WO2020255405A1 - Information collection device, information collection method, and program - Google Patents

Information collection device, information collection method, and program Download PDF

Info

Publication number
WO2020255405A1
WO2020255405A1 PCT/JP2019/024813 JP2019024813W WO2020255405A1 WO 2020255405 A1 WO2020255405 A1 WO 2020255405A1 JP 2019024813 W JP2019024813 W JP 2019024813W WO 2020255405 A1 WO2020255405 A1 WO 2020255405A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
road
section
unit
route
Prior art date
Application number
PCT/JP2019/024813
Other languages
French (fr)
Japanese (ja)
Inventor
茂木　学
晶郁 寺中
阿希子 林
駿介 高宮
裕介 市川
佐久間　聡
Original Assignee
日本電信電話株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本電信電話株式会社 filed Critical 日本電信電話株式会社
Priority to PCT/JP2019/024813 priority Critical patent/WO2020255405A1/en
Publication of WO2020255405A1 publication Critical patent/WO2020255405A1/en

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to an information collecting device, an information collecting method, and a program.
  • Patent Document 1 discloses a guidance control system that derives an optimum route from a starting point to a destination avoiding obstacles based on route information.
  • An object of the present invention made in view of such circumstances is an information collecting device and information collecting capable of easily generating information indicating how easy a predetermined route is for a user using a wheelchair or the like. To provide methods and programs.
  • the information collecting device has a sensor information acquisition unit that acquires sensor information in the mobile device from a terminal device fixed to the mobile device, and the movement based on the sensor information. It is characterized by including an estimation unit that estimates the state of the road on which the device has passed, and a storage unit that stores information indicating the state of the road.
  • the information collecting method includes a step of acquiring sensor information in the mobile device from a terminal device fixed to the mobile device, and the mobile device based on the sensor information. It is characterized by including a step of estimating the state of the road on which the vehicle has passed and a step of storing information indicating the state of the road.
  • the program according to the present invention is characterized in that the computer functions as the above information collecting device.
  • FIG. 1 is a diagram showing an example of the configuration of the navigation system 100 according to the present embodiment.
  • the navigation system 100 includes an information collecting device 10 and a terminal device 20 fixed to the mobile device 30.
  • the information collecting device 10 and the terminal device 20 communicate with each other via the network 40.
  • the information collecting device 10 is a server configured by reading a predetermined program into, for example, a known or dedicated computer having a central processing unit (CPU: Central Processing Unit), a main storage device (RAM: Random Access Memory), and the like. Is.
  • the information collecting device 10 executes each process under the control of the central processing unit, for example.
  • the data input to the information collecting device 10 and the data obtained by each process are stored in the main storage device, for example, and the data stored in the main storage device is read out to the central processing unit as needed. Used for other processing.
  • At least a part of each processing unit of the information collecting device 10 may be configured by hardware such as an integrated circuit.
  • Each storage unit included in the information collecting device 10 can be configured by, for example, a main storage device such as a RAM, or middleware such as a relational database or a key-value store.
  • a main storage device such as a RAM
  • middleware such as a relational database or a key-value store.
  • each storage unit does not necessarily have to be provided inside the information collecting device 10, and is configured by an auxiliary storage device composed of semiconductor memory elements such as a hard disk, an optical disk, or a flash memory, and is outside the information collecting device 10. It may be configured to prepare for.
  • the terminal device 20 is a mobile terminal held by the user U, and is, for example, a smart device such as a smartphone or a tablet PC.
  • the user U is a person who is guided from the departure place to the destination by using the mobile device 30 and checking a predetermined display screen displayed on the terminal device 20. Examples of the user U include a disabled person who uses a wheelchair, an elderly person who uses a wheelchair, and a mother of a baby who uses a stroller.
  • the mobile device 30 may be a small transport device equipped with propulsion power, and the type thereof is not particularly limited.
  • Examples of the moving device 30 include a manual wheelchair, an automatic wheelchair, a stroller, a trolley, a shopping carry case with wheels, a travel suitcase, and the like.
  • FIG. 2 is a diagram showing an example of the configuration of the information collecting device 10 according to the present embodiment.
  • the information collecting device 10 includes a communication unit 11, a control unit 12, and a storage unit 13.
  • the communication unit 11 communicates with the terminal device 20 via the network 40.
  • the communication unit 11 includes a sensor information acquisition unit 111, an attribute information acquisition unit 112, an obstacle information acquisition unit 113, and a detailed information acquisition unit 114.
  • the communication unit 11 outputs various information received from the terminal device 20 to the control unit 12 via the network 40.
  • the communication unit 11 transmits various information input from the control unit 12 to the terminal device 20 via the network 40.
  • the sensor information acquisition unit 111 acquires sensor information from the terminal device 20 via the network 40 and inputs it.
  • the sensor information is various information in the mobile device 30 detected by various sensors mounted on the terminal device 20 or various sensors directly attached to the mobile device 30.
  • the sensor information includes acceleration information in the moving device 30, speed information in the moving device 30, angular velocity information in the moving device 30, and the like.
  • the sensor information acquisition unit 111 outputs the acquired sensor information to the control unit 12.
  • the attribute information acquisition unit 112 acquires the attribute information from the terminal device 20 via the network 40 and inputs it.
  • the attribute information is information related to the attributes of the user U that is input to the terminal device 20 when the user U performs a predetermined operation.
  • the attribute information is information on the age of the user U, such as 10 years old or younger, 10 years old to 20 years old or younger, 20 years old to 30 years old or younger, and the like.
  • the attribute information is information regarding whether or not the user U is assisted, and is information such that the user U needs to be assisted and the user U does not need to be assisted.
  • the attribute information is information on the type of the mobile device 30 used by the user U, and is information on a manual wheelchair, an automatic wheelchair, a stroller, and the like.
  • the attribute information acquisition unit 112 outputs the acquired attribute information to the control unit 12.
  • the obstacle information acquisition unit 113 acquires obstacle information from the terminal device 20 via the network 40 and inputs it.
  • the obstacle information is information registered for sharing with own and other users who use the same mobile device 30.
  • the obstacle information is information on obstacles in a predetermined route (for example, a route from a departure point to a destination) input to the terminal device 20 by the user U performing a predetermined operation, and is in the predetermined route.
  • Information such as steps, irregularities, and slopes of the road, and information such as text comments regarding obstacles registered by the user U by performing a predetermined operation.
  • the obstacle information acquisition unit 113 outputs the acquired obstacle information to the control unit 12.
  • the detailed information acquisition unit 114 acquires detailed information from the terminal device 20 via the network 40 and inputs it.
  • Detailed information is information that can be automatically acquired.
  • detailed information is information on the presence or absence of obstacles that can be registered or automatically acquired on the navigation system side in advance, such as information indicating that construction is underway, general map information such as road widths and images, and automatic net information.
  • Information that can be acquired image information such as steps, irregularities, and slopes of the road on a predetermined route, information on the width of the road on which the vehicle travels, information on the width of the sidewalk on which pedestrians walk, information on the position of obstacles, etc. ..
  • the detailed information acquisition unit 114 outputs the acquired detailed information to the control unit 12.
  • the control unit 12 includes an estimation unit 121, a generation unit 122, and a display information creation unit 123.
  • the control unit 12 includes, for example, a CPU, a memory, and the like, and controls each unit of the information collecting device 10.
  • the information collecting device 10 may function as a device for collecting information or as a device for navigating. In the present embodiment, the information collecting device 10 functions as a navigation device. When the information collecting device 10 functions as a device for collecting information, it is not necessary to include the generating unit 122 and the display information creating unit 123.
  • the estimation unit 121 inputs various information (for example, sensor information, attribute information, obstacle information, detailed information, etc.) input from the communication unit 11, and based on the various information, the predetermined unit 30 has passed.
  • the state of the road in the route is estimated, and the estimation result is stored in the storage unit 13.
  • the estimation unit 121 estimates the state of the road in a plurality of sections in which the predetermined route is divided based on various information input from the communication unit 11, and further, based on the estimation result of the state of the plurality of sections.
  • the condition of the road on the predetermined route is estimated.
  • the estimation unit 121 outputs the estimation result of the road condition in the predetermined route to the storage unit 13.
  • the position of the mobile device 30 is specified by, for example, the information collecting device 10 receiving the position information from the terminal device 20 having a GPS (Global Positioning System) function.
  • the direction parallel to the road (on the same plane) and perpendicular to the direction in which the moving device 30 travels is the x direction (horizontal direction), and the direction parallel to the road and traveling in the moving device 30 is the y direction.
  • the direction perpendicular to the road (perpendicular to the plane on which the road exists) and perpendicular to the x and y directions is defined as the z direction (vertical direction).
  • the xy direction is the moving plane.
  • the estimation method is not limited to the following specific examples.
  • the estimation unit 121 estimates the state of the road in a plurality of sections in which the predetermined route is divided, based on the information on the acceleration in the x direction and the information on the acceleration in the y direction in the moving device 30. Further, the estimation unit 121 estimates the state of the road in the entire predetermined route based on the estimation result of the state of the plurality of sections.
  • one section can be set, for example, from a point having a predetermined corner to a point having the next turn, or a section every 10 m.
  • the acceleration in the x-direction and / or the y-direction in the moving device 30 in the predetermined section does not reverse positively and negatively, and the absolute value of the amount of change in the acceleration in the x-direction and / or the y-direction is from 0.
  • the time for becoming a large first threshold value or more is measured.
  • the estimation unit 121 has a measurement time of the second threshold value (for example, 30 seconds) or more, or a measurement time of the third threshold value (for example, 3 seconds) or more and a fourth threshold value (for example, 30 seconds).
  • the road in the predetermined section is inclined. In other cases, it is estimated that the road in the predetermined section is flat.
  • the first threshold value, the second threshold value, the third threshold value, and the fourth threshold value are appropriately set by the control unit 12.
  • the first threshold value has been described in the case of one, but a plurality of threshold values are set stepwise so that it can be estimated that the larger the absolute value of the amount of change in acceleration is, the steeper the slope is. It may be possible to estimate the suddenness in stages.
  • the second threshold value and the third threshold value have been described in the case of one, a plurality of threshold values are set stepwise so that it can be estimated that the longer the measurement time is, the longer the slope section is and it is difficult to drive, and the length of the slope is stepped. It may be possible to estimate the target.
  • the description has been given with the amount of change in acceleration in the x-direction and / or y-direction, the length and speed of the inclination may be estimated from the acceleration in the z-direction. Further, the length and speed of the inclination may be estimated by adding the acceleration in the z direction to the amount of change in the acceleration in the x direction and / or the y direction.
  • the estimation unit 121 estimates the road condition in the entire predetermined route based on the estimation result of the road condition in the plurality of sections.
  • the road X is inclined based on the estimation result that the section A1 is flat, the section A2 is inclined, the section A3 is flat, the section A4 is flat, the section A5 is flat, and the section A6 is flat.
  • the number of is 1 and the section A2 is inclined (see FIG. 5).
  • the road Y is inclined based on the estimation result that the section B1 is flat, the section B2 is flat, the section B3 is inclined, the section B4 is flat, the section B5 is flat, and the section B6 is flat.
  • the number of is 1 and the section B3 is inclined (see FIG. 6).
  • the difficulty level of running may be weighted or the difficulty level of running may be graded according to the steepness or length of the slope.
  • the estimation unit 121 interrupts the measurement in response to a user input from an input unit (not shown). May be good.
  • the estimation unit 121 counts the number of times that the acceleration in the x direction and / or the acceleration in the y direction in the moving device 30 in the predetermined section reverses positively or negatively. Then, when the number of positive / negative inversion counts of the acceleration in the x direction and / or the y direction is equal to or greater than the fifth threshold value (for example, 5 times), the estimation unit 121 has a high degree of difficulty in going straight through the moving device 30 and has a predetermined section. Is a caution point, and if the count number of positive / negative inversion of acceleration in the x direction and / or y direction is less than the fifth threshold value, the difficulty of going straight on the moving device 30 is low, and the predetermined section must be a caution point. presume.
  • the fifth threshold value is appropriately set by the control unit 12. Further, the estimation unit 121 estimates the state of the road in the entire predetermined route based on the estimation result of the state of the plurality of sections. For example, the estimation unit 121 counts the positive / negative inversion of the acceleration in the x direction and / or the y direction of the section A1: “0”, which is not a caution point, and the positive / negative inversion of the acceleration in the x direction and / or the y direction of the section A2.
  • the estimation unit 121 counts the positive / negative inversion of the acceleration in the x direction and / or the y direction of the section B1: “6”, which is a caution point, and the positive / negative of the acceleration in the x direction and / or the y direction of the section B2.
  • the estimation unit 121 estimates the state of the road in the plurality of sections, for example, based on the information of the acceleration in the z direction in the moving device 30 in the plurality of sections in which the predetermined route is divided. Further, the estimation unit 121 estimates the road condition in the entire predetermined route based on the estimation result of the condition of the plurality of sections.
  • the estimation unit 121 counts the number of times that the acceleration in the z direction of the moving device 30 in the predetermined section reverses positively or negatively within a predetermined time interval (for example, 1 second) with the value considering the gravitational acceleration as zero. Then, when the number of positive / negative inversion counts is equal to or greater than the sixth threshold value (for example, twice), the estimation unit 121 estimates that the road in the predetermined section has irregularities, and the absolute value of the amount of change in acceleration in the z direction is If it is less than the sixth threshold value, it is estimated that there is no unevenness on the road in the predetermined section.
  • the sixth threshold value is appropriately set by the control unit 12.
  • the estimation unit 121 estimates the road condition in the entire predetermined route based on the estimation result of the road condition in the plurality of sections. For example, the estimation unit 121 has a count number of section A1 of "0" and no unevenness, a count number of section A2 of “0” and no unevenness, and a count number of section A3 of "0". No unevenness, count number of section A4: “0” and no unevenness, count number of section A5: "5" and unevenness, count number of section A6: “0” and unevenness Based on the estimation result that the road X does not exist, the road X estimates a state in which the number of unevenness is 1 and the unevenness exists in the section A5 (see FIG. 5).
  • the estimation unit 121 has a count number of section B1 of "0" and no unevenness, a count number of section B2 of “0” and no unevenness, and a count number of section B3 of "0". No unevenness, count number of section B4: “5" and unevenness exists, count number of section B5: “5" and unevenness exist, count number of section B6: “0" and unevenness Based on the estimation result that the road Y does not exist, the road Y estimates a state in which the number of unevenness is 2 and the unevenness exists in the section B4 and the section B5 (see FIG. 6).
  • the estimation unit 121 may estimate the state of the road in a predetermined route by adding, for example, attribute information in addition to the acceleration information.
  • the estimation unit 121 weights the acceleration information based on, for example, information on the age of the user U, information on the presence or absence of assistance from the user U, and the like by performing estimation in consideration of attribute information. Estimates can be made. For example, when "age group" is used as the attribute information, it is possible to perform weighting so that the degree of difficulty increases in the age without physical strength than in the age with physical strength. For example, the age is divided into 0 to 15 years old, 16 to 49 years old, and 50 years old or older, and the weight indicating the degree of difficulty when the age belongs to 0 to 15 years old or 50 years old or older.
  • the weight may be set so as to be larger than the weight indicating the degree of difficulty when the age belongs to 16 years or older to 49 years or younger.
  • the weight may be set so that the weight indicating the degree of difficulty becomes larger when there is no assistance than when there is assistance.
  • each item for example, x direction. And / or the average value of the positive / negative inversion count of the acceleration in the y direction and the positive / negative inversion count of the acceleration in the z direction) can be calculated, and the estimation can be performed using these average values.
  • the estimation unit 121 may estimate the state of the road in the predetermined route by adding, for example, detailed information in addition to the acceleration information and the attribute information.
  • the estimation unit 121 weights the acceleration information based on, for example, information on the width of the road on which the vehicle travels, information on the width of the sidewalk on which the pedestrian walks, and the like by performing estimation in consideration of detailed information. Can be done to make an estimate.
  • the generation unit 122 prepared when the information collecting device 10 functions as a navigation device estimates the current location and the destination input by the user via the terminal device, and the road condition in the predetermined route estimated by the estimation unit 121. The result is acquired from the storage unit 13 and input, a route candidate from the current location to the destination is created, and guidance information which is information indicating how easy the route candidate is for the user U is provided. Generate. Specifically, the generation unit 122 creates a route candidate from the current location to the destination based on the map information stored in the storage unit 13, and in the route candidate from the current location to the destination stored in the storage unit 13.
  • the attention level when the moving device 30 passes is obtained, and the route from the current location to the destination is obtained. Attention level is given to the candidate, and information in which the route candidate from the current location to the destination and the attention level are associated with each other is generated.
  • Information including the location information of the obstacle is called route information.
  • the generation unit 122 may also input attribute information such as age and presence / absence of assistance input by the user via the terminal device, and may use it to obtain the attention level.
  • the generation unit 122 outputs the generated guidance information to the display information creation unit 123. Further, the generation unit 122 stores the generated guidance information in the storage unit 13.
  • the caution level is based on the estimation result of the road condition in the plurality of sections estimated by the estimation unit 121 as to how easily the plurality of sections in which the predetermined route is divided are the sections that the user U can easily pass through. This is quantified information.
  • the attention level is appropriately set by the control unit 12.
  • the generation unit 122 assigns attention level 1 to the section A2 of the road X and caution level 2 to the section A2 of the road X (see FIG. 5).
  • the generation unit 122 sets a caution level 3 for the section B1 of the road Y, a caution level 1 for the section B3 of the road Y, a caution level 2 for the section B4 of the road Y, and a caution level 2 for the section B5 of the road Y. Grant (see FIG. 6).
  • the display information creation unit 123 prepared when the information collection device 10 functions as a navigation device creates display information for displaying the route candidates to which the attention level is given by superimposing them on the map information.
  • the display information creation unit 123 creates display information that allows the user to recognize that the road and the attention level in a predetermined section of the plurality of sections in which the route candidate road is divided are paired. For example, the display information creation unit 123 recognizes that the section A2 of the road X and the caution level 1 are paired, and that the section A2 of the road X and the caution level 2 are paired. As possible, create display information for superimposing and displaying map information and information on which caution level 1 is assigned to section A2 of road X and caution level 2 is assigned to section A2 of road X.
  • the display information creation unit 123 states that the section B1 of the road Y and the caution level 3 are paired, that the section B3 of the road Y and the caution level 1 are paired, and that the section B4 of the road Y is paired.
  • the map information and the section B1 of the road Y so that the user can recognize that the and caution level 2 are paired and that the road Y section B5 and the caution level 2 are paired.
  • Attention level 3 is given to the road Y
  • attention level 1 is given to the section B3 of the road Y
  • attention level 2 is given to the section B4 of the road Y
  • attention level 2 is given to the section B5 of the road Y.
  • the display information creation unit 123 generates a plurality of route candidates to which attention levels are given, and creates display information that can be displayed stepwise according to the priority so that the lower the attention level, the higher the priority. To do.
  • the display information creation unit 123 changes, for example, the shade of color, the thickness of the line, the type of color, etc., so that the route candidate having a high priority has a higher priority than the route candidate having a lower priority.
  • Priority is given by changing the color of the route candidate on the route that has been passed by multiple other users to the lightest color so that the route candidate in each route gradually becomes lighter in color.
  • Create display information that can display the route candidates with multiple attention levels in stages so that the route candidates with high degree are more visible to the user than the route candidates with low priority.
  • the number of times of passing through the route may be the total number of times of passing through all the routes, or may be the total number of times of passing through each section included in the route.
  • the display information creation unit 123 gradually makes the route candidates in each route thinner as the number of obstacles increases so that the route candidates in the route with the smallest number of obstacles become the thickest lines.
  • the route candidate with higher priority has a lower priority.
  • the priority may be determined based on the number of obstacles as described above, or may be determined based on the total value of the attention levels in consideration of the attention level. For example, when the attention level 2 is two places in the route candidate 1 and the attention level 1 is three places in the route candidate 2, the priority of the route candidate 2 can be increased.
  • the display information creation unit 123 outputs the generated display information to the communication unit 11. Further, the display information creation unit 123 stores the generated display information in the storage unit 13.
  • the storage unit 13 may have a function of storing information such as a hard disk.
  • the storage unit 13 stores, for example, sensor information, attribute information, obstacle information, detailed information, position information of the mobile device 30, and the like.
  • the storage unit 13 has, for example, the measurement time, the number of positive / negative inversions of acceleration in the x and / or y directions, the number of positive / negative inversions of acceleration in the z direction, the number of inclinations in a predetermined path, and the number of irregularities in a predetermined path. , Stores information such as various average values.
  • the storage unit 13 stores, for example, an estimation result of the state of a plurality of sections associated with the position information, an estimation result of the state of a predetermined route associated with the position information, a predetermined threshold value (first threshold value to sixth threshold value), and the like.
  • a predetermined threshold value first threshold value to sixth threshold value
  • the storage unit 13 may store the attribute information of the user and the information based on the sensor information in association with each other.
  • the attribute information of the user A is the age group: "40 to 50 years old", the presence / absence of assistance: "none”, and the type of mobile device: "manual”.
  • the information based on the sensor information includes the number of slopes of the road in the predetermined route described above: "1”, the count number of positive / negative inversion of the acceleration in the z direction described above: "5", the acceleration in the x direction and / or the y direction described above. Count number of positive / negative inversion of: "0" and the like.
  • the attribute information of user B is age group: "40 to 50 years old", presence / absence of assistance: “none”, and type of mobile device: “manual”.
  • the information based on the sensor information includes the number of slopes of the road in the predetermined route described above: “1”, the count number of positive / negative inversion of the acceleration in the z direction described above: “10”, the acceleration in the x direction and / or the y direction described above. Count number of positive / negative inversion of: "6”.
  • the storage unit 13 may store the attribute information of the user in association with the predetermined section through which the user has passed and the time when the user has passed through the predetermined section. In the example shown in FIG.
  • the section through which the user A has passed is “section C1", and the time when the user A has passed through the section C1 is "9:30". Further, in the example shown in FIG. 3, the section through which the user B has passed is "section C2", and the time when the user B has passed through the section C2 is "10:30".
  • sensor information is routinely collected from the terminal device 20 fixed to the mobile device 30, and guidance information is generated using the sensor information.
  • guidance information is generated using the sensor information.
  • FIG. 4 is a diagram showing an example of the configuration of the terminal device 20 according to the present embodiment.
  • the terminal device 20 includes a detection unit 21, a communication unit 22, a control unit 23, a storage unit 24, a display unit 25, and an operation unit 26.
  • the detection unit 21 is various sensors mounted on the terminal device 20 and detects sensor information such as acceleration of the mobile device 30.
  • sensor information such as acceleration of the mobile device 30.
  • the detection unit 21 is, for example, an acceleration sensor.
  • the accelerometer detects, for example, the x-direction acceleration of the moving device 30, the y-direction acceleration of the moving device 30, and the z-direction acceleration of the moving device 30.
  • the configuration of the acceleration sensor is not particularly limited, and may be, for example, a capacitance type acceleration sensor, a piezoresistive type acceleration sensor, or the like.
  • the detection unit 21 is, for example, a speed sensor.
  • the speed sensor detects, for example, the speed in the x direction of the moving device 30, the speed of the moving device 30 in the y direction, and the speed of the moving device 30 in the z direction.
  • the speed sensor may have a known configuration.
  • the detection unit 21 is, for example, a gyro sensor.
  • the gyro sensor detects, for example, the angular velocity in the x direction of the moving device 30, the angular velocity in the y direction of the moving device 30, and the angular velocity in the z direction of the moving device 30.
  • the gyro sensor may have a known configuration.
  • the detection unit 21 is, for example, a 6-axis sensor.
  • the 6-axis sensor may have a known configuration in which, for example, an acceleration sensor and a gyro sensor are combined.
  • the communication unit 22 communicates with the information collecting device 10 via the network 40.
  • the communication unit 22 receives various information such as guidance information from the information collecting device 10 via the network 40, for example.
  • the communication unit 22 transmits various information such as sensor information, attribute information, obstacle information, and detailed information to the information collecting device 10 via the network 40, for example.
  • the control unit 23 includes, for example, a CPU, a memory, and the like, and controls each unit of the terminal device 20.
  • the control unit 23 outputs various information to the display unit 25, and causes the display unit 25 to display a predetermined screen.
  • the control unit 23 is, for example, a guidance information display screen 510 (see FIG. 5), a guidance information display screen 610 (see FIG. 6), a setting screen 710 (see FIG. 7A), a shooting screen 720 (see FIG. 7B), and an input screen 730. (See FIG. 7C), setting screen 810 (see FIG. 8A), departure / destination input screen 820 (see FIG. 8B), departure / destination input screen 830 (see FIG. 8C), shooting screen 840 (see FIG.
  • the storage unit 24 may have a function of storing information such as a hard disk.
  • the storage unit 24 stores, for example, guidance information, sensor information, attribute information, obstacle information, detailed information, and the like.
  • the storage unit 24 stores, for example, various programs and data.
  • the display unit 25 may be any device as long as it can display images, characters, and the like, such as a liquid crystal display and an organic EL (Electro-Luminescence) display.
  • the display unit 25 displays a predetermined screen based on various information input from the control unit 23.
  • the display unit 25 displays, for example, the guidance information display screen 510 (see FIG. 5).
  • the display unit 25 superimposes and displays the guidance information on the road X from the departure point 511 to the destination 512 on the map.
  • the guidance information is information indicating how easy the road X is for the user U, and is information in which the road X and the attention level are associated with each other.
  • the caution level 1 is assigned to the section A2 and the caution level 2 is assigned to the section A5.
  • the display unit 25 can display the guidance information in association with the attribute information of the user A who has passed through the road X corresponding to the guidance information.
  • the display unit 25 can display the guidance information in association with the obstacle information or detailed information existing on the road X corresponding to the guidance information.
  • the display unit 25 may display the guidance information display screen 510 on the road X with the caution level 1 assigned to the section A2 and the caution level 2 assigned to the section A5.
  • the display unit 25 may display characters indicating the attention level (characters such as caution 1 and caution 2 in FIG. 5).
  • a button indicating that there is detailed information may be displayed below or near the character indicating the attention level. In this case, when the user taps (presses) the button, the image and / or detailed information of the obstacle corresponding to the attention level is superimposed and displayed and the attention level is triggered by the tapping by the user.
  • the image and / or the obstacle information and the map information of the obstacle corresponding to the above may be displayed so as to be visible in which section the road information is (see FIG. 8G).
  • the button is displayed with a character such as caution 1 if it is caution level 1, and is displayed as a character such as caution 2 if it is caution level 2.
  • the display information generation unit stores the image and / or detailed information of the obstacle corresponding to the tapped attention level and the position information. 13 is acquired and output to the communication unit 11.
  • the display unit inputs the display information from the display information creation unit via the network 40, superimposes and displays the image and / or detailed information of the obstacle corresponding to the attention level, and displays the obstacle corresponding to the attention level.
  • the image of the object and / or the obstacle information and the map information are displayed so as to be visible in which section the road information is.
  • the display unit 25 displays, for example, the guidance information display screen 610 (see FIG. 6).
  • the display unit 25 superimposes and displays the guidance information on the road Y from the departure point 611 to the destination 612 on the map.
  • the guidance information is information indicating how easy the road Y is for the user U, and is information in which the road Y and the attention level are associated with each other.
  • attention level 3 is assigned to section B1
  • attention level 1 is assigned to section B3
  • attention level 2 is assigned to section B4
  • attention level 2 is assigned to section B5.
  • the display unit 25 can display the guidance information in association with the attribute information of the user B who has passed through the road Y corresponding to the guidance information.
  • the display unit 25 can display the guidance information in association with the obstacle information or detailed information existing on the road Y corresponding to the guidance information.
  • the display unit 25 displays, for example, the guidance information display screen 930 (see FIG. 9C). As shown in FIG. 9C, the display unit 25 distinguishes a plurality of guidance information by, for example, a solid line and a dotted line, and displays them stepwise according to the priority. By changing, for example, the shade of color, the thickness of the line, the type of color, etc., the display unit 25 has a plurality of display units 25 so that the guidance information having a high priority is more noticeable than the guidance information having a low priority. The guidance information of is displayed step by step. The display unit 25 can display a plurality of guidance information step by step in an arbitrary display format.
  • the number of times the plurality of other users have passed is the most so that the guidance information on the route most frequently passed by the plurality of other users is most noticeable.
  • Guidance information on many routes is displayed in the darkest color, and as the number of times multiple other users have passed decreases, guidance information on each route is gradually displayed in lighter color, and multiple other users pass through.
  • Guidance information on the route with the least number of times may be displayed in the lightest color.
  • the user U can recognize that the guidance information on the route displayed in the darkest color is the guidance information having a high priority among the plurality of guidance information.
  • the display unit 25 displays, for example, the guidance information on the route with the smallest number of obstacles with the thickest line so that the guidance information on the route with the smallest number of obstacles is most noticeable in the plurality of guidance information. Then, as the number of obstacles increases, the guidance information in each route may be gradually displayed by a thin line, and the guidance information in the route having the largest number of obstacles may be displayed by the thinnest line. As a result, the user U can recognize that the guidance information on the route displayed by the thickest line is the guidance information having a high priority among the plurality of guidance information.
  • the display unit 25 displays the guidance information on the route taken by the user whose age group is 10 years or younger in a plurality of guidance information in red, and the user whose age group is 10 to 20 years or younger.
  • the guidance information on the route taken by the user may be displayed in blue, and the guidance information on the route taken by a user whose age group is 20 to 30 years old or younger may be displayed in yellow.
  • the user U whose age group is 10 years or younger can recognize that the guidance information on the route displayed in red is appropriate guidance information for himself / herself among the plurality of guidance information.
  • the user U whose age group is 10 to 20 years old or younger recognizes that the guidance information on the route displayed in blue is appropriate guidance information for himself / herself among the plurality of guidance information. it can.
  • the user U whose age group is 20 to 30 years old or younger recognizes that the guidance information on the route displayed in yellow is appropriate guidance information for himself / herself among the plurality of guidance information. can do.
  • the display unit 25 includes, for example, a setting screen 710 (see FIG. 7A), a shooting screen 720 (see FIG. 7B), an input screen 730 (see FIG. 7C), and a setting screen 810 (see FIG. 8A).
  • Departure destination destination input screen 820 see FIG. 8B
  • departure destination destination input screen 830 see FIG. 8C
  • shooting screen 840 see FIG. 8D
  • current location identification screen 850 see FIG. 8E
  • guidance information display screen 860 See FIG. 8F), detailed information display screen 870 (see FIG. 8G), route display order setting screen 910 (see FIG. 9A), route display order selection screen 920 (see FIG. 9B), and the like are displayed.
  • the operation unit 26 may be any device as long as the user U can perform a predetermined operation, for example, a touch panel, a software keyboard, or the like.
  • the user U can input, for example, attribute information, obstacle information, detailed information, and the like by performing a predetermined operation using the operation unit 26.
  • the operation unit 26 receives input of a departure place and a destination from the user U.
  • the terminal device 20 According to the terminal device 20 according to the present embodiment, information indicating how easy the route from the departure place to the destination is for the user U is displayed on the display unit 25. As a result, the user U can move from the starting point to the destination along an appropriate route.
  • Example of guidance information display screen An example of the guidance information display screen will be described with reference to FIGS. 5 and 6.
  • the road X from the departure place 511 to the destination 512 is displayed on the display unit 25 of the terminal device 20 as shown in FIG. Will be done.
  • the road X from the departure point 511 to the destination 512 is, for example, a route taken by the user A, and is divided into a section A1, a section A2, a section A3, a section A4, a section A5, and a section A6.
  • the road Y from the departure place 611 to the destination 612 is displayed on the display unit 25 of the terminal device 20 as shown in FIG. Will be done.
  • the road Y from the departure point 611 to the destination 612 is, for example, a route taken by the user B, and is divided into a section B1, a section B2, a section B3, a section B4, a section B5, and a section B6.
  • the section A1 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed that it is "0" and is not a caution point.
  • the section A2 has a count number of positive / negative inversions of acceleration in the inclination and z directions: "0" and no unevenness, and a count number of positive / negative inversions of acceleration in the x direction and / or y direction: It is presumed that it is "0" and is not a caution point.
  • the section A3 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed that it is "0" and is not a caution point.
  • the section A4 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed that it is "0" and is not a caution point.
  • the section A5 is flat, the count number of positive / negative inversion of acceleration in the z direction is "5", and the number of positive / negative inversion of acceleration in the x direction and / or y direction is present. It is presumed that it is "0" and is not a caution point.
  • the section A6 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is estimated that it is "0" and is not a caution point.
  • the generation unit 122 gives the section A5 of the road X a positive / negative inversion of the acceleration in the z direction when the road is inclining.
  • the count number is "5", and a caution level 2 indicating that the road is uneven is given. Then, the display unit 25 displays the guidance information shown in FIG.
  • the section B1 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed to be "6" and a caution point.
  • the section B2 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed that it is "0" and is not a caution point.
  • the section B3 has a count number of positive / negative inversions of acceleration in the inclination and z directions: "0" and no unevenness, and a count number of positive / negative inversions of acceleration in the x direction and / or y direction: It is presumed that it is "0" and is not a caution point.
  • the section B4 is flat, the count number in the z direction is "5", and the number of positive / negative inversions of the acceleration in the x direction and / or the y direction is "0". Presumed not to be a caution point.
  • the section B5 is flat, the count number of positive / negative inversion of acceleration in the z direction is "5", and the number of positive / negative inversion of acceleration in the x direction and / or y direction is present. It is presumed that it is "0" and is not a caution point.
  • the section B6 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed to be "6" and a caution point.
  • the generation unit 122 sets the caution level 3 to be given when an operation other than the normal operation of the wheelchair is required.
  • a caution level 1 indicating that the road Y section B3 has a slope, a caution level 2 indicating that the road Y section B4 is provided, and a caution level 2 indicating that the road is uneven are assigned to the road Y section B5. .. Then, the display unit 25 displays the guidance information shown in FIG.
  • the user U can confirm that there is one section of caution level 1 and one section of caution level 2 on the road X.
  • the user U has one section on the road Y that should be noted at caution level 1, two sections that should be noted at caution level 2, and one section that should be noted at caution level 3. It can be confirmed that it exists. From FIGS. 5 and 6, the user U can confirm that the road X is easier to pass than the road Y.
  • the navigation system 100 it is possible to easily generate guidance information and present it to the user U.
  • FIG. 7A is an example of the setting screen 710.
  • FIG. 7B is an example of the shooting screen 720.
  • FIG. 7C is an example of the input screen 730.
  • the screen displayed on the display unit 25 transitions from the setting screen 710 to the shooting screen 720.
  • the predetermined portion of the obstacle is photographed.
  • the screen displayed on the display unit 25 transitions from the shooting screen 720 to the input screen 730.
  • the image information of the obstacle and the position information of the obstacle are associated with each other and stored in the storage unit 24.
  • the screen displayed on the display unit 25 transitions from the input screen 730 to the shooting screen 720.
  • the shooting button 722 while looking at the preview screen 721 of the camera on which another part of the obstacle is displayed on the shooting screen 720, another part of the obstacle is additionally photographed.
  • the text comment about an obstacle in the memo input field 732 on the input screen 730 and taps the completion button 733 is added as detailed information.
  • the user U taps the share button 734 on the input screen 730 the obstacle information and the detailed information are stored in the storage unit 13 of the information collecting device 10 so that the obstacle information and the detailed information can be shared with a plurality of other users. ..
  • FIG. 8A is an example of the setting screen 810.
  • FIG. 8B is an example of the departure / destination input screen 820.
  • FIG. 8C is an example of the departure / destination input screen 830.
  • FIG. 8D is an example of the shooting screen 840.
  • FIG. 8E is an example of the current location identification screen 850.
  • FIG. 8F is an example of the guidance information display screen 860.
  • FIG. 8 (G) is an example of the detailed information display screen 870.
  • the screen displayed on the display unit 25 transitions from the setting screen 810 to the departure / destination input screen 820.
  • the screen displayed on the display unit 25 changes from the departure place destination input screen 820 to another departure place destination input screen 830. Transition.
  • the user U may input the departure place by text-entering the address of the departure place, the station name of the departure place, the building name of the departure place, and the like in the departure place input field 831.
  • the user U may input the departure place by tapping the GPS current location identification button 832 and specifying the current location of the mobile device 30 by GPS.
  • the user U may input the departure place by tapping the current location identification button 833 on the map and specifying the current location of the moving device 30 on the map.
  • the user U may input the departure place by tapping the current location identification button 834 in the shooting and identifying the current location of the moving device 30 by the image.
  • the screen displayed on the display unit 25 shifts from the departure / destination input screen 830 to the shooting screen 840. To do.
  • the shooting button 842 When the user U taps the shooting button 842 while looking at the preview screen 841 of the camera on which the object (for example, a characteristic building) is displayed on the shooting screen 840, the target is shot and the display unit 25 The screen displayed in is changed from the shooting screen 840 to the current location identification screen 850.
  • the image information obtained by photographing the object from a plurality of angles and the position information of the object are stored in the storage unit 24 in advance in association with each other, and the image taken by the user U is stored in the storage unit by the image recognition technique.
  • the object stored in 24 is specified, and the position information of the object is acquired.
  • the address of the object (for example, 1-chome, Marunouchi, Chiyoda-ku, Tokyo) is automatically displayed in the display area 851 on the current location identification screen 850, and the display area on the current location identification screen 850.
  • a map of the object is automatically displayed on the 852.
  • the destination input field is displayed on the display unit 25.
  • the user U inputs the destination by text-entering the address of the destination, the station name of the destination, the building name of the destination, and the like in the destination input field.
  • the screen displayed on the display unit 25 transitions from the current location identification screen 850 to the guidance information display screen 860.
  • guidance information on the road Z from the current location 861 to the destination 862 is displayed. From the guidance information display screen 860, the user U can confirm that there is one section to be noted with caution level 1 and one section to be noted with caution level 2 on the road Z. ..
  • FIG. 9A is an example of the route display order setting screen 910.
  • FIG. 9B is an example of the route display order selection screen 920.
  • FIG. 9C is an example of the guidance information display screen 930.
  • the screen displayed on the display unit 25 transitions from the route display order setting screen 910 to the route display order selection screen 920.
  • a plurality of guidance information is displayed stepwise from the route display order selection screen 920 on the screen displayed on the display unit 25.
  • the transition to the guidance information display screen 930 is displayed.
  • the guidance information regarding the route 931 is a solid line.
  • Guidance information about route 932 is displayed as a dotted line. In this case, the user U can confirm that the route 931 is easier to pass than the route 932.
  • a plurality of guidance information is stepwise displayed on the display unit 25 from the route display order selection screen 920. Transition to the displayed guidance information display screen. For example, if the first route contains one step and the second route contains five steps, the guidance information for the first route is a solid line and the guidance information for the second route is. It is displayed as a dotted line. In this case, the user U can confirm that the second route is easier to pass than the first route.
  • a plurality of guidance information is stepwise displayed on the display unit 25 from the route display order selection screen 920. Transit to the displayed guidance information display screen.
  • the required time order button 924 on the route display order selection screen 920 for example, the screen displayed on the display unit 25 has a plurality of guidance information stages from the route display order selection screen 920. Transitions to the guidance information display screen that is displayed.
  • the user U taps, for example, the age order button 925 on the route display order selection screen 920 a plurality of guidance information is stepwise displayed on the display unit 25 from the route display order selection screen 920. Transition to the guidance information display screen displayed in.
  • FIG. 10 is a flowchart showing an example of the information collecting method.
  • step S201 the information collecting device 10 acquires the sensor information in the mobile device 30 from the terminal device 20 mounted on the terminal device 20.
  • step S202 the information collecting device 10 estimates the state of the road on which the moving device 30 has passed, based on the sensor information.
  • the information collecting device 10 is based on the speed or acceleration on the moving plane of the moving device 30, or the speed or acceleration in the direction perpendicular to the moving plane of the moving device 30, such as the slope of the road, the unevenness of the road, or the movement.
  • the degree of difficulty in going straight in the device 30 is estimated.
  • step S203 the information collecting device 10 stores information indicating the state of the road.
  • the information indicating the state of the road is, for example, information indicating the state of the road X that the number of slopes is 1 and the section A2 is sloped (see FIG. 5).
  • the information indicating the state of the road is, for example, information indicating the state of the road Y that the number of slopes is 1 and the section B3 is sloped (see FIG. 6).
  • sensor information is routinely collected from the terminal device 20 fixed to the mobile device 30, and the state of the road is estimated using the sensor information.
  • necessary information can be easily collected without the trouble of the provider of the guidance application as in the conventional navigation system.
  • FIG. 11 is a flowchart showing an example of the navigation method.
  • step S301 the navigation system 100 determines the slope of the road, the unevenness of the road, based on the speed or acceleration on the moving plane of the moving device 30, or the speed or acceleration in the direction perpendicular to the moving plane of the moving device 30. Or, the degree of difficulty in going straight on the moving device 30 is estimated.
  • step S302 the navigation system 100 creates a route candidate from the current location to the destination based on the map information, and sets the attention level based on the slope of the road, the unevenness of the road, or the degree of difficulty in going straight on the moving device 30. Ask and give attention level to the route candidates from the current location to the destination. For example, the navigation system 100 assigns attention level 1 to section A2 of road X, which is a candidate route from the current location to the destination, and caution level 2 to section A2 of road X, which is a candidate route from the current location to the destination. (See FIG. 5).
  • the navigation system 100 sets attention level 3 for the section B1 of the road Y which is a route candidate from the current location to the destination, and caution level 1 for the section B3 of the road Y which is a route candidate from the current location to the destination.
  • Attention level 2 is given to section B4 of road Y, which is a candidate route from the current location to the destination, and caution level 2 is given to section B5 of road Y, which is a candidate route from the current location to the destination (see FIG. 6).
  • the navigation system 100 includes at least map information and route information estimated by the estimation unit, such as the slope of the road, the unevenness of the road, or the position information of an obstacle that makes it difficult for the moving device to go straight.
  • the estimation unit such as the slope of the road, the unevenness of the road, or the position information of an obstacle that makes it difficult for the moving device to go straight.
  • step S304 the navigation system 100 creates display information for displaying the route candidates to which the attention level is given and the map information in an overlapping manner.
  • display information for presenting to the user U in an easy-to-understand manner information indicating how easy the route candidate from the departure point to the destination is for the user U is provided. It can be created easily.
  • the information collecting device 10 may be divided into two or more devices. Further, the terminal device 20 may have some functions of the information collecting device 10. For example, the information collecting device 10 may have only the storage unit 13, and the terminal device 20 may have the functions of the communication unit 11 and the control unit 12.
  • a computer can be preferably used to function as the information collecting device 10 and the terminal device 20 described above, and such a computer describes the processing content for realizing each function of the information collecting device 10 and the terminal device 20.
  • This program can be realized by storing the program in the database of the computer and reading and executing this program by the CPU of the computer.
  • the program may be recorded on a computer-readable medium. It can be installed on a computer using a computer-readable medium.
  • the computer-readable medium on which the program is recorded may be a non-transient recording medium.
  • the non-transient recording medium is not particularly limited, but may be, for example, a recording medium such as a CD-ROM or a DVD-ROM.
  • Information collecting device 11 Communication unit 12 Control unit 121 Estimating unit 122 Generation unit 123 Display information creation unit 13 Storage unit 20 Terminal device 21 Detection unit 22 Communication unit 23 Control unit 24 Storage unit 25 Display unit 26 Operation unit 30 Mobile device 40 Network 100 Navigation system 111 Sensor information acquisition unit 112 Attribute information acquisition unit 113 Obstacle information acquisition unit 114 Detailed information acquisition unit

