WO2020230311A1

WO2020230311A1 - Movement assist system

Info

Publication number: WO2020230311A1
Application number: PCT/JP2019/019403
Authority: WO
Inventors: 釜坂　等; 啓吾根岸; 悠太鈴木; 渡邊　啓嗣; 清司五明; 正一丸田
Original assignee: 三菱電機株式会社
Priority date: 2019-05-15
Filing date: 2019-05-15
Publication date: 2020-11-19
Also published as: JPWO2020230311A1; CN113811503B; CN113811503A; JP7363895B2

Abstract

Provided is a movement assist system that can select a suitable recommended route in a building. The movement assist system comprises a route search unit that searches for a recommended route satisfying specified conditions on the basis of map information containing vertical route information in a building and information on the operation state of a vertical movement device in the building. The movement assist system searches for a recommended route satisfying specified conditions on the basis of map information containing vertical route information in a building and information on the operation state of a vertical movement device in the building. Thus, a suitable recommended route in the building can be selected.

Description

Mobility support system

The present invention relates to a mobility support system.

Patent Document 1 discloses a mobility support system. According to the movement support system, a recommended route can be presented in a building.

Japanese Patent Application Laid-Open No. 2017-033450

However, in the movement support system described in Patent Document 1, a recommended route obtained by a general shortest distance route detection algorithm or the like is presented as a passage straddling each floor. Therefore, the recommended route may not be the shortest route due to the waiting time of the elevator or the like.

This invention was made to solve the above-mentioned problems. An object of the present invention is to provide a mobility support system capable of selecting an appropriate recommended route in a building.

The movement support system according to the present invention provides a recommended route satisfying a specified condition based on map information including vertical route information of a building and information on an operating state of the vertical movement device of the building. It is equipped with a route search unit for searching.

According to the present invention, the movement support system is a recommended route that satisfies a specified condition based on map information including vertical route information of the building and information on the operating state of the vertical movement device of the building. To explore. Therefore, an appropriate recommended route can be selected for the building.

It is a block diagram of the movement support system in Embodiment 1. FIG. It is a figure which shows the example of the information of the operating state of the elevator used for the movement support system in Embodiment 1. FIG. It is a flowchart for demonstrating the outline of the operation of the shortest path search function of the movement support system in Embodiment 1. It is a hardware block diagram of the group management apparatus to which the movement support system in Embodiment 1 is applied. It is a block diagram of the movement support system in Embodiment 2. It is a block diagram of the movement support system in Embodiment 3. It is a figure which shows the example of the user information used for the movement support system in Embodiment 3. FIG. It is a block diagram of the movement support system in Embodiment 4.

The embodiment for carrying out the present invention will be described with reference to the attached drawings. In each figure, the same or corresponding parts are designated by the same reference numerals. The duplicate description of the relevant part will be simplified or omitted as appropriate.

Embodiment 1.
FIG. 1 is a configuration diagram of a movement support system according to the first embodiment.

The map information storage device 1 stores map information including stores, aisles, exits, etc. as layout information of each floor of the building. The map information storage device 1 stores information on the elevator and the escalator as a moving device that moves vertically between each floor as route information in the vertical direction. The map information storage device 1 stores information on stairs.

Each of the control devices 2 of the plurality of elevators controls the baskets of the plurality of elevators (not shown). The group management device 3 controls a plurality of control devices 2. The group management device 3 includes an operation state information storage unit 3a. The operation state information storage unit 3a receives information on the operation state of each of the plurality of elevators from each of the plurality of control devices 2. The operating state information storage unit 3a stores information on the operating state of each of the plurality of elevators.

For example, the route search input / output device 4 is a device fixed to the store. For example, the route search input / output device 4 is a mobile terminal such as a smartphone or a smart watch.

For example, the shortest route search function 5 is provided on a server provided in a building management room as a route search unit. The shortest path search function 5 may be provided in the group management device 3 or the route search input / output device 4.

The user 6 inputs the current point and the destination point by using the route search input / output device 4. The route search input / output device 4 transmits information between the current time point and the target time point to the shortest path search function 5 by wire or wirelessly.

The shortest route search function 5 searches for the shortest route as a recommended route based on the information of the current position in the map information storage device 1, the information of the destination point, and the information of the operation state in the operation state information storage unit 3a.

