator boarding time start time (ts) is detected.
  • the movement history in the horizontal direction of the holder of the mobile terminal 200 and the floor estimated based on the movement amount moved in the elevator boarding time corresponding to the end time (te) are associated with each other. Thereby, the movement locus
  • This embodiment is applicable to the third embodiment.
  • FIG. 19 is a functional block diagram of the movement amount estimation system according to the seventh embodiment of the present invention.
  • the same functional blocks as the functional blocks shown in FIG. 11 of the third embodiment are given the same reference numerals, and description thereof is omitted.
  • the mobile terminal 200 of this embodiment includes a gyro sensor and an orientation sensor (not shown).
  • the gyro sensor detects the angle or angular velocity of the mobile terminal 200 for detecting the relative movement direction of the holder of the mobile terminal 200.
  • the direction sensor detects the angle of the mobile terminal 200 with respect to a certain direction.
  • the sensor data acquisition program 221 of the mobile terminal 200 acquires the detection result of the gyro sensor, associates the acquired detection result of the gyro sensor with the detection time, and stores them in the auxiliary storage device 230 as unillustrated gyro sensor data. Further, the sensor data acquisition program 221 of the mobile terminal 200 acquires the detection result of the direction sensor, associates the acquired detection result with the detection time, and stores them in the auxiliary storage device 230 as direction sensor data (not shown).
  • the server 100 acquires the gyro sensor data and the direction sensor data from the mobile terminal 200 and stores them as the gyro sensor data 135 and the direction sensor data 136 in its own auxiliary storage device 130.
  • the server 100 includes a floor division unit 1270 and a movement history estimation unit 1280.
  • the floor division unit 1270 is implemented by the processor 110 executing a floor division program (not shown) stored in the memory 120.
  • the movement history estimation unit 1280 is implemented by the processor 110 executing a movement history estimation program (not shown) stored in the memory 120.
  • the movement history estimation unit 1280 estimates the movement history in the horizontal direction of the holder of the mobile terminal 200 based on the acceleration sensor data 131, the gyro sensor data 135, and the direction sensor data 136. Specifically, the movement history estimation unit 1280 calculates the movement distance in the horizontal direction from the acceleration sensor data 131 and calculates the traveling direction of the holder of the mobile terminal 200 based on the gyro sensor data 135 and the direction sensor data 136. . The movement history estimation unit 1280 estimates the movement history of the holder of the mobile terminal 200 by associating the calculated movement distance and the calculated traveling direction with time.
  • the floor division unit 1270 identifies the floor stay time during which the holder of the mobile terminal 200 stays on the floor estimated by the floor estimation unit 1240, and associates the movement history of the identified floor stay time with the floor. Specific processing for floor stay time will be described.
  • the floor division unit 1270 is a floor stay time corresponding to the floor from the end time (te) of the elevator boarding time used by the floor estimation unit 1240 to estimate the floor to the start time (ts) of the next elevator boarding time. As specified. Thereby, the time when the holder of the mobile terminal 200 stayed on the floor is specified.
  • the floor division unit 1270 associates the movement history from the start time to the end time of the floor stay time with the floor where the holder of the mobile terminal 200 stayed at the floor stay time.
  • the movement history of the holder of the mobile terminal 200 can be specified for each floor, and the movement history of the holder of the mobile terminal 200 can be output for each floor.
  • the starting point of the movement history of the holder of the mobile terminal 200 is associated with the coordinates of the elevator entrance / exit, Correlate movement history with floor coordinates. Thereby, the movement history on the floor map can be output.
  • FIG. 20 is a functional block diagram of a movement amount estimation system according to the eighth embodiment of the present invention. Of the functional blocks shown in FIG. 20, the same functional blocks as those shown in FIG.
  • the auxiliary storage device 130 of the server 100 stores the floor data 137.
  • the floor data 137 includes at least the coordinates of the floor of the building and the coordinates of the elevator doorway on the floor. Details of the floor data 137 will be described with reference to FIG.