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

This information collection device 10 comprises: a sensor information acquisition unit 111 that acquires sensor information in a mobile device 30 from a terminal device 20 fixed to the mobile device 30; an estimation unit 121 that estimates, on the basis of the sensor information, the state of a road on which the mobile device 30 has passed; and a storage unit 13 that stores information indicating the state of the road.

Description

情報収集装置、情報収集方法、及びプログラムInformation gathering equipment, information gathering methods, and programs
　本発明は、情報収集装置、情報収集方法、及びプログラムに関する。 The present invention relates to an information collecting device, an information collecting method, and a program.
　従来、車椅子などを利用する利用者を、出発地から目的地まで案内するナビゲーションシステムが知られている。例えば、特許文献１には、経路情報に基づいて、障害物を回避した出発地から目的地までの最適経路を導出する誘導制御システムが開示されている。 Conventionally, a navigation system that guides users who use wheelchairs from the starting point to the destination is known. For example, Patent Document 1 discloses a guidance control system that derives an optimum route from a starting point to a destination avoiding obstacles based on route information.
特開２０１６－１３０６７８号公報JP-A-2016-130678
　しかしながら、従来のナビゲーションシステムでは、所定経路（例えば、出発地から目的地までの経路）が、車椅子などを利用する利用者にとって、どの程度通り易い経路であるのかを示す情報を、簡易に生成することが困難であるという問題があった。 However, in a conventional navigation system, information indicating how easy a predetermined route (for example, a route from a departure point to a destination) is for a user using a wheelchair or the like is easily generated. There was a problem that it was difficult.
　かかる事情に鑑みてなされた本発明の目的は、所定経路が、車椅子などを利用する利用者にとって、どの程度通り易い経路であるのかを示す情報を、簡易に生成可能な情報収集装置、情報収集方法、及びプログラムを提供することにある。 An object of the present invention made in view of such circumstances is an information collecting device and information collecting capable of easily generating information indicating how easy a predetermined route is for a user using a wheelchair or the like. To provide methods and programs.
　上記課題を解決するため、本発明に係る情報収集装置は、移動装置に固定された端末装置から、前記移動装置におけるセンサ情報を取得するセンサ情報取得部と、前記センサ情報に基づいて、前記移動装置が通行した道路の状態を推定する推定部と、前記道路の状態を示す情報を記憶する記憶部と、を備えることを特徴とする。 In order to solve the above problems, the information collecting device according to the present invention has a sensor information acquisition unit that acquires sensor information in the mobile device from a terminal device fixed to the mobile device, and the movement based on the sensor information. It is characterized by including an estimation unit that estimates the state of the road on which the device has passed, and a storage unit that stores information indicating the state of the road.
　また、上記課題を解決するため、本発明に係る情報収集方法は、移動装置に固定された端末装置から、前記移動装置におけるセンサ情報を取得するステップと、前記センサ情報に基づいて、前記移動装置が通行した道路の状態を推定するステップと、前記道路の状態を示す情報を記憶するステップと、を含むことを特徴とする。 Further, in order to solve the above problems, the information collecting method according to the present invention includes a step of acquiring sensor information in the mobile device from a terminal device fixed to the mobile device, and the mobile device based on the sensor information. It is characterized by including a step of estimating the state of the road on which the vehicle has passed and a step of storing information indicating the state of the road.
　また、上記課題を解決するため、本発明に係るプログラムは、コンピュータを、上記情報収集装置として機能させることを特徴とする。 Further, in order to solve the above problems, the program according to the present invention is characterized in that the computer functions as the above information collecting device.
　本発明によれば、所定経路が、利用者にとって、どの程度通り易い経路であるのかを示す情報を、簡易に生成することが可能となる。 According to the present invention, it is possible to easily generate information indicating how easy a predetermined route is for a user.
本発明の一実施形態に係るナビゲーションシステムの構成の一例を示す図である。It is a figure which shows an example of the structure of the navigation system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る情報収集装置の構成の一例を示すブロック図である。It is a block diagram which shows an example of the structure of the information gathering apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る情報収集装置が記憶する情報の一例を示す図である。It is a figure which shows an example of the information which the information collecting apparatus which concerns on one Embodiment of this invention stores. 本発明の一実施形態に係る端末装置の構成の一例を示すブロック図である。It is a block diagram which shows an example of the structure of the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る端末装置における表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of the display part in the terminal apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る情報収集方法の一例を示すフローチャートである。It is a flowchart which shows an example of the information gathering method which concerns on one Embodiment of this invention. 本発明の一実施形態に係るナビゲーション方法の一例を示すフローチャートである。It is a flowchart which shows an example of the navigation method which concerns on one Embodiment of this invention.
　以下、本発明の一実施形態について、図面を参照して詳細に説明する。 Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
＜ナビゲーションシステムの構成＞
　図１を参照して、本実施形態に係るナビゲーションシステム１００について説明する。図１は、本実施形態に係るナビゲーションシステム１００の構成の一例を示す図である。 <Navigation system configuration>
The navigation system 100 according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram showing an example of the configuration of the navigation system 100 according to the present embodiment.
　図１に示すように、ナビゲーションシステム１００は、情報収集装置１０と、移動装置３０に固定される端末装置２０と、を備える。情報収集装置１０と端末装置２０とは、ネットワーク４０を介して、通信する。 As shown in FIG. 1, the navigation system 100 includes an information collecting device 10 and a terminal device 20 fixed to the mobile device 30. The information collecting device 10 and the terminal device 20 communicate with each other via the network 40.
　情報収集装置１０は、例えば、中央演算処理装置（ＣＰＵ: Central Processing Unit）、主記憶装置（ＲＡＭ: Random Access Memory）などを有する公知又は専用のコンピュータに所定のプログラムが読み込まれて構成されたサーバである。情報収集装置１０は、例えば、中央演算処理装置の制御のもとで各処理を実行する。情報収集装置１０に入力されたデータや各処理で得られたデータは、例えば、主記憶装置に格納され、主記憶装置に格納されたデータは必要に応じて中央演算処理装置へ読み出されて他の処理に利用される。情報収集装置１０の各処理部は、少なくとも一部が集積回路などのハードウェアによって構成されていてもよい。情報収集装置１０が備える各記憶部は、例えば、ＲＡＭなどの主記憶装置、又は、リレーショナルデータベースやキーバリューストアなどのミドルウェアにより構成することができる。ただし、各記憶部は、必ずしも情報収集装置１０がその内部に備える必要はなく、ハードディスクや光ディスクもしくはフラッシュメモリのような半導体メモリ素子により構成される補助記憶装置により構成し、情報収集装置１０の外部に備える構成としてもよい。 The information collecting device 10 is a server configured by reading a predetermined program into, for example, a known or dedicated computer having a central processing unit (CPU: Central Processing Unit), a main storage device (RAM: Random Access Memory), and the like. Is. The information collecting device 10 executes each process under the control of the central processing unit, for example. The data input to the information collecting device 10 and the data obtained by each process are stored in the main storage device, for example, and the data stored in the main storage device is read out to the central processing unit as needed. Used for other processing. At least a part of each processing unit of the information collecting device 10 may be configured by hardware such as an integrated circuit. Each storage unit included in the information collecting device 10 can be configured by, for example, a main storage device such as a RAM, or middleware such as a relational database or a key-value store. However, each storage unit does not necessarily have to be provided inside the information collecting device 10, and is configured by an auxiliary storage device composed of semiconductor memory elements such as a hard disk, an optical disk, or a flash memory, and is outside the information collecting device 10. It may be configured to prepare for.
　端末装置２０は、利用者Ｕが保持する携帯端末であり、例えば、スマートフォンやタブレットＰＣなどのスマートデバイスである。利用者Ｕとは、移動装置３０を利用し、端末装置２０に表示される所定の表示画面を確認しながら、出発地から目的地まで案内される者である。利用者Ｕとしては、例えば、車椅子を利用する障害者、車椅子を利用する高齢者、ベビーカーを利用する赤ちゃんの母親などが挙げられる。 The terminal device 20 is a mobile terminal held by the user U, and is, for example, a smart device such as a smartphone or a tablet PC. The user U is a person who is guided from the departure place to the destination by using the mobile device 30 and checking a predetermined display screen displayed on the terminal device 20. Examples of the user U include a disabled person who uses a wheelchair, an elderly person who uses a wheelchair, and a mother of a baby who uses a stroller.
　移動装置３０は、推進動力搭載型の小型運搬装置であればよく、その種類が特に限定されるものではない。移動装置３０としては、例えば、手動式の車椅子、自動式の車椅子、ベビーカー、台車、車輪付きの買い物用キャリーケース、旅行用スーツケースなどが挙げられる。 The mobile device 30 may be a small transport device equipped with propulsion power, and the type thereof is not particularly limited. Examples of the moving device 30 include a manual wheelchair, an automatic wheelchair, a stroller, a trolley, a shopping carry case with wheels, a travel suitcase, and the like.
＜情報収集装置１０の構成＞
　図２を参照して、本実施形態に係る情報収集装置１０について詳細に説明する。図２は、本実施形態に係る情報収集装置１０の構成の一例を示す図である。 <Configuration of information collecting device 10>
The information collecting device 10 according to the present embodiment will be described in detail with reference to FIG. FIG. 2 is a diagram showing an example of the configuration of the information collecting device 10 according to the present embodiment.
　情報収集装置１０は、通信部１１と、制御部１２と、記憶部１３と、を備える。 The information collecting device 10 includes a communication unit 11, a control unit 12, and a storage unit 13.
　通信部１１は、ネットワーク４０を介して、端末装置２０と通信する。通信部１１は、センサ情報取得部１１１と、属性情報取得部１１２と、障害物情報取得部１１３と、詳細情報取得部１１４と、を備える。通信部１１は、ネットワーク４０を介して、端末装置２０から受信した各種の情報を、制御部１２へ出力する。通信部１１は、制御部１２から入力された各種の情報を、ネットワーク４０を介して、端末装置２０へ送信する。 The communication unit 11 communicates with the terminal device 20 via the network 40. The communication unit 11 includes a sensor information acquisition unit 111, an attribute information acquisition unit 112, an obstacle information acquisition unit 113, and a detailed information acquisition unit 114. The communication unit 11 outputs various information received from the terminal device 20 to the control unit 12 via the network 40. The communication unit 11 transmits various information input from the control unit 12 to the terminal device 20 via the network 40.
　センサ情報取得部１１１は、ネットワーク４０を介して、センサ情報を、端末装置２０から取得して入力とする。センサ情報とは、端末装置２０に搭載された各種センサあるいは移動装置３０に直接取り付けられた各種センサが検出する、移動装置３０における各種の情報である。例えば、センサ情報とは、移動装置３０における加速度の情報、移動装置３０における速度の情報、移動装置３０における角速度の情報などである。センサ情報取得部１１１は、取得したセンサ情報を、制御部１２へ出力する。 The sensor information acquisition unit 111 acquires sensor information from the terminal device 20 via the network 40 and inputs it. The sensor information is various information in the mobile device 30 detected by various sensors mounted on the terminal device 20 or various sensors directly attached to the mobile device 30. For example, the sensor information includes acceleration information in the moving device 30, speed information in the moving device 30, angular velocity information in the moving device 30, and the like. The sensor information acquisition unit 111 outputs the acquired sensor information to the control unit 12.
　属性情報取得部１１２は、ネットワーク４０を介して、属性情報を、端末装置２０から取得して入力とする。属性情報とは、利用者Ｕが所定の操作を行うことで端末装置２０に入力される利用者Ｕの属性に関する情報である。例えば、属性情報とは、利用者Ｕの年齢に関する情報であり、１０歳以下、１０歳から２０歳以下、２０歳から３０歳以下などの情報である。例えば、属性情報とは、利用者Ｕの介添え有無に関する情報であり、利用者Ｕに介添えが必要、利用者Ｕに介添えが不要などの情報である。例えば、属性情報とは、利用者Ｕが利用する移動装置３０の種類に関する情報であり、手動式の車椅子、自動式の車椅子、ベビーカーなどの情報である。属性情報取得部１１２は、取得した属性情報を、制御部１２へ出力する。 The attribute information acquisition unit 112 acquires the attribute information from the terminal device 20 via the network 40 and inputs it. The attribute information is information related to the attributes of the user U that is input to the terminal device 20 when the user U performs a predetermined operation. For example, the attribute information is information on the age of the user U, such as 10 years old or younger, 10 years old to 20 years old or younger, 20 years old to 30 years old or younger, and the like. For example, the attribute information is information regarding whether or not the user U is assisted, and is information such that the user U needs to be assisted and the user U does not need to be assisted. For example, the attribute information is information on the type of the mobile device 30 used by the user U, and is information on a manual wheelchair, an automatic wheelchair, a stroller, and the like. The attribute information acquisition unit 112 outputs the acquired attribute information to the control unit 12.
　障害物情報取得部１１３は、ネットワーク４０を介して、障害物情報を、端末装置２０から取得して入力とする。以下、走行する上で障害となる事象や事物を「障害物」と記載し、走行する上で障害となる事象や事物に関する情報を「障害物情報」と記載する。障害物情報は、同じ移動装置３０を利用する自他ユーザに共有するために登録した情報である。例えば、障害物情報は、利用者Ｕが所定の操作を行うことで端末装置２０に入力された所定経路（例えば、出発地から目的地までの経路）における障害物の情報であり、所定経路における道路の段差、凹凸、傾斜などの情報、利用者Ｕが所定の操作を行うことで登録した障害物に関するテキストコメントなどの情報、である。障害物情報取得部１１３は、取得した障害物情報を、制御部１２へ出力する。 The obstacle information acquisition unit 113 acquires obstacle information from the terminal device 20 via the network 40 and inputs it. Hereinafter, events and things that hinder driving are described as "obstacles", and information on events and things that hinder driving is described as "obstacle information". The obstacle information is information registered for sharing with own and other users who use the same mobile device 30. For example, the obstacle information is information on obstacles in a predetermined route (for example, a route from a departure point to a destination) input to the terminal device 20 by the user U performing a predetermined operation, and is in the predetermined route. Information such as steps, irregularities, and slopes of the road, and information such as text comments regarding obstacles registered by the user U by performing a predetermined operation. The obstacle information acquisition unit 113 outputs the acquired obstacle information to the control unit 12.
　詳細情報取得部１１４は、ネットワーク４０を介して、詳細情報を、端末装置２０から取得して入力とする。詳細情報とは、自動取得できる情報である。例えば、詳細情報とは、工事していることを示す情報などナビゲーションシステム側であらかじめ登録又は自動取得可能な障害物の有無の情報、道路の幅や画像など一般的な地図情報、ネット情報から自動取得可能な情報、所定経路における道路の段差、凹凸、傾斜などの画像情報、車両が走行する道路の幅の情報、歩行者が歩行する歩道の幅の情報、障害物の位置情報、などである。詳細情報取得部１１４は、取得した詳細情報を、制御部１２へ出力する。 The detailed information acquisition unit 114 acquires detailed information from the terminal device 20 via the network 40 and inputs it. Detailed information is information that can be automatically acquired. For example, detailed information is information on the presence or absence of obstacles that can be registered or automatically acquired on the navigation system side in advance, such as information indicating that construction is underway, general map information such as road widths and images, and automatic net information. Information that can be acquired, image information such as steps, irregularities, and slopes of the road on a predetermined route, information on the width of the road on which the vehicle travels, information on the width of the sidewalk on which pedestrians walk, information on the position of obstacles, etc. .. The detailed information acquisition unit 114 outputs the acquired detailed information to the control unit 12.
　制御部１２は、推定部１２１と、生成部１２２と、表示情報作成部１２３と、を備える。制御部１２は、例えば、ＣＰＵ、メモリなどを含み、情報収集装置１０の各部を制御する。情報収集装置１０は、情報収集する装置として機能してもよいし、ナビゲーションする装置として機能してもよい。本実施形態では、情報収集装置１０はナビゲーションする装置として機能するものとする。なお、情報収集装置１０が情報収集する装置として機能する場合には、生成部１２２及び表示情報作成部１２３を備える必要はない。 The control unit 12 includes an estimation unit 121, a generation unit 122, and a display information creation unit 123. The control unit 12 includes, for example, a CPU, a memory, and the like, and controls each unit of the information collecting device 10. The information collecting device 10 may function as a device for collecting information or as a device for navigating. In the present embodiment, the information collecting device 10 functions as a navigation device. When the information collecting device 10 functions as a device for collecting information, it is not necessary to include the generating unit 122 and the display information creating unit 123.
　推定部１２１は、通信部１１から入力された各種の情報（例えば、センサ情報、属性情報、障害物情報、詳細情報など）を入力とし、各種の情報に基づいて、移動装置３０が通行した所定経路における道路の状態を推定し、推定結果を記憶部１３に記憶させる。例えば、推定部１２１は、通信部１１から入力された各種の情報に基づいて、所定経路が分割された複数の区間における道路の状態を推定し、更に、複数の区間の状態の推定結果に基づいて、所定経路における道路の状態を推定する。推定部１２１は、所定経路における道路の状態の推定結果を、記憶部１３へ出力する。移動装置３０の位置は、例えば、ＧＰＳ（Global Positioning System）機能を有する端末装置２０から、情報収集装置１０が位置情報を受信することで特定される。 The estimation unit 121 inputs various information (for example, sensor information, attribute information, obstacle information, detailed information, etc.) input from the communication unit 11, and based on the various information, the predetermined unit 30 has passed. The state of the road in the route is estimated, and the estimation result is stored in the storage unit 13. For example, the estimation unit 121 estimates the state of the road in a plurality of sections in which the predetermined route is divided based on various information input from the communication unit 11, and further, based on the estimation result of the state of the plurality of sections. The condition of the road on the predetermined route is estimated. The estimation unit 121 outputs the estimation result of the road condition in the predetermined route to the storage unit 13. The position of the mobile device 30 is specified by, for example, the information collecting device 10 receiving the position information from the terminal device 20 having a GPS (Global Positioning System) function.
　ここで、推定部１２１が、所定経路における道路の状態を推定する推定方法の具体例について、説明する。道路と平行であり（同一平面上にあり）且つ移動装置３０が進行する方向に対して垂直な方向をｘ方向（水平方向）、道路と平行であり且つ移動装置３０が進行する方向をｙ方向（進行方向）、道路と垂直であり（道路の存在する平面と垂直であり）且つｘ方向及びｙ方向に対して垂直な方向をｚ方向（垂直方向）、とする。また、ｘｙ方向を移動平面とする。なお、推定方法は、以下の具体例に限定されるものではない。 Here, a specific example of an estimation method in which the estimation unit 121 estimates the state of the road on a predetermined route will be described. The direction parallel to the road (on the same plane) and perpendicular to the direction in which the moving device 30 travels is the x direction (horizontal direction), and the direction parallel to the road and traveling in the moving device 30 is the y direction. The direction perpendicular to the road (perpendicular to the plane on which the road exists) and perpendicular to the x and y directions is defined as the z direction (vertical direction). Also, the xy direction is the moving plane. The estimation method is not limited to the following specific examples.
　推定部１２１は、例えば、所定経路が分割された複数の区間において、移動装置３０におけるｘ方向の加速度の情報及びｙ方向の加速度の情報に基づいて、複数の区間における道路の状態を推定する。さらに、推定部１２１は、複数の区間の状態の推定結果に基づいて、所定経路全体における道路の状態を推定する。なお、１区間は、例えば所定の曲がり角を有する地点から次の曲がり角を有する地点までと設定したり、１０ｍごとの区間と設定したりすることができる。 For example, the estimation unit 121 estimates the state of the road in a plurality of sections in which the predetermined route is divided, based on the information on the acceleration in the x direction and the information on the acceleration in the y direction in the moving device 30. Further, the estimation unit 121 estimates the state of the road in the entire predetermined route based on the estimation result of the state of the plurality of sections. In addition, one section can be set, for example, from a point having a predetermined corner to a point having the next turn, or a section every 10 m.