Next, an example of information on the operating state of the elevator will be described with reference to FIG.
FIG. 2 is a diagram showing an example of information on the operating state of the elevator used in the mobility support system according to the first embodiment.

As shown in FIG. 2, the information on the operating state of the elevator is the information in which the information of the ID 7a, the stop floor 7b, the current position 7c, and the car call 7d is associated with each other.

ID7a is elevator identification information. The stop floor 7b is information on the stop floor of the elevator. The current position 7c is information on the current position of the car of the elevator. The car call 7d is information on the car call reserved in the elevator.

In the example of FIG. 2, in the elevator a, the basket has the first floor, the second floor, and the third floor as stop floors. The basket is currently moving from the first floor to the second floor. In the elevator, a car call from the first floor to the top is reserved.

Next, the outline of the operation of the shortest path search function 5 will be described with reference to FIG.
FIG. 3 is a flowchart for explaining the outline of the operation of the shortest path search function of the movement support system according to the first embodiment.

In step S1, the shortest path search function 5 starts the route calculation. After that, the operation of step S2 is performed. In step S2, the shortest path search function 5 derives the shortest path and the required time from the current position (A) to each landing of the plurality of elevators. This value is basically a fixed value.

For example, the shortest route search function 5 derives the shortest route and the required time from the current position (A) to the landing on the first floor of the elevator a. For example, the shortest path search function 5 derives the shortest path and the required time from the current position (A) to the landing on the first floor of the elevator b. For example, the shortest path search function 5 derives the shortest path and the required time from the current position (A) to the landing on the first floor of the elevator c. For example, the shortest route search function 5 derives the shortest route and the required time from the current position (A) to the entrance of the escalator on the first floor. For example, the shortest path search function 5 derives the shortest path and the required time from the current position (A) to the bottom of the stairs on the first floor.

After that, the shortest path search function 5 performs the operation of step S3. In step S3, the shortest path search function 5 derives the shortest path and the shortest time from each of the exits of the plurality of elevators on the floor of the destination point (B) to the destination point (B). This value is basically a fixed value.

For example, the shortest path search function 5 derives the shortest path and the required time from the exit on the third floor of the elevator a to the destination point (B). For example, the shortest path search function 5 derives the shortest path and the required time from the exit on the third floor of the elevator b to the destination point (B). For example, the shortest path search function 5 derives the shortest path and the required time from the exit on the third floor of the elevator c to the destination point (B). For example, the shortest path search function 5 derives the shortest path and the required time from the exit of the escalator on the third floor to the destination point (B). For example, the shortest path search function 5 derives the shortest path and the required time from the stairs on the third floor to the destination point (B).

After that, the shortest path search function 5 performs the operation of step S4. In step S4, the shortest path search function 5 calculates the time when each of the plurality of elevators is used. For example, the shortest path search function 5 uses the estimated arrival time at the user's landing, the elevator operating status information 11, the waiting time, the boarding time in the car, the boarding time in the car, and the car for each of the plurality of elevators. Calculate the disembarkation time from.

The waiting time of the car, the time of getting into the car, the time of getting in the car, and the time of getting off from the car are calculated based on the information from the driving state information storage unit 3a. The time to use the elevator changes depending on the operating condition of the elevator. On the other hand, the time to use the escalator or stairs is basically fixed.

For example, the shortest path search function 5 calculates the time when the elevator of a is used. For example, the shortest path search function 5 calculates the time when the elevator b is used. For example, the shortest path search function 5 calculates the time when the elevator of c is used. For example, the shortest path search function 5 calculates the time when the escalator is used. The shortest path search function 5 calculates the time when the stairs are used.

After that, the shortest path search function 5 performs the operation of step S5. In step S5, the shortest route search function 5 searches for the shortest route that takes the shortest time from the current point (A) to the destination point (B) as a recommended route. For example, the shortest path search function 5 is a route from the current position (A) to the landing of the elevator car x to be boarded and a route from the drop-off position of the elevator car x at the destination point (B) to the destination point (B). And search.

After that, the shortest path search function 5 performs the operation of step S6. In step S6, the shortest path search function 5 causes the route search input / output device 4 to present a recommended route. In addition, a plurality of recommended routes may be presented. For example, a recommended route using an elevator may be presented as the shortest route, and a recommended route using stairs may be presented as the shortest route.