  • the movement history estimation unit 1280 refers to the floor data 137 and specifies the coordinates of the elevator on the floor. Then, the movement history estimation unit 1280 matches the coordinates of the identified elevator and the coordinates corresponding to the start time of the floor stay time in the movement history associated with the floor, and estimates the floor as the direction of the movement history. To match the direction of. Thereby, the estimated coordinates of the floor and the movement history are associated with each other.
  • FIG. 21 is an explanatory diagram of the floor data 137 according to the eighth embodiment of the present invention.
  • the floor data 137 includes building ID 2101, ID 2102, type 2103, attribute 2104, belonging floor 2105, name 2106, and coordinates 2107.
  • Building identification information is registered in the building ID 2101.
  • ID 2102 identification information of a coordinate setting object for which coordinates are set is registered.
  • type 2103 the type of the coordinate setting object is registered.
  • attribute 2104 the attribute of the coordinate setting object is registered.
  • affiliation floor 2105 the floor to which the coordinate setting object belongs is registered.
  • name 2106 the name of the coordinate setting object is registered. Coordinates set for the coordinate setting object are registered in the coordinates 2107.
  • a coordinate setting object whose type 2103 is an outer shape and a floor connection point is registered.
  • the external shape registered in the type 2103 indicates that it is the external shape of the floor
  • the floor junction registered in the type 2103 is a junction between the floor and is a concept including an elevator and stairs.
  • the coordinates of the floor are registered in the coordinates 2107 of the entry whose attribute 2104 is the outer shape.
  • the coordinates of the entrance / exit of the elevator are registered in the coordinates 2107 of the entry whose attribute 2104 is an elevator.
  • the coordinates of the entry / exit of the stairs are registered in the coordinates 2107 of the entry whose attribute 2104 is a stairs.
  • the movement amount estimation system shown in FIG. 20 does not estimate the stair movement distance
  • the entry whose attribute 2104 of the floor data 137 shown in FIG. 21 is a stair is not used.
  • the case where an entry whose attribute 2104 of the floor data 137 shown in FIG. 21 is a staircase will be described later as a modification of the present embodiment.
  • the movement history estimation unit 1280 refers to the floor data 137 and specifies the coordinates of the elevator on the floor associated with the movement history by the floor division unit 1270 will be specifically described.
  • the movement history estimation unit 1280 acquires an entry in which an elevator is registered in the attribute 2104 of the floor data 137. Then, the movement history estimation unit 1280 acquires an entry in which the floor associated with the movement history is included in the belonging floor 2105 from the acquired entry, and specifies the coordinates of the elevator doorway registered in the coordinates 2107 of the entry. To do. As a result, the floor elevator 1270 identifies the elevator coordinates of the floor associated with the movement history.
  • the movement history and the coordinates of the floor can be associated with each other.
  • the movement amount estimation system includes a staircase movement amount estimation unit in addition to the functional blocks shown in FIG. As described in FIG. 18 of the sixth embodiment, the stair movement amount estimation unit calculates the stair movement amount that the holder of the mobile terminal 200 has moved on the staircase based on the acceleration sensor data 131.
  • the floor estimation unit 1240 calculates the movement amount by the elevator calculated by the movement amount calculation unit 1230 or the movement amount by the elevator by the staircase calculated by the staircase movement amount estimation unit, the total movement amount before the calculated movement amount is calculated. Is added, the height at which the holder is located after the movement is calculated, and the floor having the height closest to the calculated height is estimated as the floor on which the holder has moved.
  • the floor estimation unit 1240 identifies whether the holder of the mobile terminal 200 has moved to the estimated floor on the stairs or on the elevator. Specifically, if the amount of movement used for estimating the floor is the amount of movement by the elevator, the floor estimation unit 1240 identifies that the floor has moved to the floor by the elevator, and the amount of movement used for estimating the floor depends on the stairs. If it is a movement amount, it is specified that it has moved to the floor by stairs.
  • the floor stay time is from the end time of the elevator boarding time or the end time of the stair movement time to the start time of the next elevator boarding time or the start time of the stair movement time. Identify.
  • the movement history estimation unit 1280 refers to the floor data 137 and uses the start point of the movement history as the coordinates of the entrance / exit of the stairs. Associate.
  • the floor data 137 is referred to and the starting point of the movement history is associated with the elevator entrance / exit coordinates.