　例えば、推定部１２１は、所定区間の移動装置３０におけるｘ方向及び／又はｙ方向の加速度が正負反転せず、かつ、ｘ方向及び／又はｙ方向の加速度の変化量の絶対値が、０より大きい第１閾値以上となる時間を計測する。そして、推定部１２１は、計測時間が第２閾値（例えば、３０秒）以上である場合、又は、計測時間が第３閾値（例えば、３秒）以上であり、第４閾値（例えば、３０秒）以上の間、所定区間の移動装置３０におけるｘ方向及び／又はｙ方向の速度が、所定区間の移動装置３０における通常走行時の速度を上回る又は下回る場合、所定区間における道路が傾斜していると推定し、それ以外の場合、所定区間における道路が平坦であると推定する。第１閾値及び第２閾値、第３閾値及び第４閾値は、制御部１２により適宜設定される。なお、本実施形態では、第１閾値を１つの場合で説明したが、加速度の変化量の絶対値が大きいほど傾斜が急であると推定できるように閾値を段階的に複数設定し、傾斜の急緩を段階的に推定できるようにしてもよい。また、第２閾値及び第３閾値を１つの場合で説明したが、計測時間が長いほど傾斜区間が長くて走行し辛いと推定できるように閾値を段階的に複数設定し、傾斜の長短を段階的に推定できるようにしてもよい。また、ｘ方向及び／又はｙ方向の加速度の変化量で説明を行ったが、ｚ方向の加速度で傾斜の長短や緩急を推定できるようにしてもよい。また、ｘ方向及び／又はｙ方向の加速度の変化量に、さらにｚ方向の加速度を加味して傾斜の長短や緩急を推定できるようにしてもよい。さらに、推定部１２１は、複数の区間における道路の状態の推定結果に基づいて、所定経路全体における道路の状態を推定する。例えば、推定部１２１は、区間Ａ１が平坦、区間Ａ２が傾斜、区間Ａ３が平坦、区間Ａ４が平坦、区間Ａ５が平坦、区間Ａ６が平坦であるという推定結果に基づいて、道路Ｘは、傾斜の数が１であり、区間Ａ２が傾斜している、という状態を推定する（図５参照）。例えば、推定部１２１は、区間Ｂ１が平坦、区間Ｂ２が平坦、区間Ｂ３が傾斜、区間Ｂ４が平坦、区間Ｂ５が平坦、区間Ｂ６が平坦であるという推定結果に基づいて、道路Ｙは、傾斜の数が１であり、区間Ｂ３が傾斜している、という状態を推定する（図６参照）。なお、本実施形態では、傾斜の数で説明したが、傾斜の急緩や長短により走行の難易度を重みづけしたり、走行の難易度を段階づけしたりしてもよい。また、所定経路に存在する信号などにより、移動装置３０が一時的に停止せざるを得ない場合には、図示しない入力部からのユーザ入力を受けて、推定部１２１は、計測を中断してもよい。 For example, in the estimation unit 121, the acceleration in the x-direction and / or the y-direction in the moving device 30 in the predetermined section does not reverse positively and negatively, and the absolute value of the amount of change in the acceleration in the x-direction and / or the y-direction is from 0. The time for becoming a large first threshold value or more is measured. Then, the estimation unit 121 has a measurement time of the second threshold value (for example, 30 seconds) or more, or a measurement time of the third threshold value (for example, 3 seconds) or more and a fourth threshold value (for example, 30 seconds). ) During the above period, if the speed in the x-direction and / or y-direction of the moving device 30 in the predetermined section exceeds or falls below the speed during normal traveling of the moving device 30 in the predetermined section, the road in the predetermined section is inclined. In other cases, it is estimated that the road in the predetermined section is flat. The first threshold value, the second threshold value, the third threshold value, and the fourth threshold value are appropriately set by the control unit 12. In the present embodiment, the first threshold value has been described in the case of one, but a plurality of threshold values are set stepwise so that it can be estimated that the larger the absolute value of the amount of change in acceleration is, the steeper the slope is. It may be possible to estimate the suddenness in stages. Further, although the second threshold value and the third threshold value have been described in the case of one, a plurality of threshold values are set stepwise so that it can be estimated that the longer the measurement time is, the longer the slope section is and it is difficult to drive, and the length of the slope is stepped. It may be possible to estimate the target. Further, although the description has been given with the amount of change in acceleration in the x-direction and / or y-direction, the length and speed of the inclination may be estimated from the acceleration in the z-direction. Further, the length and speed of the inclination may be estimated by adding the acceleration in the z direction to the amount of change in the acceleration in the x direction and / or the y direction. Further, the estimation unit 121 estimates the road condition in the entire predetermined route based on the estimation result of the road condition in the plurality of sections. For example, in the estimation unit 121, the road X is inclined based on the estimation result that the section A1 is flat, the section A2 is inclined, the section A3 is flat, the section A4 is flat, the section A5 is flat, and the section A6 is flat. It is estimated that the number of is 1 and the section A2 is inclined (see FIG. 5). For example, in the estimation unit 121, the road Y is inclined based on the estimation result that the section B1 is flat, the section B2 is flat, the section B3 is inclined, the section B4 is flat, the section B5 is flat, and the section B6 is flat. It is estimated that the number of is 1 and the section B3 is inclined (see FIG. 6). In the present embodiment, although the number of slopes has been described, the difficulty level of running may be weighted or the difficulty level of running may be graded according to the steepness or length of the slope. Further, when the mobile device 30 has to be temporarily stopped due to a signal existing in a predetermined path or the like, the estimation unit 121 interrupts the measurement in response to a user input from an input unit (not shown). May be good.
　例えば、推定部１２１は、所定区間の移動装置３０におけるｘ方向の加速度及び／又はｙ方向の加速度が、正負反転する回数をカウントする。そして、推定部１２１は、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数が第５閾値（例えば、５回）以上である場合、移動装置３０の直進の困難度合いが高く、所定区間が注意箇所であると推定し、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数が第５閾値より少ない場合、移動装置３０の直進の困難度合いが低く、所定区間が注意箇所でないと推定する。これは、移動装置３０が当該区間を通常走行し辛い状況にあり、ジグザグ走行することによって何とか通過したことを表すと考えられることに基づく。第５閾値は、制御部１２により適宜設定される。さらに、推定部１２１は、複数の区間の状態の推定結果に基づいて、所定経路全体における道路の状態を推定する。例えば、推定部１２１は、区間Ａ１のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でない、区間Ａ２のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でない、区間Ａ３のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でない、区間Ａ４のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でない、区間Ａ５のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でない、区間Ａ６のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないという推定結果に基づいて、道路Ｘは、注意箇所が存在しない、という状態を推定する（図５参照）。例えば、推定部１２１は、区間Ｂ１のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「６」であり注意箇所である、区間Ｂ２のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でない、区間Ｂ３のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でない、区間Ｂ４のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でない、区間Ｂ５のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でない、区間Ｂ６のｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないという推定結果に基づいて、道路Ｙは、区間Ｂ１に注意箇所が存在する、という状態を推定する（図６参照）。 For example, the estimation unit 121 counts the number of times that the acceleration in the x direction and / or the acceleration in the y direction in the moving device 30 in the predetermined section reverses positively or negatively. Then, when the number of positive / negative inversion counts of the acceleration in the x direction and / or the y direction is equal to or greater than the fifth threshold value (for example, 5 times), the estimation unit 121 has a high degree of difficulty in going straight through the moving device 30 and has a predetermined section. Is a caution point, and if the count number of positive / negative inversion of acceleration in the x direction and / or y direction is less than the fifth threshold value, the difficulty of going straight on the moving device 30 is low, and the predetermined section must be a caution point. presume. This is based on the fact that the mobile device 30 is in a difficult situation to normally travel in the section, and is considered to indicate that the mobile device 30 has managed to pass by traveling in a zigzag manner. The fifth threshold value is appropriately set by the control unit 12. Further, the estimation unit 121 estimates the state of the road in the entire predetermined route based on the estimation result of the state of the plurality of sections. For example, the estimation unit 121 counts the positive / negative inversion of the acceleration in the x direction and / or the y direction of the section A1: “0”, which is not a caution point, and the positive / negative inversion of the acceleration in the x direction and / or the y direction of the section A2. Count number: "0" and not a caution point, count number of positive / negative inversion of acceleration in x direction and / or y direction of section A3: "0" and not caution point, x direction and / or y of section A4 Count number of positive / negative inversion of acceleration in the direction: "0" and not a caution point, count number of positive / negative inversion of acceleration in the x direction and / or y direction of section A5: "0" and not a caution point, in section A6 Based on the estimation result that the positive / negative inversion count number of the acceleration in the x direction and / or the y direction is "0" and is not a caution point, the road X estimates the state that the caution point does not exist (see FIG. 5). ). For example, the estimation unit 121 counts the positive / negative inversion of the acceleration in the x direction and / or the y direction of the section B1: “6”, which is a caution point, and the positive / negative of the acceleration in the x direction and / or the y direction of the section B2. Number of inversion counts: "0" and not a caution point, positive and negative inversion counts of acceleration in the x direction and / or y direction of section B3: "0" and not a caution point, section B4 in the x direction and / or Count number of positive / negative inversion of acceleration in y direction: "0", not caution point, count number of positive / negative inversion of acceleration in x direction and / or y direction of section B5: "0", not caution point, section B6 Based on the estimation result that the positive / negative inversion count number of the acceleration in the x direction and / or the y direction is "0" and is not a caution point, the road Y estimates the state that the caution point exists in the section B1. (See FIG. 6).
　また推定部１２１は、例えば、所定経路が分割された複数の区間において、移動装置３０におけるｚ方向の加速度の情報に基づいて、複数の区間における道路の状態を推定する。更に、推定部１２１は、複数の区間の状態の推定結果に基づいて、所定経路全体における道路の状態を推定する。 Further, the estimation unit 121 estimates the state of the road in the plurality of sections, for example, based on the information of the acceleration in the z direction in the moving device 30 in the plurality of sections in which the predetermined route is divided. Further, the estimation unit 121 estimates the road condition in the entire predetermined route based on the estimation result of the condition of the plurality of sections.
　例えば、推定部１２１は、所定区間の移動装置３０におけるｚ方向の加速度が、所定の時間間隔（例えば、１秒）以内に重力加速度を考慮した値をゼロとして正負反転する回数をカウントする。そして、推定部１２１は、正負反転のカウント数が第６閾値（例えば、２回）以上となる場合、所定区間における道路に凹凸が存在すると推定し、ｚ方向の加速度の変化量の絶対値が第６閾値より少ない場合、所定区間における道路に凹凸が存在しないと推定する。第６閾値は、制御部１２により適宜設定される。さらに、推定部１２１は、複数の区間における道路の状態の推定結果に基づいて、所定経路全体における道路の状態を推定する。例えば、推定部１２１は、区間Ａ１のカウント数：「０」であり凹凸が存在しない、区間Ａ２のカウント数：「０」であり凹凸が存在しない、区間Ａ３のカウント数：「０」であり凹凸が存在しない、区間Ａ４のカウント数：「０」であり凹凸が存在しない、区間Ａ５のカウント数：「５」であり凹凸が存在する、区間Ａ６のカウント数：「０」であり凹凸が存在しない、という推定結果に基づいて、道路Ｘは、凹凸の数が１であり、区間Ａ５に凹凸が存在する、という状態を推定する（図５参照）。例えば、推定部１２１は、区間Ｂ１のカウント数：「０」であり凹凸が存在しない、区間Ｂ２のカウント数：「０」であり凹凸が存在しない、区間Ｂ３のカウント数：「０」であり凹凸が存在しない、区間Ｂ４のカウント数：「５」であり凹凸が存在する、区間Ｂ５のカウント数：「５」であり凹凸が存在する、区間Ｂ６のカウント数：「０」であり凹凸が存在しない、という推定結果に基づいて、道路Ｙは、凹凸の数が２であり、区間Ｂ４及び区間Ｂ５に凹凸が存在する、という状態を推定する（図６参照）。 For example, the estimation unit 121 counts the number of times that the acceleration in the z direction of the moving device 30 in the predetermined section reverses positively or negatively within a predetermined time interval (for example, 1 second) with the value considering the gravitational acceleration as zero. Then, when the number of positive / negative inversion counts is equal to or greater than the sixth threshold value (for example, twice), the estimation unit 121 estimates that the road in the predetermined section has irregularities, and the absolute value of the amount of change in acceleration in the z direction is If it is less than the sixth threshold value, it is estimated that there is no unevenness on the road in the predetermined section. The sixth threshold value is appropriately set by the control unit 12. Further, the estimation unit 121 estimates the road condition in the entire predetermined route based on the estimation result of the road condition in the plurality of sections. For example, the estimation unit 121 has a count number of section A1 of "0" and no unevenness, a count number of section A2 of "0" and no unevenness, and a count number of section A3 of "0". No unevenness, count number of section A4: "0" and no unevenness, count number of section A5: "5" and unevenness, count number of section A6: "0" and unevenness Based on the estimation result that the road X does not exist, the road X estimates a state in which the number of unevenness is 1 and the unevenness exists in the section A5 (see FIG. 5). For example, the estimation unit 121 has a count number of section B1 of "0" and no unevenness, a count number of section B2 of "0" and no unevenness, and a count number of section B3 of "0". No unevenness, count number of section B4: "5" and unevenness exists, count number of section B5: "5" and unevenness exist, count number of section B6: "0" and unevenness Based on the estimation result that the road Y does not exist, the road Y estimates a state in which the number of unevenness is 2 and the unevenness exists in the section B4 and the section B5 (see FIG. 6).
　推定部１２１は、加速度の情報に加えて、例えば、属性情報を加味して、所定経路における道路の状態を推定してもよい。推定部１２１は、属性情報を加味した推定を行うことで、例えば、利用者Ｕの年齢に関する情報、利用者Ｕの介添え有無に関する情報などに基づいて、加速度の情報に対して重み付けを行って、推定を行うことができる。例えば、属性情報として「年齢層」を用いる場合、体力のある年齢よりも体力のない年齢の方が困難の度合が増すように重み付けを行って、推定を行うことができる。例えば、年齢を０歳以上から１５歳以下、１６歳以上から４９歳以下、及び５０歳以上に分け、年齢が０歳以上から１５歳以下、又は５０歳以上に属する場合の困難度を表す重みが、年齢が１６歳以上から４９歳以下に属する場合の困難度を表す重みよりも大きくなるように重みを設定すればよい。例えば、属性情報として「介添え有無」を用いる場合、介添えがある場合よりも介添えがない方が困難度を表す重みが大きくなるように重みを設定すればよい。また、推定部１２１は、複数の他の利用者（例えば、利用者Ａ、利用者Ｂ）が同一の属性情報を有し、且つ、同一の経路を通った場合、各項目（例えば、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数、z方向の加速度の正負反転のカウント数）の平均値を算出し、これらの平均値を用いて、推定を行うことができる。 The estimation unit 121 may estimate the state of the road in a predetermined route by adding, for example, attribute information in addition to the acceleration information. The estimation unit 121 weights the acceleration information based on, for example, information on the age of the user U, information on the presence or absence of assistance from the user U, and the like by performing estimation in consideration of attribute information. Estimates can be made. For example, when "age group" is used as the attribute information, it is possible to perform weighting so that the degree of difficulty increases in the age without physical strength than in the age with physical strength. For example, the age is divided into 0 to 15 years old, 16 to 49 years old, and 50 years old or older, and the weight indicating the degree of difficulty when the age belongs to 0 to 15 years old or 50 years old or older. However, the weight may be set so as to be larger than the weight indicating the degree of difficulty when the age belongs to 16 years or older to 49 years or younger. For example, when "presence / absence of assistance" is used as the attribute information, the weight may be set so that the weight indicating the degree of difficulty becomes larger when there is no assistance than when there is assistance. Further, in the estimation unit 121, when a plurality of other users (for example, user A and user B) have the same attribute information and follow the same route, each item (for example, x direction). And / or the average value of the positive / negative inversion count of the acceleration in the y direction and the positive / negative inversion count of the acceleration in the z direction) can be calculated, and the estimation can be performed using these average values.
　さらに、推定部１２１は、加速度の情報及び属性情報に加えて、例えば、詳細情報を加味して、所定経路における道路の状態を推定してもよい。推定部１２１は、詳細情報を加味した推定を行うことで、例えば、車両が走行する道路の幅の情報、歩行者が歩行する歩道の幅の情報などに基づいて、加速度の情報に対して重み付けを行って、推定を行うことができる。 Further, the estimation unit 121 may estimate the state of the road in the predetermined route by adding, for example, detailed information in addition to the acceleration information and the attribute information. The estimation unit 121 weights the acceleration information based on, for example, information on the width of the road on which the vehicle travels, information on the width of the sidewalk on which the pedestrian walks, and the like by performing estimation in consideration of detailed information. Can be done to make an estimate.
　情報収集装置１０がナビゲーションする装置として機能する場合に備える生成部１２２は、ユーザが端末装置を介して入力した現在地と目的地、及び、推定部１２１により推定された所定経路における道路の状態の推定結果を記憶部１３から取得して入力とし、現在地から目的地までの道順候補を作成し、該道順候補が、利用者Ｕにとって、どの程度通り易い経路であるのかを示す情報である案内情報を生成する。具体的には、生成部１２２は、記憶部１３に記憶された地図情報に基づいて現在地から目的地までの道順候補を作成し、記憶部１３に記憶された現在地から目的地までの道順候補における道路の状態の推定結果（例えば、道路の傾斜、道路の凹凸、移動装置３０における直進の困難度合い）に基づいて、移動装置３０が通行する際の注意レベルを求め、現在地から目的地までの道順候補に、注意レベルを付与し、現在地から目的地までの道順候補と注意レベルとが対応付けられた情報を生成する。なお、本明細書において、地図情報、障害物の位置情報、移動装置が通行する際の注意レベル、推定部１２１が推定した、道路の傾斜、道路の凹凸、又は移動装置３０で直進が困難となる障害の位置情報を含む情報を経路情報と称する。生成部１２２は、ユーザが端末装置を介して入力した年齢や介添えの有無といった属性情報等も入力とし、注意レベルを求めるために用いてもよい。 The generation unit 122 prepared when the information collecting device 10 functions as a navigation device estimates the current location and the destination input by the user via the terminal device, and the road condition in the predetermined route estimated by the estimation unit 121. The result is acquired from the storage unit 13 and input, a route candidate from the current location to the destination is created, and guidance information which is information indicating how easy the route candidate is for the user U is provided. Generate. Specifically, the generation unit 122 creates a route candidate from the current location to the destination based on the map information stored in the storage unit 13, and in the route candidate from the current location to the destination stored in the storage unit 13. Based on the estimation result of the road condition (for example, the slope of the road, the unevenness of the road, the degree of difficulty in going straight on the moving device 30), the attention level when the moving device 30 passes is obtained, and the route from the current location to the destination is obtained. Attention level is given to the candidate, and information in which the route candidate from the current location to the destination and the attention level are associated with each other is generated. In addition, in this specification, it is said that it is difficult to go straight due to the map information, the position information of obstacles, the caution level when the moving device passes, the slope of the road, the unevenness of the road, or the moving device 30 estimated by the estimation unit 121. Information including the location information of the obstacle is called route information. The generation unit 122 may also input attribute information such as age and presence / absence of assistance input by the user via the terminal device, and may use it to obtain the attention level.
　生成部１２２は、生成した案内情報を、表示情報作成部１２３へ出力する。また、生成部１２２は、生成した案内情報を、記憶部１３に記憶させる。 The generation unit 122 outputs the generated guidance information to the display information creation unit 123. Further, the generation unit 122 stores the generated guidance information in the storage unit 13.
　注意レベルとは、所定経路が分割された複数の区間が、利用者Ｕにとって、どの程度通り易い区間であるのかを、推定部１２１によって推定された複数の区間における道路の状態の推定結果に基づいて、数値化した情報である。注意レベルは、制御部１２により適宜設定される。例えば、生成部１２２は、道路Ｘの区間Ａ２に注意レベル１を、道路Ｘの区間Ａ２に注意レベル２を付与する（図５参照）。例えば、生成部１２２は、道路Ｙの区間Ｂ１に注意レベル３を、道路Ｙの区間Ｂ３に注意レベル１を、道路Ｙの区間Ｂ４に注意レベル２を、道路Ｙの区間Ｂ５に注意レベル２を付与する（図６参照）。 The caution level is based on the estimation result of the road condition in the plurality of sections estimated by the estimation unit 121 as to how easily the plurality of sections in which the predetermined route is divided are the sections that the user U can easily pass through. This is quantified information. The attention level is appropriately set by the control unit 12. For example, the generation unit 122 assigns attention level 1 to the section A2 of the road X and caution level 2 to the section A2 of the road X (see FIG. 5). For example, the generation unit 122 sets a caution level 3 for the section B1 of the road Y, a caution level 1 for the section B3 of the road Y, a caution level 2 for the section B4 of the road Y, and a caution level 2 for the section B5 of the road Y. Grant (see FIG. 6).