According to the first embodiment described above, the movement support system is designated based on the map information including the vertical route information of the building and the information on the operating state of the vertical movement device of the building. Search for recommended routes that meet the above conditions. Therefore, an appropriate recommended route can be selected for the building.

Note that information on the riding status of the basket, such as fullness, vacancy, and the number of remaining passengers, may be added to the driving status information. In this case, the recommended route should not be a route with a basket that cannot be boarded.

Further, the shortest path search function 5 may be combined with the DOAS system that efficiently operates a plurality of elevators according to the entire destination floor of the elevator users by registering the destination floor before boarding the car. In this case, the shortest route search function 5 can select a more appropriate recommended route by taking into account not only the information on the car call but also the information on the planned stop floor.

Further, the position information of the route search input / output device 4 may be used as the current time of the user. In this case, the user's current input can be omitted. Further, as the destination point of the user, location information such as floor map location information, store name information, resting place, dining place, and vacant toilet may be used. The mapping from these location information to the coordinates of the destination point may be performed by a method that is usually open to the public.

Further, when the route search input / output device 4 is a mobile terminal and the position information of the user 6 is automatically acquired, the latest current position information from the route search input / output device 4 is constantly sent to the shortest route search function 5. Just tell. In this case, the recommended route may be changed according to the latest information on the operating state, and the result may be presented to the route search input / output device 4.

In this way, if the route search input / output device 4 and the shortest route search function 5 constantly communicate with each other, even if the recommended route changes due to a change in the boarding status of the car from the time when the destination point is first input. It is possible to instruct the group management device 3 to change the basket. For example, if an unexpected large number of people get into the basket and the time to get into the basket becomes long, or if the basket becomes full, even if the recommended route is changed, the group management device 3 will be charged with the basket. You can instruct changes.

In addition, the recommended route using the escalator may be selected in consideration of the moving speed of the escalator.

In addition, the recommended route using the stairs may be selected in consideration of the use of the stairs. In this case, the moving speed up the stairs and the moving speed down the stairs may be set to different speeds.

In addition, if the movement time is further shortened by increasing the movement speed, the recommended route when the movement speed is increased may be presented. On the other hand, if the movement time is not shortened, such as when the waiting time of the basket is long even if the movement speed is increased, the movement speed may be decreased.

Next, an example of the group management device 3 will be described with reference to FIG.
FIG. 4 is a hardware configuration diagram of the group management device to which the mobility support system according to the first embodiment is applied.

Each function of the group management device 3 can be realized by a processing circuit. For example, the processing circuit includes at least one processor 100a and at least one memory 100b. For example, the processing circuit includes at least one dedicated hardware 200.

When the processing circuit includes at least one processor 100a and at least one memory 100b, each function of the group management device 3 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the group management device 3 by reading and executing a program stored in at least one memory 100b. At least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or the like.

If the processing circuit comprises at least one dedicated hardware 200, the processing circuit may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. To. For example, each function of the group management device 3 is realized by a processing circuit. For example, each function of the group management device 3 is collectively realized by a processing circuit.

For each function of the group management device 3, a part may be realized by the dedicated hardware 200, and the other part may be realized by software or firmware. For example, the function of controlling a plurality of control devices 2 is realized by a processing circuit as dedicated hardware 200, and at least one processor 100a has at least one memory for functions other than the function of controlling a plurality of control devices 2. It may be realized by reading and executing the program stored in 100b.

In this way, the processing circuit realizes each function of the group management device 3 by hardware 200, software, firmware, or a combination thereof.

Although not shown, each function of the control device 2 is also realized by a processing circuit equivalent to a processing circuit that realizes each function of the group management device 3. Each function of the server provided with the shortest path search function 5 is also realized by a processing circuit equivalent to the processing circuit that realizes each function of the group management device 3.

Embodiment 2.
FIG. 5 is a configuration diagram of the movement support system according to the second embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.

In the second embodiment, the shortest path search function 5 communicates with the group management device 3 via the instruction function 8. The group management device 3 controls each of the plurality of control devices 2 based on the instruction from the shortest path search function 5.

For example, in the operating state information of FIG. 2, the elevator with ID7a b is simulated by imagining "car call 1F (top)", and the elevator with ID7a b is "car call 1F (top)". When the result that the shortest path is assigned is obtained, the shortest path search function 5 gives the instruction function 8 the information of the instruction to assign "car call 1F (above)" to the elevator whose ID7a is b. Send. The instruction function 8 transmits the instruction to the group management device 3. The group management device 3 transmits information on the registration instruction of "car call 1F (above)" to the control device 2 of the elevator whose ID 7a is b. The elevator control device 2 with ID 7a b registers "car call 1F (top)".