  • the entrance of the staircase is used as the starting point of the movement history of the floor, and the holder of the mobile terminal 200 moves to the floor with an elevator. Since the elevator entrance / exit is the starting point of the movement history of the floor, even if the holder of the mobile terminal 200 has moved on the stairs or moved by the elevator, the appropriate history of movement will be displayed. Can be the starting point.
  • the movement amount estimation system acquires radio wave intensity data from the mobile terminal 200, associates the time of the acquired radio wave intensity data with the time of the movement history for each floor, The radio wave intensity associated with the movement history is displayed. This makes it easier for the administrator to grasp the strength of the radio wave intensity on each floor.
  • This embodiment is applicable to the eighth embodiment.
  • FIG. 22 is an explanatory diagram of a configuration of the movement amount estimation system according to the ninth embodiment of this invention.
  • the same components as those of the movement amount estimation system shown in FIG. 22 are identical to those of the movement amount estimation system shown in FIG. 22.
  • the server 100 includes a processor 110, a memory 120, an auxiliary storage device 130, a communication interface 140, an input device 160, and an output device 170.
  • the input device 160 is a device for an administrator of the server 100 to input various information and the like to the server 100, and is, for example, a keyboard and a mouse.
  • the output device 170 is a device that displays a display screen, and is, for example, a display.
  • the memory 120 includes an EV movement detection program 121, a data correction program 122, a movement amount calculation program 123, a floor estimation program 124, a floor division program 127, a movement history estimation program 128, a data integration program 2201, and a radio wave intensity display program 2202. Stored.
  • the floor estimation program 124 is a program for mounting the floor estimation unit 1240 shown in FIG. 11 of the third embodiment, the description thereof is omitted.
  • the floor division program 127 is a program for mounting the floor division unit 1270 shown in FIG. 19 of the seventh embodiment and FIG. 20 of the eighth embodiment, the description thereof is omitted.
  • the movement history estimation program 128 is a program for implementing the movement history estimation unit 1280 shown in FIG. 20 of the eighth embodiment, the description thereof is omitted.
  • the data integration program 2201 associates the radio wave intensity data collected from the mobile terminal 200 with the movement history data calculated by the movement history estimation program 128. Details of the processing by the data integration program 2201 will be described with reference to FIG.
  • the radio wave intensity display program 2202 superimposes the radio wave intensity data associated with the movement history data by the data integration program 2201 on the movement history, and a floor map screen 2510 including the superimposed radio wave intensity and movement history (see FIG. 25B). Is displayed on the output device 170 provided in the server 100.
  • the auxiliary storage device 130 stores building data 133, floor data 137, various sensor data 1300, and radio wave intensity data 138.
  • the building data 133 has been described with reference to FIG. Since the floor data 137 has been described with reference to FIG. 21 of the eighth embodiment, a description thereof will be omitted.
  • the various sensor data 1300 is a general term for the acceleration sensor data 131, the gyro sensor data 135, and the direction sensor data 136.
  • the radio wave intensity data 138 is data indicating the radio wave intensity collected from the mobile terminal 200. The radio wave intensity data 138 will be described in detail with reference to FIG.
  • the mobile terminal 200 includes a processor 210, a memory 220, an auxiliary storage device 230, a communication interface 240, a radio wave intensity measurement device 260, various sensors 270, an input device 280, and an output device 290.
  • the input device 280 is a device for the holder of the mobile terminal 200 to input various information and the like to the mobile terminal 200, and is, for example, a keyboard.
  • the output device 290 is a device that displays a display screen, and is, for example, a display.
  • the mobile terminal 200 may include an input / output device that integrates the functions of the input device 280 and the output device 290.
  • An example of an input / output device is a touch panel.
  • the radio wave intensity measuring device 260 measures the intensity of radio waves output from a base station (not shown) in order for the mobile terminal 200 to connect to the network 150 or the like.
  • the various sensors 270 are a general term for the acceleration sensor 250, a gyro sensor (not shown), and a direction sensor (not shown).
  • the sensor data acquisition program 221 stores the measurement results of the various sensors 270 in the auxiliary storage device 230 as various sensor data 2300 associated with the time when the measurement results were measured.