　情報収集装置１０がナビゲーションする装置として機能する場合に備える表示情報作成部１２３は、注意レベルが付与された道順候補を地図情報に重畳して表示するための表示情報を作成する。表示情報作成部１２３は、道順候補の道路が分割された複数の区間のうちの所定区間における道路と注意レベルとが組になっていることを、利用者が認識可能な表示情報を作成する。例えば、表示情報作成部１２３は、道路Ｘの区間Ａ２と注意レベル１とが組になっていること、道路Ｘの区間Ａ２と注意レベル２とが組になっていることを、利用者が認識可能なように、地図情報と、道路Ｘの区間Ａ２に注意レベル１が付与され、道路Ｘの区間Ａ２に注意レベル２が付与された情報と、を重畳して表示するための表示情報を作成する（図５参照）。例えば、表示情報作成部１２３は、道路Ｙの区間Ｂ１と注意レベル３とが組になっていること、道路Ｙの区間Ｂ３と注意レベル１とが組になっていること、道路Ｙの区間Ｂ４と注意レベル２とが組になっていること、道路Ｙの区間Ｂ５と注意レベル２とが組になっていることを、利用者が認識可能なように、地図情報と、道路Ｙの区間Ｂ１に注意レベル３が付与され、道路Ｙの区間Ｂ３に注意レベル１が付与され、道路Ｙの区間Ｂ４に注意レベル２が付与され、道路Ｙの区間Ｂ５に注意レベル２が付与された情報と、を重畳して表示するための表示情報を作成する（図６参照）。 The display information creation unit 123 prepared when the information collection device 10 functions as a navigation device creates display information for displaying the route candidates to which the attention level is given by superimposing them on the map information. The display information creation unit 123 creates display information that allows the user to recognize that the road and the attention level in a predetermined section of the plurality of sections in which the route candidate road is divided are paired. For example, the display information creation unit 123 recognizes that the section A2 of the road X and the caution level 1 are paired, and that the section A2 of the road X and the caution level 2 are paired. As possible, create display information for superimposing and displaying map information and information on which caution level 1 is assigned to section A2 of road X and caution level 2 is assigned to section A2 of road X. (See Fig. 5). For example, the display information creation unit 123 states that the section B1 of the road Y and the caution level 3 are paired, that the section B3 of the road Y and the caution level 1 are paired, and that the section B4 of the road Y is paired. The map information and the section B1 of the road Y so that the user can recognize that the and caution level 2 are paired and that the road Y section B5 and the caution level 2 are paired. Attention level 3 is given to the road Y, attention level 1 is given to the section B3 of the road Y, attention level 2 is given to the section B4 of the road Y, and attention level 2 is given to the section B5 of the road Y. Create display information for superimposing and displaying (see FIG. 6).
　表示情報作成部１２３は、注意レベルが付与された道順候補を複数生成し、例えば、注意レベルが低いほうが優先度が高くなるように、優先度に応じて段階的に表示可能な表示情報を作成する。表示情報作成部１２３は、例えば、色の濃淡、線の太さ、色の種類などを変化させることによって、優先度が高い道順候補の方が、優先度が低い道順候補よりも利用者の目につきやすいように、複数の注意レベルが付与された道順候補を、段階的に表示可能な表示情報を作成する。例えば、表示情報作成部１２３は、複数の他の利用者が通った回数が最も多い経路における道順候補を、最も濃い色となるように、複数の他の利用者が通った回数が減るにつれて、各経路における道順候補を徐々に薄い色となるように、複数の他の利用者が通った回数が最も少ない経路における道順候補を、最も薄い色となるように、色を変化させることによって、優先度が高い道順候補の方が、優先度が低い道順候補よりも利用者の目につきやすいように、複数の注意レベルが付与された道順候補を、段階的に表示可能な表示情報を作成する。なお、経路を通った回数は、全ての経路を通して通った回数の合計でもよいし、経路に含まれる各区間を通った回数の合計でもよい。例えば、表示情報作成部１２３は、障害物の個数が最も少ない経路における道順候補を、最も太い線となるように、障害物の個数が増えるにつれて、各経路における道順候補を徐々に細い線となるように、障害物の個数が最も多い経路における道順候補を、最も細い線となるように、線の太さを変化させることによって、優先度が高い道順候補の方が、優先度が低い道順候補よりも利用者の目につきやすいように、複数の注意レベルが付与された道順候補を、段階的に表示可能な表示情報を作成する。なお、優先度は、上記のように障害物の個数に基づいて決定してもよいし、注意レベルを考慮した注意レベルの合計値に基づいて決定してもよい。例えば、道順候補１において、注意レベル２が２か所、道順候補２において、注意レベル１が３か所である場合、道順候補２の優先度を高くすることも可能である。 The display information creation unit 123 generates a plurality of route candidates to which attention levels are given, and creates display information that can be displayed stepwise according to the priority so that the lower the attention level, the higher the priority. To do. The display information creation unit 123 changes, for example, the shade of color, the thickness of the line, the type of color, etc., so that the route candidate having a high priority has a higher priority than the route candidate having a lower priority. Create display information that can display route candidates with multiple attention levels in stages so that they can be easily reached. For example, the display information creation unit 123 sets the route candidates on the route that has been passed by the plurality of other users most frequently as the number of times that the plurality of other users have passed decreases so as to have the darkest color. Priority is given by changing the color of the route candidate on the route that has been passed by multiple other users to the lightest color so that the route candidate in each route gradually becomes lighter in color. Create display information that can display the route candidates with multiple attention levels in stages so that the route candidates with high degree are more visible to the user than the route candidates with low priority. The number of times of passing through the route may be the total number of times of passing through all the routes, or may be the total number of times of passing through each section included in the route. For example, the display information creation unit 123 gradually makes the route candidates in each route thinner as the number of obstacles increases so that the route candidates in the route with the smallest number of obstacles become the thickest lines. In this way, by changing the thickness of the route so that the route candidate with the largest number of obstacles becomes the thinnest line, the route candidate with higher priority has a lower priority. Create display information that can display route candidates with multiple attention levels in stages so that they are more visible to the user. The priority may be determined based on the number of obstacles as described above, or may be determined based on the total value of the attention levels in consideration of the attention level. For example, when the attention level 2 is two places in the route candidate 1 and the attention level 1 is three places in the route candidate 2, the priority of the route candidate 2 can be increased.
　表示情報作成部１２３は、生成した表示情報を、通信部１１へ出力する。また、表示情報作成部１２３は、生成した表示情報を、記憶部１３に記憶させる。 The display information creation unit 123 outputs the generated display information to the communication unit 11. Further, the display information creation unit 123 stores the generated display information in the storage unit 13.
　記憶部１３は、例えば、ハードディスクなどの情報を記憶する機能を有するものであればよい。記憶部１３は、例えば、センサ情報、属性情報、障害物情報、詳細情報、移動装置３０の位置情報、などを記憶する。記憶部１３は、例えば、計測時間、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数、z方向の加速度の正負反転のカウント数、所定経路における傾斜の数、所定経路における凹凸の数、各種の平均値などの情報を記憶する。記憶部１３は、例えば、位置情報と紐づけた複数の区間の状態の推定結果、位置情報と紐づけた所定経路の状態の推定結果、所定の閾値（第１閾値～第６閾値）などを記憶する。この他にも、記憶部１３は、例えば、各種のプログラムやデータなどを記憶する。 The storage unit 13 may have a function of storing information such as a hard disk. The storage unit 13 stores, for example, sensor information, attribute information, obstacle information, detailed information, position information of the mobile device 30, and the like. The storage unit 13 has, for example, the measurement time, the number of positive / negative inversions of acceleration in the x and / or y directions, the number of positive / negative inversions of acceleration in the z direction, the number of inclinations in a predetermined path, and the number of irregularities in a predetermined path. , Stores information such as various average values. The storage unit 13 stores, for example, an estimation result of the state of a plurality of sections associated with the position information, an estimation result of the state of a predetermined route associated with the position information, a predetermined threshold value (first threshold value to sixth threshold value), and the like. Remember. In addition to this, the storage unit 13 stores, for example, various programs and data.
　また、記憶部１３は、利用者の属性情報とセンサ情報に基づく情報とを対応付けて記憶してもよい。図３に示す例では、利用者Ａの属性情報は、年齢層：「４０歳～５０歳」、介添え有無：「無」、移動装置の種類：「手動」である。センサ情報に基づく情報は、上述した所定経路における道路の傾斜の数：「１」、上述したz方向の加速度の正負反転のカウント数：「５」、上述したｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」などである。また利用者Ｂの属性情報は、年齢層：「４０歳～５０歳」、介添え有無：「無」、移動装置の種類：「手動」である。センサ情報に基づく情報は、上述した所定経路における道路の傾斜の数：「１」、上述したz方向の加速度の正負反転のカウント数：「１０」、上述したｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「６」である。また、記憶部１３は、利用者の属性情報と、利用者が通った所定の区間及び利用者が所定の区間を通った時刻と、を対応付けて記憶してもよい。図３に示す例では、利用者Ａが通った区間は、「区間Ｃ１」、利用者Ａが区間Ｃ１を通った時刻は、「９：３０」である。また、図３に示す例では、利用者Ｂが通った区間は、「区間Ｃ２」、利用者Ｂが区間Ｃ２を通った時刻は、「１０：３０」である。 Further, the storage unit 13 may store the attribute information of the user and the information based on the sensor information in association with each other. In the example shown in FIG. 3, the attribute information of the user A is the age group: "40 to 50 years old", the presence / absence of assistance: "none", and the type of mobile device: "manual". The information based on the sensor information includes the number of slopes of the road in the predetermined route described above: "1", the count number of positive / negative inversion of the acceleration in the z direction described above: "5", the acceleration in the x direction and / or the y direction described above. Count number of positive / negative inversion of: "0" and the like. The attribute information of user B is age group: "40 to 50 years old", presence / absence of assistance: "none", and type of mobile device: "manual". The information based on the sensor information includes the number of slopes of the road in the predetermined route described above: "1", the count number of positive / negative inversion of the acceleration in the z direction described above: "10", the acceleration in the x direction and / or the y direction described above. Count number of positive / negative inversion of: "6". Further, the storage unit 13 may store the attribute information of the user in association with the predetermined section through which the user has passed and the time when the user has passed through the predetermined section. In the example shown in FIG. 3, the section through which the user A has passed is "section C1", and the time when the user A has passed through the section C1 is "9:30". Further, in the example shown in FIG. 3, the section through which the user B has passed is "section C2", and the time when the user B has passed through the section C2 is "10:30".
　本実施形態に係る情報収集装置１０によれば、移動装置３０に固定された端末装置２０からセンサ情報を日常的に収集し、センサ情報を利用して、案内情報を生成する。これにより、従来のナビゲーションシステムのように案内用アプリケーションの提供者の手間を要することなく、必要な情報を収集して、簡易に案内情報を生成することができる。 According to the information collecting device 10 according to the present embodiment, sensor information is routinely collected from the terminal device 20 fixed to the mobile device 30, and guidance information is generated using the sensor information. As a result, it is possible to collect necessary information and easily generate guidance information without requiring the trouble of the provider of the guidance application as in the conventional navigation system.
＜端末装置の構成＞
　図４を参照して、本実施形態に係る端末装置２０について詳細に説明する。図４は、本実施形態に係る端末装置２０の構成の一例を示す図である。 <Configuration of terminal device>
The terminal device 20 according to the present embodiment will be described in detail with reference to FIG. FIG. 4 is a diagram showing an example of the configuration of the terminal device 20 according to the present embodiment.
　図４に示すように、端末装置２０は、検出部２１と、通信部２２と、制御部２３と、記憶部２４と、表示部２５と、操作部２６と、を備える。 As shown in FIG. 4, the terminal device 20 includes a detection unit 21, a communication unit 22, a control unit 23, a storage unit 24, a display unit 25, and an operation unit 26.
　検出部２１は、端末装置２０に搭載された各種センサであり、移動装置３０の加速度などのセンサ情報を検出する。端末装置２０が移動装置３０に固定されて、所定の案内用アプリケーションが起動すると、検出部２１が検出した各種のセンサ情報は、初期化される。 The detection unit 21 is various sensors mounted on the terminal device 20 and detects sensor information such as acceleration of the mobile device 30. When the terminal device 20 is fixed to the mobile device 30 and a predetermined guidance application is activated, various sensor information detected by the detection unit 21 is initialized.
　検出部２１は、例えば、加速度センサである。加速度センサは、例えば、移動装置３０におけるｘ方向の加速度、移動装置３０におけるｙ方向の加速度、移動装置３０におけるｚ方向の加速度、を検出する。加速度センサは、その構成が特に限定されるものではなく、例えば、静電容量型の加速度センサ、ピエゾ抵抗型の加速度センサなどであってよい。 The detection unit 21 is, for example, an acceleration sensor. The accelerometer detects, for example, the x-direction acceleration of the moving device 30, the y-direction acceleration of the moving device 30, and the z-direction acceleration of the moving device 30. The configuration of the acceleration sensor is not particularly limited, and may be, for example, a capacitance type acceleration sensor, a piezoresistive type acceleration sensor, or the like.
　検出部２１は、例えば、速度センサである。速度センサは、例えば、移動装置３０におけるｘ方向の速度、移動装置３０におけるｙ方向の速度、移動装置３０におけるｚ方向の速度、を検出する。速度センサは、公知の構成であってよい。 The detection unit 21 is, for example, a speed sensor. The speed sensor detects, for example, the speed in the x direction of the moving device 30, the speed of the moving device 30 in the y direction, and the speed of the moving device 30 in the z direction. The speed sensor may have a known configuration.
　検出部２１は、例えば、ジャイロセンサである。ジャイロセンサは、例えば、移動装置３０におけるｘ方向の角速度、移動装置３０におけるｙ方向の角速度、移動装置３０におけるｚ方向の角速度、を検出する。ジャイロセンサは、公知の構成であってよい。 The detection unit 21 is, for example, a gyro sensor. The gyro sensor detects, for example, the angular velocity in the x direction of the moving device 30, the angular velocity in the y direction of the moving device 30, and the angular velocity in the z direction of the moving device 30. The gyro sensor may have a known configuration.
　検出部２１は、例えば、６軸センサである。６軸センサは、例えば、加速度センサ及びジャイロセンサなどを組み合わせた公知の構成であってよい。 The detection unit 21 is, for example, a 6-axis sensor. The 6-axis sensor may have a known configuration in which, for example, an acceleration sensor and a gyro sensor are combined.
　通信部２２は、ネットワーク４０を介して、情報収集装置１０と通信する。通信部２２は、例えば、案内情報などの各種の情報を、ネットワーク４０を介して、情報収集装置１０から受信する。通信部２２は、例えば、センサ情報、属性情報、障害物情報、詳細情報などの各種の情報を、ネットワーク４０を介して、情報収集装置１０へ送信する。 The communication unit 22 communicates with the information collecting device 10 via the network 40. The communication unit 22 receives various information such as guidance information from the information collecting device 10 via the network 40, for example. The communication unit 22 transmits various information such as sensor information, attribute information, obstacle information, and detailed information to the information collecting device 10 via the network 40, for example.
　制御部２３は、例えば、ＣＰＵ、メモリなどを含み、端末装置２０の各部を制御する。制御部２３は、各種の情報を表示部２５へ出力し、所定の画面を、表示部２５に表示させる。制御部２３は、例えば、案内情報表示画面５１０（図５参照）、案内情報表示画面６１０（図６参照）、設定画面７１０（図７Ａ参照）、撮影画面７２０（図７Ｂ参照）、入力画面７３０（図７Ｃ参照）、設定画面８１０（図８Ａ参照）、出発地目的地入力画面８２０（図８Ｂ参照）、出発地目的地入力画面８３０（図８Ｃ参照）、撮影画面８４０（図８Ｄ参照）、現在地特定画面８５０（図８Ｅ参照）、案内情報表示画面８６０（図８Ｆ参照）、詳細情報表示画面８７０（図８Ｇ参照）、経路表示順設定画面９１０（図９Ａ参照）、経路表示順選択画面９２０（図９Ｂ参照）、案内情報表示画面９３０（図９Ｃ参照）などを表示部２５に表示させる。 The control unit 23 includes, for example, a CPU, a memory, and the like, and controls each unit of the terminal device 20. The control unit 23 outputs various information to the display unit 25, and causes the display unit 25 to display a predetermined screen. The control unit 23 is, for example, a guidance information display screen 510 (see FIG. 5), a guidance information display screen 610 (see FIG. 6), a setting screen 710 (see FIG. 7A), a shooting screen 720 (see FIG. 7B), and an input screen 730. (See FIG. 7C), setting screen 810 (see FIG. 8A), departure / destination input screen 820 (see FIG. 8B), departure / destination input screen 830 (see FIG. 8C), shooting screen 840 (see FIG. 8D), Current location identification screen 850 (see FIG. 8E), guidance information display screen 860 (see FIG. 8F), detailed information display screen 870 (see FIG. 8G), route display order setting screen 910 (see FIG. 9A), route display order selection screen 920. (See FIG. 9B), the guidance information display screen 930 (see FIG. 9C), and the like are displayed on the display unit 25.
　記憶部２４は、例えば、ハードディスクなどの情報を記憶する機能を有するものであればよい。記憶部２４は、例えば、案内情報、センサ情報、属性情報、障害物情報、詳細情報などを記憶する。この他にも、記憶部２４は、例えば、各種のプログラムやデータなどを記憶する。 The storage unit 24 may have a function of storing information such as a hard disk. The storage unit 24 stores, for example, guidance information, sensor information, attribute information, obstacle information, detailed information, and the like. In addition to this, the storage unit 24 stores, for example, various programs and data.
　表示部２５は、画像や文字などの表示が可能であればどのようなデバイスでもよく、例えば、液晶ディスプレイ、有機ＥＬ（Electro－Luminescence）ディスプレイなどである。表示部２５は、制御部２３から入力される各種の情報に基づいて、所定の画面を表示する。 The display unit 25 may be any device as long as it can display images, characters, and the like, such as a liquid crystal display and an organic EL (Electro-Luminescence) display. The display unit 25 displays a predetermined screen based on various information input from the control unit 23.
　表示部２５は、例えば、案内情報表示画面５１０（図５参照）を表示する。表示部２５は、出発地５１１から目的地５１２までの道路Ｘにおける案内情報を地図に重畳させて表示する。案内情報は、道路Ｘが、利用者Ｕにとって、どの程度通り易い経路であるのかを示す情報であり、道路Ｘと注意レベルとが対応付けられた情報である。図５に示す例では、道路Ｘにおいて、区間Ａ２に注意レベル１が、区間Ａ５に注意レベル２が付与されている。また、表示部２５は、当該案内情報と、案内情報に対応する道路Ｘを通った利用者Ａの属性情報とを対応づけて表示することも可能である。また、表示部２５は、当該案内情報と、案内情報に対応する道路Ｘ上に存在する障害物情報あるいは詳細情報とを対応づけて表示することも可能である。例えば、表示部２５は、道路Ｘにおいて、区間Ａ２に注意レベル１を、区間Ａ５に注意レベル２を付与した状態で案内情報表示画面５１０を表示してもよい。また、表示部２５は、注意レベルを示す文字（図５であれば、注意１、注意２などの文字）を表示してもよい。また、図示しない詳細情報があることを示すボタンを、注意レベルを示す文字の下や近くに表示させてもよい。この場合、利用者がボタンをタップ（押下）すると、利用者によりタップされたことを契機に、注意レベルに対応する障害物の画像及び／又は詳細情報を重畳して表示し、かつ、注意レベルに対応する障害物の画像及び／又は障害物情報と前記地図情報が、何れの区間における道路の情報であるかを視認可能なように表示してもよい（図８Ｇ参照）。なお、ボタンは、注意レベル１であれば、注意１などの文字で、注意レベル２であれば、注意２などの文字で表示される。この場合、ネットワーク４０を介して利用者によりタップされたことを検知すると、表示情報生成部は、タップされた注意レベルに対応する障害物の画像及び／又は詳細情報、及び、位置情報を記憶部１３取得し、通信部１１へ出力する。表示部は、ネットワーク４０を介して表示情報作成部からの表示情報を入力とし、注意レベルに対応する障害物の画像及び／又は詳細情報を重畳して表示し、かつ、注意レベルに対応する障害物の画像及び／又は障害物情報と前記地図情報が、何れの区間における道路の情報であるかを視認可能なように表示する。 The display unit 25 displays, for example, the guidance information display screen 510 (see FIG. 5). The display unit 25 superimposes and displays the guidance information on the road X from the departure point 511 to the destination 512 on the map. The guidance information is information indicating how easy the road X is for the user U, and is information in which the road X and the attention level are associated with each other. In the example shown in FIG. 5, on the road X, the caution level 1 is assigned to the section A2 and the caution level 2 is assigned to the section A5. Further, the display unit 25 can display the guidance information in association with the attribute information of the user A who has passed through the road X corresponding to the guidance information. Further, the display unit 25 can display the guidance information in association with the obstacle information or detailed information existing on the road X corresponding to the guidance information. For example, the display unit 25 may display the guidance information display screen 510 on the road X with the caution level 1 assigned to the section A2 and the caution level 2 assigned to the section A5. Further, the display unit 25 may display characters indicating the attention level (characters such as caution 1 and caution 2 in FIG. 5). In addition, a button indicating that there is detailed information (not shown) may be displayed below or near the character indicating the attention level. In this case, when the user taps (presses) the button, the image and / or detailed information of the obstacle corresponding to the attention level is superimposed and displayed and the attention level is triggered by the tapping by the user. The image and / or the obstacle information and the map information of the obstacle corresponding to the above may be displayed so as to be visible in which section the road information is (see FIG. 8G). The button is displayed with a character such as caution 1 if it is caution level 1, and is displayed as a character such as caution 2 if it is caution level 2. In this case, when it is detected that the user has tapped via the network 40, the display information generation unit stores the image and / or detailed information of the obstacle corresponding to the tapped attention level and the position information. 13 is acquired and output to the communication unit 11. The display unit inputs the display information from the display information creation unit via the network 40, superimposes and displays the image and / or detailed information of the obstacle corresponding to the attention level, and displays the obstacle corresponding to the attention level. The image of the object and / or the obstacle information and the map information are displayed so as to be visible in which section the road information is.