According to the second embodiment described above, the shortest path search function 5 transmits instruction information to the control device 2 of the elevator so that the operation of the elevator existing in the recommended route follows the search result. Therefore, the shortest path can be spontaneously created.

Embodiment 3.
FIG. 6 is a configuration diagram of the movement support system according to the third embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.

In the third embodiment, the route search input / output device 4 accepts input of user information indicating the attributes of the user. The shortest route search function 5 searches for a recommended route based on the attributes of the user.

Next, an example of user information will be described with reference to FIG. 7.
FIG. 7 is a diagram showing an example of user information used in the mobility support system according to the third embodiment.

The user information is information in which information such as type 9a, moving speed 9b, movable means 9c, and priority 9d is associated with each other.

The information of type 9a is information indicating that it is a human or a robot. The information of the moving speed 9b is information indicating the moving speed. The movable means 9c is information indicating available moving means. The priority 9d is information indicating that time or distance is prioritized. Only any number of these pieces of information may be used as user information. User information may include information other than these information.

(A) in FIG. 7 is an example assuming general human information. This example is an example in which the shortest time is prioritized by using an elevator, an escalator, and stairs. The movable means 9c may be set separately for going up and down the stairs. For example, it may be set to use the down stairs without using the up stairs.

(B) in FIG. 7 is an example assuming information on a person with a disability or the like. This example is an example in which only the elevator is used and the shortest distance is prioritized.

(C) of FIG. 7 is an example assuming an automatic traveling robot. The autonomous driving robot gives priority to the shortest path or the shortest time depending on its own characteristics. For example, the meal delivery robot gives priority to the shortest time. For example, a document delivery robot with low urgency reduces battery usage by giving priority to the shortest route. If the robot has a function of using the escalator or the stairs, the escalator or the stairs may be set as the available means 7.

According to the third embodiment described above, the shortest route search function 5 searches for a recommended route based on the attributes of the user. Therefore, an appropriate recommended route can be selected according to the user.

Embodiment 4.
FIG. 8 is a configuration diagram of the movement support system according to the fourth embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.

In the fourth embodiment, the robot 10 incorporates the route search input / output device 4. The shortest path search function 5 transmits information of instructions to the robot 10 to the route search input / output device 4 according to the searched recommended route. The robot 10 is controlled based on the information received by the route search input / output device 4.

For example, if the type of user information is a robot, it will be lower than the priority of the person. For example, robot function attributes such as emergency delivery, cleaning, and punctual security may be added and prioritized. At this time, the elevator may be controlled so as to be the shortest according to the attribute of the robot function.

According to the fourth embodiment described above, the shortest path search function 5 transmits information of instructions to the robot 10 according to the searched recommended route. Therefore, the robot 10 can be appropriately controlled according to the situation.

As described above, the movement support system according to the present invention can be used for a robot system.

1 map information storage device, 2 control device, 3 group management device, 3a operation status information storage unit, 4 route search input / output device, 5 shortest route search function, 6 user, 7a ID, 7b stop floor, 7c current position, 7d car call, 8 instruction function, 9a type, 9b moving speed, 9c movable means, 9d priority, 100a processor, 100b memory, 200 hardware

Claims

A route search unit that searches for a recommended route that satisfies a specified condition based on map information including vertical route information of a building and information on the operating state of the vertical moving device of the building.
Mobility support system equipped with.
The movement support system according to claim 1, wherein the route search unit transmits instruction information to a control device of the mobile device so that the operation of the mobile device existing in the recommended route follows the search result.
The movement support system according to claim 1 or 2, wherein the route search unit searches for the recommended route based on information between the user's current position and the destination point.
The movement support system according to claim 3, wherein the route search unit searches for the recommended route based on the attributes of the user.
The movement support system according to any one of claims 1 to 4, wherein the route search unit outputs information on the recommended route to the outside.
The movement support system according to claim 5, wherein the route search unit outputs information on the movement speed according to the use of the movement device existing in the recommended route to the outside.
The movement support system according to claim 5 or 6, wherein the route search unit transmits information of instructions to the robot according to the searched recommended route when the robot instructs the robot to search for the recommended route.