  • the various sensor data 2300 is a general term for acceleration sensor data 231, gyro sensor data (not shown), and direction sensor data (not shown).
  • the sensor data acquisition program 221 stores the measurement result of the radio wave intensity measuring device 260 in the auxiliary storage device 230 as the radio wave intensity data 232 associated with the time when the measurement result is measured.
  • the radio wave intensity data 232 will be described in detail with reference to FIG.
  • FIG. 23 is an explanatory diagram of the radio wave intensity data 138 and 232 (hereinafter collectively referred to as radio wave intensity data) according to the ninth embodiment of the present invention.
  • the radio wave intensity data includes time 2301 and radio wave intensity 2302.
  • time 2301 the time at which the radio wave intensity was measured is registered.
  • radio wave intensity 2302 the radio wave intensity is registered.
  • FIG. 24 is an explanatory diagram of data integration processing by the data integration program 2201 according to the ninth embodiment of this invention.
  • the cycle in which the radio wave intensity measuring device 260 measures the radio wave intensity is longer than the cycle in which the various sensors 270 measure various data.
  • the measurement cycle of the radio wave intensity measuring device 260 is 1 second, and the measurement cycle of the various sensors 270 is 10 milliseconds. For this reason, the movement history data calculated based on the various sensor data 1300 is also detected at a cycle of 10 milliseconds.
  • the radio wave intensity data is not associated one-on-one with the movement history data calculated based on the various sensor data 1300, and the data integration program 2201 associates one radio wave intensity data with a plurality of movement history data.
  • movement history data 2401 is detected at time 0
  • movement history data 2402 is detected at time t1
  • movement history data 2403 is detected at time t3.
  • the radio wave intensity data 2411 is detected at a time before time t0
  • the radio wave intensity data 2412 is detected at a time between time t2 and time t3.
  • the data integration program 2201 associates the radio wave intensity data 2411 with the movement history data 2401 to 2403 at times 0 to t2 of the next radio wave intensity data 2412 after the radio wave intensity data 2411 is detected.
  • the data integration program 2201 can associate the radio wave intensity data with the movement history data.
  • the process of associating the radio wave intensity data and the movement history data of the data integration program 2201 is not limited to the above.
  • the data integration program 2201 may associate the radio wave intensity data with the closest detection time with the movement history data 2401 to 2403 detected until the two radio wave intensity data 2411 and 2412 are detected.
  • the data integration program 2201 associates the radio wave intensity data 2411 with the movement history data 2401 and associates the radio wave intensity data 2412 with the movement history data 2402 and 2403.
  • FIG. 25A is an explanatory diagram of a floor map screen 2500 on which movement history data and radio wave intensity data according to the ninth embodiment of the present invention are plotted.
  • the movement history estimation program 128 plots the movement history data on the floor map of the floor, with the start point of the movement history associated with the floor by the floor division program 127 as the coordinates of the stairs. Then, the movement history data corresponding to the measurement time of the radio wave intensity data stored in the radio wave intensity data 138 is associated with the radio wave intensity data measured at the measurement time, and the radio wave is displayed on the movement history plotted on the floor map. Intensity data is plotted. In FIG. 25A, the movement history is indicated by a dotted line, and the radio wave intensity data is indicated by a circle.
  • FIG. 25B is an explanatory diagram of the floor map screen 2510 when the radio wave intensity data and the movement history data are superimposed by the data integration program 2201 according to the ninth embodiment of this invention.
  • the administrator cannot grasp at a glance which part of the floor map the radio field intensity is weak.
  • the data integration program 2201 of the present embodiment includes the movement history data detected from detection of certain radio wave intensity data until the detection of the next radio wave intensity data. Correlate radio field strength data. As a result, the radio wave intensity data from when a certain radio wave intensity data is detected until the next radio wave intensity data is detected is complemented.
  • the radio wave intensity display program 2202 displays a floor map screen 2510 shown in FIG. 25B in which the radio wave intensity data associated with the movement history data by the data integration program 2201 is superimposed on the movement history. Further, as shown in FIG. 25B, the radio wave intensity display program 2202 displays the radio wave intensity data in a circle, and displays the radio wave intensity data having a higher radio wave intensity such that the inside of the circle becomes black.