　表示部２５は、例えば、案内情報表示画面６１０（図６参照）を表示する。表示部２５は、出発地６１１から目的地６１２までの道路Ｙにおける案内情報を地図に重畳させて表示する。案内情報は、道路Ｙが、利用者Ｕにとって、どの程度通り易い経路であるのかを示す情報であり、道路Ｙと注意レベルとが対応付けられた情報である。図６に示す例では、区間Ｂ１に注意レベル３が、区間Ｂ３に注意レベル１が、区間Ｂ４に注意レベル２が、区間Ｂ５に注意レベル２が付与されている。また、表示部２５は、当該案内情報と、案内情報に対応する道路Ｙを通った利用者Ｂの属性情報とを対応づけて表示することも可能である。また、表示部２５は、当該案内情報と、案内情報に対応する道路Ｙ上に存在する障害物情報あるいは詳細情報とを対応づけて表示することも可能である。 The display unit 25 displays, for example, the guidance information display screen 610 (see FIG. 6). The display unit 25 superimposes and displays the guidance information on the road Y from the departure point 611 to the destination 612 on the map. The guidance information is information indicating how easy the road Y is for the user U, and is information in which the road Y and the attention level are associated with each other. In the example shown in FIG. 6, attention level 3 is assigned to section B1, attention level 1 is assigned to section B3, attention level 2 is assigned to section B4, and attention level 2 is assigned to section B5. Further, the display unit 25 can display the guidance information in association with the attribute information of the user B who has passed through the road Y corresponding to the guidance information. Further, the display unit 25 can display the guidance information in association with the obstacle information or detailed information existing on the road Y corresponding to the guidance information.
　表示部２５は、例えば、案内情報表示画面９３０（図９Ｃ参照）を表示する。図９Ｃに示すように、表示部２５は、複数の案内情報を、例えば、実線と点線で区別して、優先度に応じて段階的に表示する。表示部２５は、例えば、色の濃淡、線の太さ、色の種類などを変化させることによって、優先度が高い案内情報の方が、優先度が低い案内情報よりも目につきやすいように複数の案内情報を、段階的に表示する。なお、表示部２５は、任意の表示形式で、複数の案内情報を、段階的に表示することが可能である。 The display unit 25 displays, for example, the guidance information display screen 930 (see FIG. 9C). As shown in FIG. 9C, the display unit 25 distinguishes a plurality of guidance information by, for example, a solid line and a dotted line, and displays them stepwise according to the priority. By changing, for example, the shade of color, the thickness of the line, the type of color, etc., the display unit 25 has a plurality of display units 25 so that the guidance information having a high priority is more noticeable than the guidance information having a low priority. The guidance information of is displayed step by step. The display unit 25 can display a plurality of guidance information step by step in an arbitrary display format.
　例えば、表示部２５は、複数の案内情報において、複数の他の利用者が通った回数が最も多い経路における案内情報が最も目立つように、例えば、複数の他の利用者が通った回数が最も多い経路における案内情報を、最も濃い色で表示し、複数の他の利用者が通った回数が減るにつれて、各経路における案内情報を徐々に薄い色で表示し、複数の他の利用者が通った回数が最も少ない経路における案内情報を、最も薄い色で表示してよい。これにより、利用者Ｕは、最も濃い色で表示された経路における案内情報が、複数の案内情報の中で、優先度の高い案内情報であると認識することができる。 For example, in the display unit 25, in the plurality of guidance information, for example, the number of times the plurality of other users have passed is the most so that the guidance information on the route most frequently passed by the plurality of other users is most noticeable. Guidance information on many routes is displayed in the darkest color, and as the number of times multiple other users have passed decreases, guidance information on each route is gradually displayed in lighter color, and multiple other users pass through. Guidance information on the route with the least number of times may be displayed in the lightest color. As a result, the user U can recognize that the guidance information on the route displayed in the darkest color is the guidance information having a high priority among the plurality of guidance information.
　例えば、表示部２５は、複数の案内情報において、障害物の個数が最も少ない経路における案内情報が最も目立つように、例えば、障害物の個数が最も少ない経路における案内情報を、最も太い線で表示し、障害物の個数が増えるにつれて、各経路における案内情報を徐々に細い線で表示し、障害物の個数が最も多い経路における案内情報を、最も細い線で表示してよい。これにより、利用者Ｕは、最も太い線で表示された経路における案内情報が、複数の案内情報の中で、優先度の高い案内情報であると認識することができる。 For example, the display unit 25 displays, for example, the guidance information on the route with the smallest number of obstacles with the thickest line so that the guidance information on the route with the smallest number of obstacles is most noticeable in the plurality of guidance information. Then, as the number of obstacles increases, the guidance information in each route may be gradually displayed by a thin line, and the guidance information in the route having the largest number of obstacles may be displayed by the thinnest line. As a result, the user U can recognize that the guidance information on the route displayed by the thickest line is the guidance information having a high priority among the plurality of guidance information.
　例えば、表示部２５は、複数の案内情報において、年齢層が１０歳以下である利用者が通った経路における案内情報を、赤色で表示し、年齢層が１０歳から２０歳以下である利用者が通った経路における案内情報を、青色で表示し、年齢層が２０歳から３０歳以下である利用者が通った経路における案内情報を、黄色で表示してよい。これにより、例えば、年齢層が１０歳以下である利用者Ｕは、赤色で表示された経路における案内情報が、複数の案内情報の中で、自身とって適切な案内情報であると認識できる。あるいは、例えば、年齢層が１０歳から２０歳以下である利用者Ｕは、青色で表示された経路における案内情報が、複数の案内情報の中で、自身とって適切な案内情報であると認識できる。あるいは、例えば、年齢層が２０歳から３０歳以下である利用者Ｕは、黄色で表示された経路における案内情報が、複数の案内情報の中で、自身とって適切な案内情報であると認識することができる。 For example, the display unit 25 displays the guidance information on the route taken by the user whose age group is 10 years or younger in a plurality of guidance information in red, and the user whose age group is 10 to 20 years or younger. The guidance information on the route taken by the user may be displayed in blue, and the guidance information on the route taken by a user whose age group is 20 to 30 years old or younger may be displayed in yellow. As a result, for example, the user U whose age group is 10 years or younger can recognize that the guidance information on the route displayed in red is appropriate guidance information for himself / herself among the plurality of guidance information. Alternatively, for example, the user U whose age group is 10 to 20 years old or younger recognizes that the guidance information on the route displayed in blue is appropriate guidance information for himself / herself among the plurality of guidance information. it can. Alternatively, for example, the user U whose age group is 20 to 30 years old or younger recognizes that the guidance information on the route displayed in yellow is appropriate guidance information for himself / herself among the plurality of guidance information. can do.
　表示部２５は、上述の表示画面の他、例えば、設定画面７１０（図７Ａ参照）、撮影画面７２０（図７Ｂ参照）、入力画面７３０（図７Ｃ参照）、設定画面８１０（図８Ａ参照）、出発地目的地入力画面８２０（図８Ｂ参照）、出発地目的地入力画面８３０（図８Ｃ参照）、撮影画面８４０（図８Ｄ参照）、現在地特定画面８５０（図８Ｅ参照）、案内情報表示画面８６０（図８Ｆ参照）、詳細情報表示画面８７０（図８Ｇ参照）、経路表示順設定画面９１０（図９Ａ参照）、経路表示順選択画面９２０（図９Ｂ参照）などを表示する。 In addition to the above-mentioned display screens, the display unit 25 includes, for example, a setting screen 710 (see FIG. 7A), a shooting screen 720 (see FIG. 7B), an input screen 730 (see FIG. 7C), and a setting screen 810 (see FIG. 8A). Departure destination destination input screen 820 (see FIG. 8B), departure destination destination input screen 830 (see FIG. 8C), shooting screen 840 (see FIG. 8D), current location identification screen 850 (see FIG. 8E), guidance information display screen 860. (See FIG. 8F), detailed information display screen 870 (see FIG. 8G), route display order setting screen 910 (see FIG. 9A), route display order selection screen 920 (see FIG. 9B), and the like are displayed.
　操作部２６は、利用者Ｕによる所定の操作が可能であればどのようなデバイスでもよく、例えば、タッチパネル、ソフトウェアキーボードなどである。利用者Ｕは、操作部２６を用いて、所定の操作を行うことで、例えば、属性情報、障害物情報、詳細情報などを入力することができる。例えば、操作部２６は、利用者Ｕから出発地及び目的地の入力を受け付ける。 The operation unit 26 may be any device as long as the user U can perform a predetermined operation, for example, a touch panel, a software keyboard, or the like. The user U can input, for example, attribute information, obstacle information, detailed information, and the like by performing a predetermined operation using the operation unit 26. For example, the operation unit 26 receives input of a departure place and a destination from the user U.
　本実施形態に係る端末装置２０によれば、出発地から目的地までの経路が、利用者Ｕにとって、どの程度通り易い経路であるのかを示す情報を、表示部２５に表示する。これにより、利用者Ｕは、適切な経路に沿って、出発地から目的地まで移動することができる。 According to the terminal device 20 according to the present embodiment, information indicating how easy the route from the departure place to the destination is for the user U is displayed on the display unit 25. As a result, the user U can move from the starting point to the destination along an appropriate route.
＜案内情報表示画面の一例＞
　図５及び図６を参照して、案内情報表示画面の一例について説明する。 <Example of guidance information display screen>
An example of the guidance information display screen will be described with reference to FIGS. 5 and 6.
　利用者Ｕが操作部２６から出発地及び目的地を入力すると、端末装置２０の表示部２５には、図５に示すように、出発地５１１から目的地５１２までの道路Ｘにおける案内情報が表示される。出発地５１１から目的地５１２までの道路Ｘは、例えば、利用者Ａが通った経路であり、区間Ａ１、区間Ａ２、区間Ａ３、区間Ａ４、区間Ａ５、区間Ａ６、に分割されている。 When the user U inputs the departure place and the destination from the operation unit 26, the guidance information on the road X from the departure place 511 to the destination 512 is displayed on the display unit 25 of the terminal device 20 as shown in FIG. Will be done. The road X from the departure point 511 to the destination 512 is, for example, a route taken by the user A, and is divided into a section A1, a section A2, a section A3, a section A4, a section A5, and a section A6.
　利用者Ｕが操作部２６から出発地及び目的地を入力すると、端末装置２０の表示部２５には、図６に示すように、出発地６１１から目的地６１２までの道路Ｙにおける案内情報が表示される。出発地６１１から目的地６１２までの道路Ｙは、例えば、利用者Ｂが通った経路であり、区間Ｂ１、区間Ｂ２、区間Ｂ３、区間Ｂ４、区間Ｂ５、区間Ｂ６、に分割されている。 When the user U inputs the departure place and the destination from the operation unit 26, the guidance information on the road Y from the departure place 611 to the destination 612 is displayed on the display unit 25 of the terminal device 20 as shown in FIG. Will be done. The road Y from the departure point 611 to the destination 612 is, for example, a route taken by the user B, and is divided into a section B1, a section B2, a section B3, a section B4, a section B5, and a section B6.
　例えば、推定部１２１は、区間Ａ１が、平坦、ｚ方向の加速度の正負反転のカウント数：「０」であり凹凸が存在しない、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないと推定する。例えば、推定部１２１は、区間Ａ２が、傾斜、ｚ方向の加速度の正負反転のカウント数：「０」であり凹凸が存在しない、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないと推定する。例えば、推定部１２１は、区間Ａ３が、平坦、ｚ方向の加速度の正負反転のカウント数：「０」であり凹凸が存在しない、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないと推定する。例えば、推定部１２１は、区間Ａ４が、平坦、ｚ方向の加速度の正負反転のカウント数：「０」であり凹凸が存在しない、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないと推定する。例えば、推定部１２１は、区間Ａ５が、平坦、ｚ方向の加速度の正負反転のカウント数：「５」であり凹凸が存在する、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないと推定する。例えば、推定部１２１は、区間Ａ６が、平坦、ｚ方向の加速度の正負反転のカウント数：「０」であり凹凸が存在しない、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないと推定する。 For example, in the estimation unit 121, the section A1 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed that it is "0" and is not a caution point. For example, in the estimation unit 121, the section A2 has a count number of positive / negative inversions of acceleration in the inclination and z directions: "0" and no unevenness, and a count number of positive / negative inversions of acceleration in the x direction and / or y direction: It is presumed that it is "0" and is not a caution point. For example, in the estimation unit 121, the section A3 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed that it is "0" and is not a caution point. For example, in the estimation unit 121, the section A4 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed that it is "0" and is not a caution point. For example, in the estimation unit 121, the section A5 is flat, the count number of positive / negative inversion of acceleration in the z direction is "5", and the number of positive / negative inversion of acceleration in the x direction and / or y direction is present. It is presumed that it is "0" and is not a caution point. For example, in the estimation unit 121, the section A6 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is estimated that it is "0" and is not a caution point.
　この場合、生成部１２２は、道路Ｘの区間Ａ２に注意レベル１が「傾斜」であることから、道路が傾斜しているときに付与する、道路Ｘの区間Ａ５がz方向の加速度の正負反転のカウント数「５」であり道路に凹凸があることを示す注意レベル２を付与する。そして、表示部２５は、図５に示す案内情報を表示する。 In this case, since the attention level 1 is "inclination" in the section A2 of the road X, the generation unit 122 gives the section A5 of the road X a positive / negative inversion of the acceleration in the z direction when the road is inclining. The count number is "5", and a caution level 2 indicating that the road is uneven is given. Then, the display unit 25 displays the guidance information shown in FIG.
　例えば、推定部１２１は、区間Ｂ１が、平坦、z方向の加速度の正負反転のカウント数：「０」であり凹凸が存在しない、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「６」であり注意箇所であると推定する。例えば、推定部１２１は、区間Ｂ２が、平坦、z方向の加速度の正負反転のカウント数：「０」であり凹凸が存在しない、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないと推定する。例えば、推定部１２１は、区間Ｂ３が、傾斜、z方向の加速度の正負反転のカウント数：「０」であり凹凸が存在しない、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないと推定する。例えば、推定部１２１は、区間Ｂ４が、平坦、z方向のカウント数：「５」であり凹凸が存在する、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないと推定する。例えば、推定部１２１は、区間Ｂ５が、平坦、z方向の加速度の正負反転のカウント数：「５」であり凹凸が存在する、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「０」であり注意箇所でないと推定する。例えば、推定部１２１は、区間Ｂ６が、平坦、z方向の加速度の正負反転のカウント数：「０」であり凹凸が存在しない、ｘ方向及び／又はｙ方向の加速度の正負反転のカウント数：「６」であり注意箇所であると推定する。 For example, in the estimation unit 121, the section B1 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed to be "6" and a caution point. For example, in the estimation unit 121, the section B2 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed that it is "0" and is not a caution point. For example, in the estimation unit 121, the section B3 has a count number of positive / negative inversions of acceleration in the inclination and z directions: "0" and no unevenness, and a count number of positive / negative inversions of acceleration in the x direction and / or y direction: It is presumed that it is "0" and is not a caution point. For example, in the estimation unit 121, the section B4 is flat, the count number in the z direction is "5", and the number of positive / negative inversions of the acceleration in the x direction and / or the y direction is "0". Presumed not to be a caution point. For example, in the estimation unit 121, the section B5 is flat, the count number of positive / negative inversion of acceleration in the z direction is "5", and the number of positive / negative inversion of acceleration in the x direction and / or y direction is present. It is presumed that it is "0" and is not a caution point. For example, in the estimation unit 121, the section B6 is flat, the count number of positive / negative inversion of acceleration in the z direction is "0", and there is no unevenness, and the count number of positive / negative inversion of acceleration in the x direction and / or y direction is: It is presumed to be "6" and a caution point.
　この場合、生成部１２２は、道路Ｙの区間Ｂ１が水平方向の正負反転のカウント数「６」であることから、車いすの通常時以外の操作が必要だったときに付与する注意レベル３を、道路Ｙの区間Ｂ３に道路の傾斜があることを示す注意レベル１を、道路Ｙの区間Ｂ４に注意レベル２を、道路Ｙの区間Ｂ５に道路に凹凸があることを示す注意レベル２を付与する。そして、表示部２５は、図６に示す案内情報を表示する。 In this case, since the section B1 of the road Y has a count number of positive / negative inversion "6" in the horizontal direction, the generation unit 122 sets the caution level 3 to be given when an operation other than the normal operation of the wheelchair is required. A caution level 1 indicating that the road Y section B3 has a slope, a caution level 2 indicating that the road Y section B4 is provided, and a caution level 2 indicating that the road is uneven are assigned to the road Y section B5. .. Then, the display unit 25 displays the guidance information shown in FIG.
　利用者Ｕは、図５から、道路Ｘには、注意レベル１の注意すべき区間が１箇所、注意レベル２の注意すべき区間が１箇所、存在することを確認することができる。利用者Ｕは、図６から、道路Ｙには、注意レベル１の注意すべき区間が１箇所、注意レベル２の注意すべき区間が２箇所、注意レベル３の注意すべき区間が１箇所、存在することを確認することができる。利用者Ｕは、図５及び図６から、道路Ｙより道路Ｘの方が、通り易い道路であることを確認することができる。 From FIG. 5, the user U can confirm that there is one section of caution level 1 and one section of caution level 2 on the road X. From FIG. 6, the user U has one section on the road Y that should be noted at caution level 1, two sections that should be noted at caution level 2, and one section that should be noted at caution level 3. It can be confirmed that it exists. From FIGS. 5 and 6, the user U can confirm that the road X is easier to pass than the road Y.
　なお、上記において例えばある区間において道路に傾斜（注意レベル１）があり、水平方向の正負反転のカウント数「６」（注意レベル２）という場合には、注意レベル１よりも注意レベル２があることを優先して利用者に提示することにして、その区間を注意レベル２として付与してよい。同様に、ある区間で注意レベル１と注意レベル３が混在する場合には、その区間を、注意レベル３を優先して付与してよい。また、ある区間で注意レベル２と注意レベル３が混在する場合も、その区間を、注意レベル３を優先して付与してよい。 In the above, for example, when the road has a slope (attention level 1) in a certain section and the count number of positive / negative inversion in the horizontal direction is "6" (attention level 2), there is a caution level 2 rather than the caution level 1. This may be presented to the user with priority, and the section may be given as caution level 2. Similarly, when attention level 1 and attention level 3 coexist in a certain section, the section may be given with priority given to attention level 3. Further, even when attention level 2 and attention level 3 coexist in a certain section, the section may be given with priority given to attention level 3.
　本実施形態に係るナビゲーションシステム１００によれば、簡易に案内情報を生成して、利用者Ｕに提示することが可能になる。 According to the navigation system 100 according to the present embodiment, it is possible to easily generate guidance information and present it to the user U.
＜利用者Ｕの所定の操作の一例＞
　図７乃至図９を参照して、本実施形態に係る端末装置２０における表示部２５の表示画面を用いた利用者Ｕの所定の操作の一例について説明する。 <Example of predetermined operation of user U>
An example of a predetermined operation of the user U using the display screen of the display unit 25 in the terminal device 20 according to the present embodiment will be described with reference to FIGS. 7 to 9.
　まず、図７を参照して、利用者Ｕが端末装置２０に障害物情報を入力する操作について説明する。図７（Ａ）は設定画面７１０の一例である。図７（Ｂ）は撮影画面７２０の一例である。図７（Ｃ）は入力画面７３０の一例である。 First, with reference to FIG. 7, an operation in which the user U inputs obstacle information to the terminal device 20 will be described. FIG. 7A is an example of the setting screen 710. FIG. 7B is an example of the shooting screen 720. FIG. 7C is an example of the input screen 730.
　利用者Ｕが、設定画面７１０において、障害物情報共有ボタン７１１をタップすると、表示部２５に表示される画面は、設定画面７１０から撮影画面７２０へ遷移する。 When the user U taps the obstacle information sharing button 711 on the setting screen 710, the screen displayed on the display unit 25 transitions from the setting screen 710 to the shooting screen 720.
　利用者Ｕが、撮影画面７２０において、障害物（例えば、段差）の所定の箇所が表示されるカメラのプレビュー画面７２１を見ながら、撮影ボタン７２２をタップすると、障害物の所定の箇所が撮影されて、表示部２５に表示される画面は、撮影画面７２０から入力画面７３０へ遷移する。障害物の画像情報と障害物の位置情報とは、対応づけられて、記憶部２４に記憶される。 When the user U taps the shooting button 722 while looking at the preview screen 721 of the camera on which the predetermined portion of the obstacle (for example, a step) is displayed on the shooting screen 720, the predetermined portion of the obstacle is photographed. The screen displayed on the display unit 25 transitions from the shooting screen 720 to the input screen 730. The image information of the obstacle and the position information of the obstacle are associated with each other and stored in the storage unit 24.
　利用者Ｕが、入力画面７３０において、追加撮影ボタン７３１をタップすると、表示部２５に表示される画面は、入力画面７３０から撮影画面７２０へ遷移する。利用者Ｕが、撮影画面７２０において、障害物の別の箇所が表示されるカメラのプレビュー画面７２１を見ながら、撮影ボタン７２２をタップすると、障害物の別の箇所が追加的に撮影される。 When the user U taps the additional shooting button 731 on the input screen 730, the screen displayed on the display unit 25 transitions from the input screen 730 to the shooting screen 720. When the user U taps the shooting button 722 while looking at the preview screen 721 of the camera on which another part of the obstacle is displayed on the shooting screen 720, another part of the obstacle is additionally photographed.
　利用者Ｕが、入力画面７３０において、メモ入力欄７３２に、例えば、障害物に関するテキストコメントを入力し、完了ボタン７３３をタップすると、障害物に関するテキストコメントが詳細情報として追加される。利用者Ｕが、入力画面７３０において、共有ボタン７３４をタップすると、障害物情報及び詳細情報が、複数の他の利用者と共有可能なように、情報収集装置１０の記憶部１３に記憶される。 When the user U inputs, for example, a text comment about an obstacle in the memo input field 732 on the input screen 730 and taps the completion button 733, the text comment about the obstacle is added as detailed information. When the user U taps the share button 734 on the input screen 730, the obstacle information and the detailed information are stored in the storage unit 13 of the information collecting device 10 so that the obstacle information and the detailed information can be shared with a plurality of other users. ..
　次に、図８を参照して、利用者Ｕが案内情報を確認する操作について説明する。図８（Ａ）は設定画面８１０の一例である。図８（Ｂ）は出発地目的地入力画面８２０の一例である。図８（Ｃ）は出発地目的地入力画面８３０の一例である。図８（Ｄ）は撮影画面８４０の一例である。図８（Ｅ）は現在地特定画面８５０の一例である。図８（Ｆ）は案内情報表示画面８６０の一例である。図８（Ｇ）は詳細情報表示画面８７０の一例である。 Next, with reference to FIG. 8, the operation for the user U to confirm the guidance information will be described. FIG. 8A is an example of the setting screen 810. FIG. 8B is an example of the departure / destination input screen 820. FIG. 8C is an example of the departure / destination input screen 830. FIG. 8D is an example of the shooting screen 840. FIG. 8E is an example of the current location identification screen 850. FIG. 8F is an example of the guidance information display screen 860. FIG. 8 (G) is an example of the detailed information display screen 870.
　利用者Ｕが、設定画面８１０において、ナビゲーションボタン８１１をタップすると、表示部２５に表示される画面は、設定画面８１０から出発地目的地入力画面８２０へ遷移する。 When the user U taps the navigation button 811 on the setting screen 810, the screen displayed on the display unit 25 transitions from the setting screen 810 to the departure / destination input screen 820.
　利用者Ｕが、出発地目的地入力画面８２０において、出発地ボタン８２１をタップすると、表示部２５に表示される画面は、出発地目的地入力画面８２０から別の出発地目的地入力画面８３０へ遷移する。利用者Ｕは、出発地入力欄８３１に、出発地の住所、出発地の駅名、出発地の建物名などをテキスト入力することで、出発地を入力してもよい。あるいは、利用者Ｕは、ＧＰＳの現在地特定ボタン８３２をタップし、ＧＰＳにより、移動装置３０の現在地の特定を行うことで、出発地を入力してもよい。あるいは、利用者Ｕは、地図上での現在地特定ボタン８３３をタップし、地図により、移動装置３０の現在地の特定を行うことで、出発地を入力してもよい。あるいは、利用者Ｕは、撮影での現在地特定ボタン８３４をタップし、画像により、移動装置３０の現在地の特定を行うことで、出発地を入力してもよい。 When the user U taps the departure place button 821 on the departure place destination input screen 820, the screen displayed on the display unit 25 changes from the departure place destination input screen 820 to another departure place destination input screen 830. Transition. The user U may input the departure place by text-entering the address of the departure place, the station name of the departure place, the building name of the departure place, and the like in the departure place input field 831. Alternatively, the user U may input the departure place by tapping the GPS current location identification button 832 and specifying the current location of the mobile device 30 by GPS. Alternatively, the user U may input the departure place by tapping the current location identification button 833 on the map and specifying the current location of the moving device 30 on the map. Alternatively, the user U may input the departure place by tapping the current location identification button 834 in the shooting and identifying the current location of the moving device 30 by the image.
　利用者Ｕが、出発地目的地入力画面８３０において、例えば、撮影での現在地特定ボタン８３４をタップすると、表示部２５に表示される画面は、出発地目的地入力画面８３０から撮影画面８４０へ遷移する。 When the user U taps, for example, the current location identification button 834 in shooting on the departure / destination input screen 830, the screen displayed on the display unit 25 shifts from the departure / destination input screen 830 to the shooting screen 840. To do.
　利用者Ｕが、撮影画面８４０において、対象物（例えば、特徴的な建物）が表示されるカメラのプレビュー画面８４１を見ながら、撮影ボタン８４２をタップすると、対象物が撮影されて、表示部２５に表示される画面は、撮影画面８４０から現在地特定画面８５０へ遷移する。ここで，対象物を複数角度から撮影した画像情報と対象物の位置情報とは、あらかじめ対応づけられて記憶部２４に記憶されており、利用者Ｕが撮影した画像から画像認識技術によって記憶部２４に記憶された対象物を特定し、その対象物の位置情報が取得される。よって、対象物が撮影されると、現在地特定画面８５０における表示エリア８５１には、対象物の住所（例えば、東京都千代田区丸の内１丁目）が自動的に表示され、現在地特定画面８５０における表示エリア８５２には、対象物の地図が、自動的に表示される。 When the user U taps the shooting button 842 while looking at the preview screen 841 of the camera on which the object (for example, a characteristic building) is displayed on the shooting screen 840, the target is shot and the display unit 25 The screen displayed in is changed from the shooting screen 840 to the current location identification screen 850. Here, the image information obtained by photographing the object from a plurality of angles and the position information of the object are stored in the storage unit 24 in advance in association with each other, and the image taken by the user U is stored in the storage unit by the image recognition technique. The object stored in 24 is specified, and the position information of the object is acquired. Therefore, when the object is photographed, the address of the object (for example, 1-chome, Marunouchi, Chiyoda-ku, Tokyo) is automatically displayed in the display area 851 on the current location identification screen 850, and the display area on the current location identification screen 850. A map of the object is automatically displayed on the 852.
　利用者Ｕが、現在地特定画面８５０において、目的地ボタン８５３をタップすると、表示部２５に、目的地入力欄が表示される。利用者Ｕは、目的地入力欄に、目的地の住所、目的地の駅名、目的地の建物名などをテキスト入力することで、目的地を入力する。利用者Ｕが、現在地特定画面８５０において、目的地を入力し、完了ボタン８５４をタップすると、表示部２５に表示される画面は、現在地特定画面８５０から案内情報表示画面８６０へ遷移する。 When the user U taps the destination button 853 on the current location identification screen 850, the destination input field is displayed on the display unit 25. The user U inputs the destination by text-entering the address of the destination, the station name of the destination, the building name of the destination, and the like in the destination input field. When the user U inputs the destination on the current location identification screen 850 and taps the completion button 854, the screen displayed on the display unit 25 transitions from the current location identification screen 850 to the guidance information display screen 860.
　案内情報表示画面８６０において、現在地８６１から目的地８６２までの道路Ｚにおける案内情報が表示される。利用者Ｕは、案内情報表示画面８６０から、道路Ｚには、注意レベル１の注意すべき区間が１箇所、注意レベル２の注意すべき区間が１箇所、存在することを確認することができる。 On the guidance information display screen 860, guidance information on the road Z from the current location 861 to the destination 862 is displayed. From the guidance information display screen 860, the user U can confirm that there is one section to be noted with caution level 1 and one section to be noted with caution level 2 on the road Z. ..
　利用者Ｕが、案内情報表示画面８６０において、注意１ボタン８６３あるいは注意２ボタン８６４をタップすると、注意２に関する詳細情報が表示される。例えば、利用者Ｕが、案内情報表示画面８６０において、注意２ボタン８６４をタップすると、表示部２５に表示される画面は、案内情報表示画面８６０から詳細情報表示画面８７０へ遷移する。そして、詳細情報表示画面８７０には、例えば、段差の画像情報及び／又は障害物に関するテキスト情報が表示される。 When the user U taps the caution 1 button 863 or the caution 2 button 864 on the guidance information display screen 860, detailed information on the caution 2 is displayed. For example, when the user U taps the caution 2 button 864 on the guidance information display screen 860, the screen displayed on the display unit 25 transitions from the guidance information display screen 860 to the detailed information display screen 870. Then, on the detailed information display screen 870, for example, image information of a step and / or text information regarding an obstacle is displayed.
　次に、図９を参照して、利用者Ｕが複数の案内情報を確認する操作について説明する。図９（Ａ）は経路表示順設定画面９１０の一例である。図９（Ｂ）は経路表示順選択画面９２０の一例である。図９（Ｃ）は案内情報表示画面９３０の一例である。 Next, with reference to FIG. 9, the operation in which the user U confirms a plurality of guidance information will be described. FIG. 9A is an example of the route display order setting screen 910. FIG. 9B is an example of the route display order selection screen 920. FIG. 9C is an example of the guidance information display screen 930.
　利用者Ｕが、経路表示順設定画面９１０において、経路表示順選択ボタン９１１をタップすると、表示部２５に表示される画面は、経路表示順設定画面９１０から経路表示順選択画面９２０へ遷移する。 When the user U taps the route display order selection button 911 on the route display order setting screen 910, the screen displayed on the display unit 25 transitions from the route display order setting screen 910 to the route display order selection screen 920.
　利用者Ｕが、経路表示順選択画面９２０において、例えば、回数順ボタン９２１をタップすると、表示部２５に表示される画面は、経路表示順選択画面９２０から、複数の案内情報が段階的に表示される案内情報表示画面９３０へ遷移する。例えば、複数の他の利用者が経路９３１を通った回数が１５回であり、複数の他の利用者が経路９３２を通った回数が１０回である場合、経路９３１に関する案内情報が実線で、経路９３２に関する案内情報が点線で表示される。この場合、利用者Ｕは、経路９３２より経路９３１の方が、通り易い経路であることを確認することができる。 When the user U taps the route display order selection screen 920, for example, the number order button 921, a plurality of guidance information is displayed stepwise from the route display order selection screen 920 on the screen displayed on the display unit 25. The transition to the guidance information display screen 930 is displayed. For example, when a plurality of other users have passed the route 931 15 times and a plurality of other users have passed the route 932 10 times, the guidance information regarding the route 931 is a solid line. Guidance information about route 932 is displayed as a dotted line. In this case, the user U can confirm that the route 931 is easier to pass than the route 932.
　利用者Ｕが、経路表示順選択画面９２０において、例えば、障害物順ボタン９２２をタップすると、表示部２５に表示される画面は、経路表示順選択画面９２０から、複数の案内情報が段階的に表示される案内情報表示画面へ遷移する。例えば、１つ目の経路が１箇所の段差を含み、２つ目の経路が５箇所の段差を含む場合、１つ目の経路に関する案内情報が実線で、２つ目の経路に関する案内情報が点線で表示される。この場合、利用者Ｕは、１つ目の経路より２つ目の経路の方が、通り易い経路であることを確認することができる。 When the user U taps, for example, the obstacle order button 922 on the route display order selection screen 920, a plurality of guidance information is stepwise displayed on the display unit 25 from the route display order selection screen 920. Transition to the displayed guidance information display screen. For example, if the first route contains one step and the second route contains five steps, the guidance information for the first route is a solid line and the guidance information for the second route is. It is displayed as a dotted line. In this case, the user U can confirm that the second route is easier to pass than the first route.
　利用者Ｕが、経路表示順選択画面９２０において、例えば、最新時間順ボタン９２３をタップすると、表示部２５に表示される画面は、経路表示順選択画面９２０から、複数の案内情報が段階的に表示される案内情報表示画面へ遷移する。また、利用者Ｕが、経路表示順選択画面９２０において、例えば、所要時間順ボタン９２４をタップすると、表示部２５に表示される画面は、経路表示順選択画面９２０から、複数の案内情報が段階的に表示される案内情報表示画面へ遷移する。また、利用者Ｕが、経路表示順選択画面９２０において、例えば、年齢順ボタン９２５をタップすると、表示部２５に表示される画面は、経路表示順選択画面９２０から、複数の案内情報が段階的に表示される案内情報表示画面へ遷移する。 When the user U taps, for example, the latest time order button 923 on the route display order selection screen 920, a plurality of guidance information is stepwise displayed on the display unit 25 from the route display order selection screen 920. Transit to the displayed guidance information display screen. Further, when the user U taps the required time order button 924 on the route display order selection screen 920, for example, the screen displayed on the display unit 25 has a plurality of guidance information stages from the route display order selection screen 920. Transitions to the guidance information display screen that is displayed. Further, when the user U taps, for example, the age order button 925 on the route display order selection screen 920, a plurality of guidance information is stepwise displayed on the display unit 25 from the route display order selection screen 920. Transition to the guidance information display screen displayed in.
＜情報収集方法＞
　次に、図１０を参照して、本実施形態に係る情報収集方法について説明する。図１０は、情報収集方法の一例を示すフローチャートである。 <Information collection method>
Next, the information collecting method according to the present embodiment will be described with reference to FIG. FIG. 10 is a flowchart showing an example of the information collecting method.
　ステップＳ２０１において、情報収集装置１０は、端末装置２０に搭載された端末装置２０から、移動装置３０におけるセンサ情報を取得する。 In step S201, the information collecting device 10 acquires the sensor information in the mobile device 30 from the terminal device 20 mounted on the terminal device 20.
　ステップＳ２０２において、情報収集装置１０は、センサ情報に基づいて、移動装置３０が通行した道路の状態を推定する。情報収集装置１０は、移動装置３０における移動平面上の速度若しくは加速度、又は、移動装置３０における移動平面に対して垂直な方向の速度若しくは加速度に基づいて、道路の傾斜、道路の凹凸、又は移動装置３０における直進の困難度合いを推定する。 In step S202, the information collecting device 10 estimates the state of the road on which the moving device 30 has passed, based on the sensor information. The information collecting device 10 is based on the speed or acceleration on the moving plane of the moving device 30, or the speed or acceleration in the direction perpendicular to the moving plane of the moving device 30, such as the slope of the road, the unevenness of the road, or the movement. The degree of difficulty in going straight in the device 30 is estimated.
　ステップＳ２０３において、情報収集装置１０は、道路の状態を示す情報を記憶する。道路の状態を示す情報は、例えば、傾斜の数が１であり、区間Ａ２が傾斜している、という道路Ｘの状態を示す情報である（図５参照）。道路の状態を示す情報は、例えば、傾斜の数が１であり、区間Ｂ３が傾斜している、という道路Ｙの状態を示す情報である（図６参照）。 In step S203, the information collecting device 10 stores information indicating the state of the road. The information indicating the state of the road is, for example, information indicating the state of the road X that the number of slopes is 1 and the section A2 is sloped (see FIG. 5). The information indicating the state of the road is, for example, information indicating the state of the road Y that the number of slopes is 1 and the section B3 is sloped (see FIG. 6).
　上述の情報収集方法によれば、移動装置３０に固定された端末装置２０からセンサ情報を日常的に収集し、センサ情報を利用して、道路の状態を推定する。これにより、従来のナビゲーションシステムのように案内用アプリケーションの提供者の手間を要することなく、必要な情報を簡易に収集することができる。 According to the above-mentioned information collecting method, sensor information is routinely collected from the terminal device 20 fixed to the mobile device 30, and the state of the road is estimated using the sensor information. As a result, necessary information can be easily collected without the trouble of the provider of the guidance application as in the conventional navigation system.
＜ナビゲーション方法＞
　次に、図１１を参照して、本実施形態に係るナビゲーション方法について説明する。図１１は、ナビゲーション方法の一例を示すフローチャートである。 <Navigation method>
Next, the navigation method according to the present embodiment will be described with reference to FIG. FIG. 11 is a flowchart showing an example of the navigation method.
　ステップＳ３０１において、ナビゲーションシステム１００は、移動装置３０における移動平面上の速度若しくは加速度、又は、移動装置３０における移動平面に対して垂直な方向の速度若しくは加速度に基づいて、道路の傾斜、道路の凹凸、又は移動装置３０における直進の困難度合いを推定する。 In step S301, the navigation system 100 determines the slope of the road, the unevenness of the road, based on the speed or acceleration on the moving plane of the moving device 30, or the speed or acceleration in the direction perpendicular to the moving plane of the moving device 30. Or, the degree of difficulty in going straight on the moving device 30 is estimated.
　ステップＳ３０２において、ナビゲーションシステム１００は、地図情報に基づいて現在地から目的地までの道順候補を作成し、道路の傾斜、道路の凹凸、又は移動装置３０における直進の困難度合いに基づいて、注意レベルを求め、現在地から目的地までの道順候補に、注意レベルを付与する。ナビゲーションシステム１００は、例えば、現在地から目的地までの道順候補である道路Ｘの区間Ａ２に注意レベル１を、現在地から目的地までの道順候補である道路Ｘの区間Ａ２に注意レベル２を付与する（図５参照）。ナビゲーションシステム１００は、例えば、現在地から目的地までの道順候補である道路Ｙの区間Ｂ１に注意レベル３を、現在地から目的地までの道順候補である道路Ｙの区間Ｂ３に注意レベル１を、現在地から目的地までの道順候補である道路Ｙの区間Ｂ４に注意レベル２を、現在地から目的地までの道順候補である道路Ｙの区間Ｂ５に注意レベル２を付与する（図６参照）。 In step S302, the navigation system 100 creates a route candidate from the current location to the destination based on the map information, and sets the attention level based on the slope of the road, the unevenness of the road, or the degree of difficulty in going straight on the moving device 30. Ask and give attention level to the route candidates from the current location to the destination. For example, the navigation system 100 assigns attention level 1 to section A2 of road X, which is a candidate route from the current location to the destination, and caution level 2 to section A2 of road X, which is a candidate route from the current location to the destination. (See FIG. 5). For example, the navigation system 100 sets attention level 3 for the section B1 of the road Y which is a route candidate from the current location to the destination, and caution level 1 for the section B3 of the road Y which is a route candidate from the current location to the destination. Attention level 2 is given to section B4 of road Y, which is a candidate route from the current location to the destination, and caution level 2 is given to section B5 of road Y, which is a candidate route from the current location to the destination (see FIG. 6).
　ステップＳ３０３において、ナビゲーションシステム１００は、地図情報、及び、前記推定部が推定した、前記道路の傾斜、前記道路の凹凸、又は前記移動装置で直進が困難となる障害の位置情報を少なくとも含む経路情報を記憶する。 In step S303, the navigation system 100 includes at least map information and route information estimated by the estimation unit, such as the slope of the road, the unevenness of the road, or the position information of an obstacle that makes it difficult for the moving device to go straight. Remember.
　ステップＳ３０４において、ナビゲーションシステム１００は、注意レベルが付与された道順候補と地図情報とを重畳して表示するための表示情報を作成する。 In step S304, the navigation system 100 creates display information for displaying the route candidates to which the attention level is given and the map information in an overlapping manner.
　上述のナビゲーション方法によれば、出発地から目的地までの道順候補が、利用者Ｕにとって、どの程度通り易い経路であるのかを示す情報を、利用者Ｕに分かり易く提示するための表示情報を簡易に作成できる。 According to the above-mentioned navigation method, display information for presenting to the user U in an easy-to-understand manner information indicating how easy the route candidate from the departure point to the destination is for the user U is provided. It can be created easily.
　なお、上述の各フローチャートはあくまで一例であり、各フローチャートにおいて、一部のステップの順序が入れ替わってもよいし、各フローチャートにおいて、一部のステップを省略してもよい。 Note that each of the above flowcharts is just an example, and the order of some steps may be changed in each flowchart, or some steps may be omitted in each flowchart.
　本実施形態において、情報収集装置１０は、２つ以上の装置に分割されてもよい。また、情報収集装置１０の一部の機能を端末装置２０が有していてもよい。例えば、情報収集装置１０は記憶部１３のみを有しており、通信部１１及び制御部１２の機能を端末装置２０が有していてもよい。 In the present embodiment, the information collecting device 10 may be divided into two or more devices. Further, the terminal device 20 may have some functions of the information collecting device 10. For example, the information collecting device 10 may have only the storage unit 13, and the terminal device 20 may have the functions of the communication unit 11 and the control unit 12.
　なお、上述した情報収集装置１０及び端末装置２０として機能させるためにコンピュータを好適に用いることができ、そのようなコンピュータは、情報収集装置１０及び端末装置２０の各機能を実現する処理内容を記述したプログラムを該コンピュータのデータベースに格納しておき、該コンピュータのＣＰＵによってこのプログラムを読み出して実行させることで実現することができる。 A computer can be preferably used to function as the information collecting device 10 and the terminal device 20 described above, and such a computer describes the processing content for realizing each function of the information collecting device 10 and the terminal device 20. This program can be realized by storing the program in the database of the computer and reading and executing this program by the CPU of the computer.
　また、プログラムは、コンピュータ読取り可能媒体に記録されていてもよい。コンピュータ読取り可能媒体を用いれば、コンピュータにインストールすることが可能である。ここで、プログラムが記録されたコンピュータ読取り可能媒体は、非一過性の記録媒体であってもよい。非一過性の記録媒体は、特に限定されるものではないが、例えば、ＣＤ－ＲＯＭやＤＶＤ－ＲＯＭなどの記録媒体であってもよい。 Further, the program may be recorded on a computer-readable medium. It can be installed on a computer using a computer-readable medium. Here, the computer-readable medium on which the program is recorded may be a non-transient recording medium. The non-transient recording medium is not particularly limited, but may be, for example, a recording medium such as a CD-ROM or a DVD-ROM.
　上述の実施形態は代表的な例として説明したが、本発明の趣旨及び範囲内で、多くの変更及び置換ができることは当業者に明らかである。したがって、本発明は、上述の実施形態によって制限するものと解するべきではなく、特許請求の範囲から逸脱することなく、種々の変形や変更が可能である。例えば、実施形態の構成図に記載の複数の構成ブロックを１つに組み合わせたり、あるいは１つの構成ブロックを分割したりすることが可能である。 Although the above-described embodiment has been described as a typical example, it is clear to those skilled in the art that many modifications and substitutions can be made within the spirit and scope of the present invention. Therefore, the present invention should not be construed as being limited by the above embodiments, and various modifications and modifications can be made without departing from the scope of claims. For example, it is possible to combine a plurality of constituent blocks described in the configuration diagram of the embodiment into one, or to divide one constituent block.
　１０　　　情報収集装置
　１１　　　通信部
　１２　　　制御部
　１２１　　推定部
　１２２　　生成部
　１２３　　表示情報作成部
　１３　　　記憶部
　２０　　　端末装置
　２１　　　検出部
　２２　　　通信部
　２３　　　制御部
　２４　　　記憶部
　２５　　　表示部
　２６　　　操作部
　３０　　　移動装置
　４０　　　ネットワーク
　１００　　ナビゲーションシステム
　１１１　　センサ情報取得部
　１１２　　属性情報取得部
　１１３　　障害物情報取得部
　１１４　　詳細情報取得部 10 Information collecting device 11 Communication unit 12 Control unit 121 Estimating unit 122 Generation unit 123 Display information creation unit 13 Storage unit 20 Terminal device 21 Detection unit 22 Communication unit 23 Control unit 24 Storage unit 25 Display unit 26 Operation unit 30 Mobile device 40 Network 100 Navigation system 111 Sensor information acquisition unit 112 Attribute information acquisition unit 113 Obstacle information acquisition unit 114 Detailed information acquisition unit