  • the administrator can specify a portion surrounded by dotted lines 2520 and 2530 as a portion having a weak radio wave intensity.
  • FIG. 26A is an explanatory diagram of a floor map screen 2510 to which a scroll bar 2610 according to the ninth embodiment of the present invention is added.
  • Scroll bar 2610 is displayed on the left side of floor map screen 2510 shown in FIG. 26A.
  • the radio wave intensity display program 2202 reduces the floor map screen 2510 according to the operation amount of the knob 2620. Specifically, the radio wave intensity display program 2202 reduces the floor map screen 2510 as the operation amount of the knob 2620 in the downward direction increases.
  • the radio wave intensity display program 2202 expands the floor map screen 2510 according to the operation amount of the knob 2620. Specifically, the radio wave intensity display program 2202 enlarges the floor map screen 2510 as the operation amount of the knob 2620 increases.
  • FIG. 26B is an explanatory diagram of a reduced floor map screen 2510 according to the ninth embodiment of this invention.
  • FIG. 26C is an explanatory diagram of an enlarged floor map screen 2510 according to the ninth embodiment of this invention.
  • the radio wave intensity display program 2202 enlarges or reduces the floor map screen 2510 when the knob 2620 of the scroll bar 2610 is operated.
  • the radio wave intensity display program 2202 reduces the radio wave intensity data by reducing the floor map screen 2510 due to the relationship between the diameter of the circle indicating the radio wave intensity data shown in FIG. 25A and the scale of the floor map screen 2510.
  • the circle indicating “” becomes too small, and the administrator cannot grasp the color intensity of the circle indicating the radio wave intensity data. Therefore, as shown in FIG. 26B, the radio wave intensity display program 2202 changes the scale of the circle diameter indicating the radio wave intensity data and the floor map screen 2510 so that the diameter of the circle indicating the radio wave intensity data is increased.
  • the floor map screen 2510 is displayed.
  • the radio wave intensity display program 2202 calculates the average of the radio wave intensity data existing within a predetermined range from the center of the displayed floor map, and the color intensity corresponding to the calculated color intensity of the circle. indicate.
  • the radio wave intensity display program 2202 enlarges the floor map screen 2510 due to the relationship between the diameter of the circle indicating the radio wave intensity data shown in FIG. 25A and the scale of the floor map screen 2510.
  • the circle showing the intensity data is too large. Therefore, as shown in FIG. 26C, the radio wave intensity display program 2202 changes the scale of the circle diameter indicating the radio wave intensity data and the floor map screen 2510 so that the circle diameter indicating the radio wave intensity data becomes smaller.
  • the floor map screen 2510 is displayed.
  • FIG. 27 is an explanatory diagram of a configuration of a movement amount estimation system according to a modification of the ninth embodiment of the present invention.
  • the same components as those of the movement amount estimation system shown in FIG. 27 are identical components as those of the movement amount estimation system shown in FIG.
  • the server 100 functions as a movement amount estimation system, but in FIG. 27, the mobile terminal 200 functions as a movement amount estimation system.
  • the memory 220 of the mobile terminal 200 includes an EV movement detection program 121, a data correction program 122, a movement amount calculation program 123, a floor estimation program 124, a floor division program 127, and a movement history estimation program 128.
  • a data integration program 2201 and a radio wave intensity display program 2202 are stored.
  • auxiliary storage device 230 of the mobile terminal 200 stores building data 133 and floor data 137 in addition to various sensor data 2300 and radio wave intensity data 232.
  • each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit.
  • each of the above-described configurations, functions, and the like have been described in the case where the process is realized by software by interpreting and executing a program that realizes each function, but the program, table, and file that realize each function are described.
  • Such information can be stored not only in memory but also in recording devices such as hard disks and SSDs (Solid State Drive), or recording media such as IC cards, SD cards, and DVDs, and via a network as necessary. Needless to say, it can also be downloaded and installed.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
PCT/JP2013/051099 2012-03-13 2013-01-21 移動量推定システム、移動量推定方法、移動端末 Ceased WO2013136843A1 (ja)

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US9632107B2 (en) 2017-04-25

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