Claims (9)

  1. 　移動装置に固定された端末装置から、前記移動装置におけるセンサ情報を取得するセンサ情報取得部と、
    　前記センサ情報に基づいて、前記移動装置が通行した道路の状態を推定する推定部と、
    　前記道路の状態を示す情報を記憶する記憶部と、
    　を備える、情報収集装置。     A sensor information acquisition unit that acquires sensor information in the mobile device from a terminal device fixed to the mobile device, and
    Based on the sensor information, an estimation unit that estimates the state of the road on which the mobile device has passed, and an estimation unit.
    A storage unit that stores information indicating the state of the road,
    An information gathering device equipped with.
  2. 　前記推定部は、前記移動装置における水平方向及び／又は進行方向の加速度に基づいて、前記道路の傾斜を推定する、請求項１に記載の情報収集装置。 The information collecting device according to claim 1, wherein the estimation unit estimates the slope of the road based on the acceleration in the horizontal direction and / or the traveling direction in the moving device.
  3. 　前記推定部は、前記移動装置における垂直方向の加速度に基づいて、前記道路の凹凸を推定する、請求項１又は２に記載の情報収集装置。 The information collecting device according to claim 1 or 2, wherein the estimation unit estimates the unevenness of the road based on the acceleration in the vertical direction of the moving device.
  4. 　前記推定部は、更に、前記移動装置における水平方向及び進行方向の加速度の正負反転回数に基づいて、前記移動装置の直進の困難度合いを推定する、請求項１から３のいずれか一項に記載の情報収集装置。 The estimation unit further comprises any one of claims 1 to 3, wherein the estimation unit estimates the degree of difficulty in going straight through the moving device based on the number of positive / negative inversions of acceleration in the horizontal direction and the traveling direction in the moving device. Information gathering device.
  5. 　前記記憶部は、前記センサ情報と前記端末装置の利用者の属性情報とを対応づけて記憶し、
    　前記推定部は、前記センサ情報に対して、前記属性情報に基づいて重み付けを行い、重み付け後のセンサ情報に基づいて前記道路の状態を推定する、請求項１から４のいずれか一項に記載の情報収集装置。     The storage unit stores the sensor information and the attribute information of the user of the terminal device in association with each other.
    The method according to any one of claims 1 to 4, wherein the estimation unit weights the sensor information based on the attribute information and estimates the state of the road based on the weighted sensor information. Information gathering device.
  6. 　前記推定部は、
    　水平方向及び／又は進行方向の加速度が正負反転せず、かつ、前記水平方向及び／又は進行方向の加速度の変化量の絶対値が、第１閾値以上となる時間を計測し、
    　前記計測した時間が第２閾値以上である場合、あるいは、前記計測した時間が第３閾値以上であり、第４閾値以上の間、前記水平方向及び／又は進行方向の速度が、前記移動装置における通常走行時の速度を上回る又は下回る場合、所定区間における道路が傾斜している又は所定区間における道路の傾斜区間が長い、と推定する、請求項１から５のいずれか一項に記載の情報収集装置。     The estimation unit
    Measure the time when the acceleration in the horizontal direction and / or the traveling direction does not reverse positively and negatively, and the absolute value of the change amount of the acceleration in the horizontal direction and / or the traveling direction becomes equal to or more than the first threshold value.
    When the measured time is equal to or greater than the second threshold value, or when the measured time is equal to or greater than the third threshold value and the measured time is equal to or greater than the fourth threshold value, the speed in the horizontal direction and / or the traveling direction is in the moving device. The information collection according to any one of claims 1 to 5, presuming that the road in the predetermined section is inclined or the inclined section of the road in the predetermined section is long when the speed exceeds or decreases during normal driving. apparatus.
  7. 　前記属性情報は前記利用者の年齢、又は前記利用者に対する介添えの有無を含み、
    　前記推定部は、前記年齢に応じて、前記重み付けの量を変化させる、又は前記介添えの有無に応じて、前記介添えがない場合には前記介添えがある場合よりも前記重み付けの量を大きくする、請求項５に記載の情報収集装置。     The attribute information includes the age of the user or the presence or absence of assistance to the user.
    The estimation unit changes the amount of the weighting according to the age, or increases the amount of the weighting in the absence of the assistance as compared with the case with the assistance, depending on the presence or absence of the assistance. The information collecting device according to claim 5.
  8. 　移動装置に固定された端末装置から、前記移動装置におけるセンサ情報を取得するステップと、
    　前記センサ情報に基づいて、前記移動装置が通行した道路の状態を推定するステップと、
    　前記道路の状態を示す情報を記憶するステップと、
    　を備える、情報収集方法。     A step of acquiring sensor information in the mobile device from a terminal device fixed to the mobile device, and
    Based on the sensor information, a step of estimating the state of the road on which the mobile device has passed, and
    A step of storing information indicating the state of the road and
    Information gathering method.
  9. 　コンピュータを、請求項１から７のいずれか一項に記載の情報収集装置として機能させるプログラム。 A program that causes a computer to function as the information collecting device according to any one of claims 1 to 7.
PCT/JP2019/024813 2019-06-21 2019-06-21 Information collection device, information collection method, and program WO2020255405A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/024813 WO2020255405A1 (en) 2019-06-21 2019-06-21 Information collection device, information collection method, and program

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/024813 WO2020255405A1 (en) 2019-06-21 2019-06-21 Information collection device, information collection method, and program

Publications (1)

Publication Number Publication Date
WO2020255405A1 true WO2020255405A1 (en) 2020-12-24

Family

ID=74040430

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/024813 WO2020255405A1 (en) 2019-06-21 2019-06-21 Information collection device, information collection method, and program

Country Status (1)

Country Link
WO (1) WO2020255405A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001093096A (en) * 1999-09-22 2001-04-06 Fuji Heavy Ind Ltd Curve approach controller
JP2016207160A (en) * 2015-04-28 2016-12-08 日本電信電話株式会社 Barrier information generation system, barrier information generation device, barrier information generation method, and program
JP2017072926A (en) * 2015-10-06 2017-04-13 パイオニア株式会社 Level difference detection device
JP2018200679A (en) * 2017-05-26 2018-12-20 アルパイン株式会社 Fault information providing system, information processing unit, and fault information providing method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001093096A (en) * 1999-09-22 2001-04-06 Fuji Heavy Ind Ltd Curve approach controller
JP2016207160A (en) * 2015-04-28 2016-12-08 日本電信電話株式会社 Barrier information generation system, barrier information generation device, barrier information generation method, and program
JP2017072926A (en) * 2015-10-06 2017-04-13 パイオニア株式会社 Level difference detection device
JP2018200679A (en) * 2017-05-26 2018-12-20 アルパイン株式会社 Fault information providing system, information processing unit, and fault information providing method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SUMIDA, YASUAKI: "Development of step and slope", IEICE TECHNICAL REPORT, vol. 114, no. no. 357, 4 December 2014 (2014-12-04), pages 63 - 68 *

Similar Documents

Publication Publication Date Title
JP7349792B2 (en) How to provide information for vehicle operation
US10126743B2 (en) Vehicle navigation route search system, method, and program
JP6172283B2 (en) Route search system, route search method and computer program
JP6197691B2 (en) Automatic driving support system, automatic driving support method, and computer program
JP4446201B2 (en) Image recognition apparatus and image recognition method
CN108089571A (en) For predicting the vehicular traffic behavior of automatic driving vehicle to make the method and system of Driving Decision-making
CN108973990A (en) Method, medium and system for automatic Pilot control
JP2006113836A (en) Road information providing system
JP2007320433A (en) Parking guidance device
US20190375429A1 (en) Method and system for providing assistance to a vehicle or driver thereof
US20150177014A1 (en) Route calculation system, route calculation device, route calculation method, and computer program
CN113819910A (en) Method and device for identifying overpass zone in vehicle navigation
JP5057510B2 (en) Route search device
JP2015075479A (en) Congestion display device, congestion display method, and congestion display program
JP2018132529A (en) Congestion display device, congestion display method, and congestion display program
WO2020255405A1 (en) Information collection device, information collection method, and program
WO2020255406A1 (en) Navigation system, navigation method, and program
JP5066225B2 (en) Route search device, program, electronic map data, and recording medium
JP6099845B1 (en) Information device, navigation device, work procedure guidance device, and load status determination method
JP2009058430A (en) Navigation apparatus and program
JP2022000654A (en) Congestion display device, congestion display method, and congestion display program
WO2014083710A1 (en) Route search device, route search method, and route search program
JP2011128049A (en) Traffic sign recognition device and traffic sign recognition method
JP6806507B2 (en) Vehicle position estimation device
JP5930597B2 (en) Guidance information providing system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19933447

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19933447

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP