WO2023157081A1 - Système de navigation d'installation et procédé de navigation d'installation - Google Patents

Système de navigation d'installation et procédé de navigation d'installation Download PDF

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Publication number
WO2023157081A1
WO2023157081A1 PCT/JP2022/005955 JP2022005955W WO2023157081A1 WO 2023157081 A1 WO2023157081 A1 WO 2023157081A1 JP 2022005955 W JP2022005955 W JP 2022005955W WO 2023157081 A1 WO2023157081 A1 WO 2023157081A1
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WIPO (PCT)
Prior art keywords
user
facility
weight
route
section
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PCT/JP2022/005955
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English (en)
Japanese (ja)
Inventor
嘉人 遠藤
剛 静間
Original Assignee
三菱電機ビルソリューションズ株式会社
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Application filed by 三菱電機ビルソリューションズ株式会社 filed Critical 三菱電機ビルソリューションズ株式会社
Priority to PCT/JP2022/005955 priority Critical patent/WO2023157081A1/fr
Priority to JP2024500734A priority patent/JPWO2023157081A1/ja
Publication of WO2023157081A1 publication Critical patent/WO2023157081A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q90/00—Systems or methods specially adapted for administrative, commercial, financial, managerial or supervisory purposes, not involving significant data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator

Definitions

  • the present disclosure relates to a facility navigation system and a facility navigation method for guiding movement routes within a facility.
  • Patent Document 1 discloses a route guidance device that guides visitors to a route in a target area such as an exhibition hall.
  • the route guidance device obtains the current location of the visitor from the identification information read from the visitor's tag, and obtains the congestion status from the number of the read identification information. Then, the route guidance device weights the map information in the target area according to the congestion state, and obtains the route from the present location of the visitor to the destination.
  • the routes that can be traveled may differ depending on the type of user. For example, in a commercial facility, in addition to aisles through which shoppers can pass, there are usually aisles through which only store employees and facility managers can pass. Also, even if the route is the same, the time required to travel the route may differ depending on the type of user. For example, in a commercial facility, there may be a difference in the time it takes for a shopper and an employee to travel the route due to the equipment and the like on the route.
  • the present disclosure has been made in order to solve such problems, and the purpose of the present disclosure is to provide a facility navigation system that guides movement routes within a facility so that users can find the shortest route to their destination according to the type of user of the facility. It is to guide the route that can be moved in time.
  • a facility navigation system is a facility navigation system that guides a user of a facility to a travel route within the facility, and includes a processor and a memory that stores a program executed by the processor.
  • the processor holds, for each user type, weight data in which a weight value corresponding to the time required for movement of the user is assigned to each section of the passage through which the user can pass in the facility.
  • the processor searches for a plurality of candidates for the travel route from the departure point to the destination based on search conditions received from the user, including the user's user type, departure point, and destination. Then, for each of the plurality of candidates, the processor uses weight data corresponding to the user type of the user to calculate the total value of at least one weight value included in the candidate.
  • the processor guides the user to the candidate with the smallest sum of weight values among the plurality of candidates as the moving route.
  • the facility navigation method is a facility navigation method that guides users of the facility to a movement route within the facility.
  • FIG. 1 is an overall configuration diagram of a facility navigation system according to an embodiment of the present disclosure
  • FIG. It is a figure which shows the hardware constitutions of a facility navigation system.
  • 4 is a flow chart explaining a processing procedure of a facility navigation method according to the present embodiment
  • FIG. 3 is a diagram showing an example of a search condition input screen displayed on a display of a terminal device
  • It is a figure which shows an example of the map showing the present condition of a facility.
  • FIG. 10 illustrates an example of route weight data for shoppers with children
  • FIG. 10 is a diagram showing an example of weight data for each moving object
  • FIG. 4 is a flowchart showing a procedure for calculating a moving route in S17 of FIG.
  • FIG. 10 is a diagram for explaining a moving route calculation method when a user is a facility manager;
  • FIG. 10 is a diagram for explaining a moving route calculation method when the user is a shopper with children;
  • FIG. 12 is a diagram summarizing the calculation results of the movement routes shown in FIGS. 10 and 11;
  • FIG. 10 is a diagram for explaining a moving route calculation method when the user is a shopper with children;
  • FIG. 1 is an overall configuration diagram of a facility navigation system according to an embodiment of the present disclosure.
  • the facility navigation system 100 is a system that guides users of the facility to a movement route within the facility. As will be described below, the facility navigation system 100 is configured to calculate a route that allows the user to travel from a starting point to a destination in the shortest time according to the type of user, and to guide the user. be done. In the following, the facility navigation system according to the present embodiment will be described by taking as an example the case of providing guidance on a travel route in a commercial facility (for example, a shopping mall).
  • a commercial facility for example, a shopping mall
  • the facility navigation system 100 includes servers 10 and 20, a terminal device 30, multiple wireless communication devices 72, and multiple cameras .
  • Server 10, server 20, and terminal device 30 are configured to be able to communicate with each other via communication network NW (typically, the Internet).
  • NW typically, the Internet
  • Mobile objects include the mobile robot 40 and a stuffed toy worn on the human body (hereinafter also referred to as a "kigurumi").
  • the mobile robot 40 is, for example, a cleaning robot that is an autonomously mobile vacuum cleaner, an autonomously mobile carrier robot, an autonomously mobile guide robot that responds to inquiries from shoppers 5, or a boarding robot for small children. etc.
  • the mobile robot 40 is equipped with a battery, and can move within the facility using power stored in the battery. Costumes are large stuffed animals that can be worn by humans, and are used for events for infants and children held in facilities.
  • a wireless communication device 42 is mounted on the mobile robot 40 .
  • the wireless communication device 42 transmits a signal for detecting the position of the mobile robot 40 using, for example, a communication method conforming to the BLE (Bluetooth Low Energy, "Bluetooth” is a registered trademark) communication standard.
  • BLE Bluetooth Low Energy
  • UWB Ultra Wide Band
  • the wireless communication device 42 uses a communication method conforming to a wireless communication standard such as LTE (Long Term Evolution), for example, to identify an ID (Identification) for identifying the mobile robot 40 and the operating state of the mobile robot 40.
  • a signal or the like to indicate is transmitted to the server 20 .
  • a wireless communication device 62 is mounted on the shopping cart 60 used by the shopper 4.
  • Wireless communication device 62 like wireless communication device 42, transmits a signal for detecting the position of shopping cart 60 using a communication method conforming to the BLE communication standard, UWB communication standard, or the like.
  • a plurality of wireless communication devices 72 and a plurality of cameras 70 are installed, for example, on the ceiling 45 of the facility at appropriate distances.
  • the plurality of wireless communication devices 72 are signals generated from the mobile robot 40 and the shopping cart 60 using the same communication method as the wireless communication device 42 of the mobile robot 40 and the wireless communication device 62 of the shopping cart 60. is received and its reception strength is detected. The positions of the mobile robot 40 and the shopping cart 60 within the shopping mall can be determined from the reception strength of the wireless communication device 72 .
  • Wireless communication device 72 outputs the reception strength of the signals received from mobile robot 40 and shopping cart 60 to server 20 .
  • the camera 70 captures the inside of the facility and outputs the captured image (moving image) to the server 20 .
  • the captured images include images of people (shoppers, employees, etc.) or mobile objects existing in the facility.
  • the wireless communication device 72 and the camera 70 may be installed on the wall.
  • the server 20 is a server that monitors people and moving objects that exist within the facility.
  • a plurality of wireless communication devices 72 and cameras 70 installed on the ceiling 45 are communicatively connected to the server 20 .
  • the server 20 may be a server that manages the mobile robot 40 .
  • the server 20 receives the reception strength of the signal received by the wireless communication device 72 from the wireless communication device 72, and measures the positions of the mobile robot 40 and the shopping cart 60 in the facility from the reception strength of each wireless communication device 72. do. Also, the server 20 measures the positions of the person and the costume based on the captured image (moving image) from the camera 70 . Furthermore, the server 20 generates congestion information indicating congestion conditions within the facility based on the positional information of the shopping cart 60 and the captured image (moving image) from the camera 70 . The server 20 transmits the location information of the mobile body and the congestion information in the facility to the server 10 via the communication network NW.
  • the server 10 has a function of guiding the users of the facility to a moving route within the facility.
  • the server 10 is installed in a management company that manages facilities.
  • the server 10 can be used by a manager who has been entrusted with management of the facility by the operating company.
  • the server 10 is configured to receive search instructions from facility users through the terminal device 30 .
  • This search instruction includes the type of user who operates the terminal device 30 and search conditions such as a departure point and a destination.
  • the server 10 uses the congestion information in the facility and the position information of the moving object acquired from the server 20 to calculate the route that allows the user to move from the departure point to the destination in the shortest time. Configured.
  • the server 10 guides the user through the terminal device 30 on the calculated movement route.
  • the server 20 for monitoring the inside of the facility and the server 10 for calculating the movement route inside the facility are configured as separate bodies, but the present invention is not limited to this, and the servers 10 and 20 are integrated. You may
  • the terminal device 30 is communicably connected to the server 10 via the communication network NW.
  • Terminal device 30 is an information processing device having a communication function and a display function, and is typically a smart phone or a tablet.
  • the terminal device 30 can be used by the shopper 1 in the facility, the facility manager 3, employees of each store, and the like.
  • the terminal device 30 is not limited to a mobile terminal such as a smartphone or tablet, and may be a PC (Personal Computer) or the like installed in the facility.
  • the terminal device 30 typically has a web browser.
  • the terminal device 30 accesses the server 10 and displays screen data (WEB screen) on its own device. Note that the terminal device 30 needs to log in to the server 10 in order to display the screen data.
  • the terminal device 30 and the server 10 for calculating the movement route within the facility are separately configured, but the present invention is not limited to this, and the terminal device 30 and the server 10 are configured integrally. You may
  • FIG. 2 is a diagram showing the hardware configuration of the facility navigation system 100. As shown in FIG.
  • the server 10 has, as main components, a processor 11 that executes a program, a ROM (Read Only Memory) 12 that stores data in a non-volatile manner, and a RAM (Random Access Memory) 13 for volatilely storing data or data input via an input device, HDD (Hard Disk Drive) 14 for nonvolatilely storing data, and communication IF (Interface) 15 including.
  • a processor 11 that executes a program
  • ROM Read Only Memory
  • RAM Random Access Memory
  • HDD Hard Disk Drive
  • communication IF Interface
  • the communication IF 15 is an interface for performing communication between the server 10 and the server 20 and the terminal device 30 .
  • the HDD 14 stores data used for calculating the movement route.
  • the data includes route weight data for each user and weight data for each moving object, which will be described later.
  • the server 10 may include other non-volatile storage devices instead of the HDD 14 or together with the HDD 14 .
  • the server 20 includes a processor 21, ROM 22, RAM 23, HDD 24, and communication IF 25 as main components. Each component is connected to each other by a data bus 26 .
  • Communication IF 25 is an interface for communicating with server 10 , mobile robot 40 , wireless communication device 72 and camera 70 .
  • the HDD 24 stores information on the mobile robot 40, facility information, location information on the mobile robot 40, the person, the shopping cart 60, and the like.
  • the HDD 24 also stores various databases for managing the mobile robot 40 .
  • FIG. 2 shows a configuration example in which necessary processing is provided by each of the processors 11 and 21 executing a program, some or all of these provided processing may be performed by dedicated hardware. It may be implemented using a hardware circuit (eg, ASIC (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array), etc.).
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • the terminal device 30 includes a processor 31, a ROM 32, a RAM 33, an input section 34, a display 35, and a communication IF 36 as main components. Each component is connected to each other by a data bus 37 .
  • the input unit 34 receives inputs from users (for example, shopper 1, facility manager 3, etc.).
  • the display 35 outputs the processing results and the like from the processor 11 .
  • a touch panel display in which the input unit 34 and the display 35 are integrated may be adopted.
  • Communication IF 36 is an interface for communicating with server 10 .
  • the HDD 34 stores installed applications and the like.
  • FIG. 3 is a flow chart explaining the processing procedure of the facility navigation method according to the present embodiment. A series of processes shown in this flowchart are executed by the terminal device 30 and the servers 10 and 20 when a user using the facility operates the terminal device 30 to search for a moving route within the facility.
  • the processing executed by the terminal device 30 is shown on the left, the processing executed by the server 10 is shown in the center, and the processing executed by the server 20 is shown on the right.
  • Each step is realized by software processing by the processor 31 in the terminal device 30, the processor 11 in the server 10, and the processor 21 in the server 20. ) or the like.
  • step (hereinafter simply referred to as "S") 01 the terminal device 30 determines whether or not user input of search conditions for searching for a movement route has been received.
  • S01 for example, when the user activates an application pre-installed in the terminal device 30 and enters a search condition on the input screen (see FIG. 4) displayed on the display 35, the determination is YES. NO determination is made in the case of
  • FIG. 4 is a diagram showing an example of a search condition input screen displayed on the display 35 of the terminal device 30.
  • the input screen 50 has a field 51 for selecting a facility to be searched, a field 52 for selecting the user type of the user, and a starting point and a destination of the route.
  • a column 53 is provided for doing.
  • the user can select a facility to be used by the user from multiple facilities.
  • the terminal device 30 acquires the floor map of the selected facility from the server 10 by accessing the server 10 .
  • the terminal device 30 is equipped with a GPS (Global Positioning System) sensor and can detect the current position of the user, the application can automatically identify the facility that the user uses. 51 can be omitted.
  • GPS Global Positioning System
  • the user can further select the type that the user applies from among multiple user types in column 52 .
  • FIG. 4 exemplifies "shopper (normal)", “shopper (with children)”, “employee (store)”, and "facility manager” as user types.
  • the terminal device 30 has a database that links the user account and the user type of the user, the application can automatically acquire the user type, so the field 52 can be omitted. can be done.
  • shoppers refer to general shoppers.
  • Shoppers with children
  • Employees refer to employees of each store within the facility.
  • a facility manager refers to an administrator who manages a facility.
  • the type of shoppers are classified according to whether or not they are accompanied by children. This is because it tends to take longer for shoppers with children to travel along the route than it takes for shoppers with children to travel along the route. In other words, it is based on the fact that the time required for a shopper to travel a route varies depending on whether or not they are accompanied by children.
  • the terminal device 30 when the terminal device 30 receives the user input of the search conditions (facility, user type, departure place and destination) (when determined YES in S01), in S02, the terminal device 30 The received search conditions are transmitted to the server 10 .
  • the search conditions familial, user type, departure place and destination
  • the server 10 transmits information indicating the current status of the facility used by the user.
  • a signal for requesting the server 20 (hereinafter also referred to as a "current information request signal") is generated.
  • the current information request signal includes information indicating the facility used by the user (name of facility, number of floors used, area, etc.) and information indicating the specified time and specified period.
  • the facility information is generated from the facility, starting point, and destination included in the prosecution conditions.
  • the specified time indicates the time when the position information of the moving object is acquired.
  • the specified time is the time when the user uses the facility, for example, the current time.
  • the designated period refers to the period during which congestion information within the facility is acquired.
  • the specified period is a predetermined period around the specified time.
  • the server 10 transmits the generated current information request signal to the server 20 in S12.
  • the server 20 determines whether or not the current information request signal has been received from the server 10 in S21. If the current information request signal has been received (YES in S21), the server 20 acquires current information on the facilities used by the user based on the information included in the current information request signal. The server 20 then generates a response signal including the acquired current information (hereinafter also referred to as a “current information response signal”) and transmits it to the server 10 .
  • the server 20 first acquires, in S22, congestion information indicating the degree of congestion of facilities used by users during a specified period.
  • the server 20 measures the positions of the person and the shopping cart 60 within the facility during the specified period.
  • a person's position can be measured from images captured by a plurality of cameras 70 using known image analysis techniques.
  • the position of the shopping cart 60 can be determined from the reception strengths of multiple wireless communicators 72 .
  • the server 20 calculates the degree of congestion within the facility based on the measurement results of the positions of the people and the shopping carts 60 .
  • the degree of congestion can be calculated, for example, based on the total number of people and shopping carts 60 per unit area of the floor.
  • the server 20 acquires the position information of the moving body within the facility at the designated time in S23.
  • the server 20 measures the position of mobile objects (mobile robot 40 and costume) within the facility at a specified time.
  • the position of the mobile robot 40 can be measured from the reception intensities of multiple wireless communication devices 72 .
  • the position of the costume can be measured from images captured by a plurality of cameras 70 using a known image analysis technique.
  • the server 20 creates a map showing the current situation within the facility based on the congestion information and the location information of the moving bodies acquired in S22 and S23.
  • FIG. 5 is a diagram showing an example of a map.
  • Fig. 5 schematically shows a plan view of the floor in the facility as seen from the ceiling.
  • the facility includes multiple entrances, multiple stores, store warehouses, passages for shoppers to pass, passages for employees to pass, machine rooms, rest rooms, restrooms, and , an elevator EV and the like are provided.
  • the marks M1 to M3 shown in FIG. 5 indicate the position of the moving object at the specified time.
  • a mark M1 indicates the position of the guide robot.
  • a mark M2 indicates the position of the costume.
  • a mark M3 indicates the position of a ride-on robot (for example, a train for children).
  • the degree of congestion for each unit area is also expressed in color.
  • a color bar B1 indicating the range of colors assigned according to the degree of congestion is shown on the upper right of the map.
  • the color bar B1 is divided into a plurality of segments between the maximum value and the minimum value of the degree of congestion, and different colors are set for the plurality of segments.
  • the map is color-coded according to the degree of congestion according to this color bar B1. In this map, an area with a high degree of congestion indicates that a plurality of people are concentrated and it is difficult to move.
  • the server 20 generates a current information response signal including the created map and transmits it to the server 10 in S24.
  • the server 10 After transmitting the current information request signal in S12, the server 10 waits to receive a current information response signal from the server 20. The server 10 determines whether or not the current information response signal has been received from the server 20 in S13. If the current information response signal has been received (YES in S13), the server 10 uses the map (FIG. 5) included in the current information response signal to determine the starting point of the user according to the procedure described below. Calculates a route that can move from the point to the destination in the shortest time.
  • the server 10 first reads the "route weight data by user" stored in the HDD 14 in S14.
  • User-specific route weight data is data generated for each type of user of a facility, and includes routes that users can travel and weight values that represent ease of movement on those routes. consists of In the present embodiment, multiple types of route weight data are generated and stored in the HDD 14 corresponding to shoppers (normal), shoppers (with children), employees (stores), and facility managers. there is Based on the user type of the user included in the search condition given from the terminal device 30, the server 10 reads from the HDD 14 the user-specific route weight data corresponding to the user.
  • FIG. 6 is a diagram showing an example of route weight data for facility administrators.
  • FIG. 6 schematically shows a plan view of the inside of the facility when the floor is viewed from the ceiling.
  • the plan view shown in FIG. 6 is the same as the plan view shown in FIG.
  • the floor plan shows the routes that the facility manager can move.
  • the paths through which facility managers can travel include a shopper aisle through which shoppers can travel and an employee aisle through which employees can travel.
  • the plan view also shows a weight value W corresponding to the ease of movement. Specifically, each of the shopper aisle and employee aisle is divided into a plurality of sections, and a weight value W is assigned to each section.
  • the weight value W of each section is determined according to the time required to move the section. The weight value W is determined so that the longer it takes to move (that is, the harder it is to move), the larger the value. In the route weight data for the facility manager shown in FIG. 6, the weight value W of each section is determined according to the time required for the facility manager to move.
  • the time required to move each section can basically be estimated based on the distance and road width of that section. This is because generally, the longer the distance of the section, the longer the time required for movement, and the narrower the road width of the section, the longer the time required for movement due to the restricted movement speed.
  • the weight value W of each section shown in FIG. 6 is obtained by relatively evaluating the weight value of each section using the weight value for the section having a predetermined distance and road width as a reference value. The smaller the weight value W, the easier it is to move.
  • FIG. 7 is a diagram showing an example of route weight data for shoppers with children.
  • FIG. 7 schematically shows a plan view of the inside of the facility when the floor is viewed from the ceiling.
  • the plan view shown in FIG. 7 is the same as the plan views shown in FIGS.
  • the floor plan shows routes along which shoppers with children can travel and weight values W.
  • the routes that shoppers with children can travel unlike the routes that facility managers can travel, shown in FIG. 6, do not include employee aisles. Therefore, in the route weight data for shoppers (with children), the weight value W is not given to the employee passage.
  • each shopping aisle is divided into a plurality of sections, and each section is given a weight value W determined according to the time it takes for shoppers with children to move.
  • the weight value W of each section can basically be determined by relative evaluation using the weight value for a section having a predetermined distance and road width as a reference value.
  • the weight value W of such a section may be set to a value larger than the value obtained from the distance and width of the section.
  • the server 10 reads out the "weight data by moving object" stored in the HDD 14 in S15.
  • the weight data for each moving object includes weight values determined for each type of moving object.
  • FIG. 8 is a diagram showing an example of weight data for each moving object.
  • a cleaning robot, a boarding robot, a guide robot, and a costume are illustrated as mobile objects present in the facility.
  • a weight value is given to each mobile. This weight value is synonymous with the weight value in the route weight data for each user described above, and is determined in consideration of the time required for movement.
  • the weight value of each moving object can be relatively determined according to the type of moving object.
  • the weight value can be set to a larger value than that for a moving body that does not hinder movement, in order to increase the time required for movement.
  • the weight value of each moving object can be changed according to the type of user.
  • the weight values for shoppers with children are higher than the weight values for normal shoppers, store employees, and facility managers for each of the ride-on robot and the costume. This is due to the fact that ride-on robots and plushies tend to hinder movement, especially for shoppers with children.
  • the weight value of each moving body can be appropriately set by a person in charge of management or the like who uses the server 10 .
  • the server 10 adjusts the weight value W of each section included in the user-specific route weight data read at S14.
  • the server 10 adjusts the weight value W of each section using the current information response signal received from the server 20 at S13 and the weight data for each moving body read at S15.
  • the weight value W of each section in the user-specific route weight data is a numerical representation of the time required to move in that section (ease of movement). It can be determined based on the distance of the section and the width of the road.
  • the travel time may differ depending on the degree of congestion. For example, as the degree of congestion in a section increases, it tends to take longer to move because a large number of people crowd together and it becomes difficult to move.
  • the time required for movement may change depending on the presence or absence of a moving object on the movement route and the type of moving object. For example, shoppers with children may spend more time traveling when a ride-on robot or costume is in the path of travel compared to when these mobile objects are not in the path of travel. be.
  • the server 10 uses the congestion information of facilities and the location information of the moving body currently included in the information response signal, and the weight data for each moving body (FIG. 8) to obtain route weight data for each user. Adjust the weight value W contained in . As a result, the current situation of the facility is reflected in the weight value W of each section.
  • the server 10 adjusts the weight value W of each section included in the user-specific route weight data read out in S14 according to the degree of congestion of that section. For example, the weight value W of a section included in a highly congested area is changed to a value higher than the value determined from the distance and road width of that section according to the degree of congestion. Also, the weight value W of a section included in an area with a low degree of congestion is changed to a value lower than the value determined from the distance and road width of that section according to the degree of congestion. As a result, the weight value W of each section reflects the actual degree of congestion.
  • the server 10 adjusts the weight value W of each section according to the presence or absence of a mobile body in that section and the type of the mobile body. Specifically, for a section in which a moving object exists, the server 10 refers to the weight data for each moving object (FIG. 8), and calculates the weight value W based on the type of the moving object and the user type of the user. to adjust. For example, if the user is a shopper with a child, the server 10 sets the weight value W of the section in which the costume is present to the value shown in the weight data for each moving body (Fig. 8 Then change it to "100"). On the other hand, if the user is the facility manager, the server 10 sets the weight value W of the section in which the costume exists to the value indicated in the weight data for each moving body (“2” in FIG. 8). change.
  • the weight value W of each section is determined by considering not only the distance and road width of the section, but also the degree of congestion in the section, the presence or absence of moving objects, and the type of moving objects. The determined ease of movement for each user type is quantified.
  • FIG. 9 is a flow chart showing the moving route calculation procedure in S17 of FIG.
  • the server 10 first searches for candidates for the travel route from the departure point to the destination in S171. Next, in S172, the server 10 calculates the total value of the weight values W by adding together the weight values W included in the movement route for each of the plurality of candidates. Finally, in S173, the server 10 calculates the candidate with the smallest sum of the weight values W among the plurality of candidates as the moving route.
  • FIG. 10 is a diagram for explaining the method of calculating the movement route when the user is the facility manager.
  • FIG. 10 schematically shows a plan view of the inside of the facility when the floor is viewed from the ceiling.
  • the plan view shown in FIG. 10 is the same as the plan view shown in FIG. In this plan view, consider a case where the facility manager calculates a moving route when moving from the elevator EV4 to the rest room.
  • the server 10 first searches for a travel route candidate starting from the elevator EV4 and having the break room as the destination.
  • FIG. 10 shows a plurality of retrieved candidates (moving routes Rt1 to Rt3) superimposed on the route weight data for the facility manager.
  • the plurality of candidates includes the movement route Rt2 via the employee passage.
  • the server 10 calculates the total value of the weight values W by adding together the weight values W included in the movement route for each of the multiple candidates.
  • the moving route Rt1 includes a total of 6 weight values W of "7", “2", “7", “8", “7", “4" and “3”. , and the total value of these weight values W is “35”.
  • the moving route Rt2 includes a total of four weight values W of "7", "4", "3” and “3”, and the total value of these weight values W is "17”.
  • a weight value W is included, and the total value of these weight values W is "72".
  • the server 10 compares the total value of the weight values W among the multiple candidates. Then, the server 10 calculates the candidate with the smallest total value of the weight values W as the route through which the user can travel to the destination in the shortest time.
  • the weight value W of each section is determined so that the more difficult it is for the facility manager to move (the longer the time it takes to move), the larger the value. Therefore, the total value of the plurality of weight values W included in the movement route represents the ease of movement (time required for movement) along the entire movement route. Therefore, the smaller the total value of the weight values W, the easier it is to move along the movement route (the shorter the time it takes to move).
  • the server 10 calculates the travel route Rt2 as a route that allows the facility manager to travel to the destination in the shortest time.
  • FIG. 11 is a diagram for explaining the method of calculating the movement route when the user is a shopper with children.
  • FIG. 11 schematically shows a plan view of the inside of the facility when the floor is viewed from the ceiling.
  • the plan view shown in FIG. 11 is the same as the plan view shown in FIG. In this plan view, consider the case of calculating a route for a shopper with a child to leave the elevator EV4 and move to the rest room.
  • the server 10 first searches for a travel route candidate with the elevator EV4 as the departure point and the break room as the destination.
  • FIG. 11 shows a plurality of retrieved candidates (moving routes Rt1, Rt3) superimposed on route weight data for shoppers with children (FIG. 7).
  • the travel route Rt2 via the employee passage shown in FIG. 10 is excluded from the candidates.
  • the server 10 calculates the total value of the multiple weight values W included in the movement route for each of the multiple candidates.
  • the moving route Rt1 includes a total of 6 weight values W of "7", “2", “7", “8”, “7", “4" and “3”. , and the total value of these weight values W is "35".
  • the moving route Rt3 a total of 10 "7”, “15”, “15”, “7", “2”, “7", “8”, “7", "4" and "3"
  • a weight value W is included, and the total value of these weight values W is "72".
  • the server 10 compares the total value of the weight values W among the plurality of candidates, and the candidate with the smallest total value of the weight values W allows the user to move to the destination in the shortest time. Calculate as a route.
  • the moving route Rt1 has the smaller total weight value W.
  • the server 10 calculates the travel route Rt1 as a route through which the shopper with children can travel to the destination in the shortest time.
  • FIG. 12 summarizes the calculation results of the movement routes shown in FIGS.
  • a moving route Rt2 indicates a moving route calculated by the server 10 when the user is the facility manager.
  • a movement route Rt1 indicates a movement route calculated by the server 10 when the user is a shopper with children. All travel routes start from the elevator EV4 and end at the rest room.
  • the movement route calculated by the server 10 differs depending on the user type of the user. This is based on the fact that the route that can be traveled differs depending on the user type of the user, and the weight value W of each section of the route differs depending on the user type of the user.
  • the weight value W of each section changes according to the congestion situation in the facility, the presence or absence of a mobile object, and the type of mobile object, so the calculated travel route is different. become a thing.
  • FIG. 13 is a diagram for explaining a method of calculating a movement route when the user is a shopper with children, and is a diagram to be compared with FIG.
  • FIG. 13 schematically shows a plan view of the inside of the facility when the floor is viewed from the ceiling.
  • the plan view shown in FIG. 13 differs from the plan view shown in FIG. 11 in that a costume (see mark M2 in the figure) is present on the movement route Rt1.
  • the server 10 refers to the weight data for each mobile object (FIG. 8), and, out of the route weight data for shoppers with children (FIG. Change W.
  • the weight value W of the section is "2".
  • the weight value is set to "100" when the user type is a shopper with children and the moving body type is a costume. Therefore, the server 10 changes the weight value W of the section from "2" to "100".
  • the server 10 first searches for a travel route candidate starting from the elevator EV4 and having the break room as the destination.
  • FIG. 13 shows a plurality of retrieved travel route candidates (travel routes Rt1 and Rt3) superimposed on route weight data for shoppers with children.
  • the server 10 calculates the total value of the weight values W by adding together the weight values W included in each of the plurality of moving route candidates.
  • the moving route Rt1 includes a total of 6 weight values W of "7", “100", “7", “8", “7", “4" and “3”. , and the total value of these weight values W is "136".
  • a weight value W is included, and the total value of these weight values W is "72".
  • the server 10 compares the total value of the weight values W among the plurality of moving route candidates, and selects the candidate with the smallest total value of the weight values W so that the user can move in the shortest time. Calculate as a possible route. In the case of FIG. 13, among the two moving route candidates (moving routes Rt1 and Rt3), the moving route Rt3 has the smaller total weight value W. In FIG. Therefore, the server 10 calculates the travel route Rt3 as a route through which the shopper with children can travel to the destination in the shortest time.
  • the movement route calculated by the server 10 will differ depending on whether or not there is a costume. According to this, the presence or absence of a mobile object that attracts the child's interest can be taken into consideration, and guidance can be given to the shopper with the child on the route that will allow them to move to the destination in the shortest time.
  • the server 10 transmits data indicating the movement route calculated in S17 to the terminal device 30.
  • the terminal device 30 After transmitting the search conditions to the server 10 in S ⁇ b>02 , the terminal device 30 waits to receive movement route data from the server 10 .
  • the terminal device 30 determines whether or not the moving route data has been received from the server 10 in S03.
  • the terminal device 30 causes the display 35 to display the received travel route data in S04.
  • the terminal device 30 causes the display 35 to display the moving route indicated by the moving route data on the floor map of the facility used by the user. Thereby, the user can move to the destination while referring to the moving route displayed on the display 35 .
  • the server 10 holds user-specific route weight data created for each user type.
  • a weight value corresponding to the time required for movement of the user is assigned to each section of the passage through which the user can pass. Since the route that can be passed through and the time required to move between sections of the route differ depending on the type of user, the route weight data for each user differs depending on the type of user. Then, in providing guidance to the user on the movement route within the facility, the server 10 uses the route weight data corresponding to the user type of the user to calculate the movement route from the departure point to the destination. According to this, according to the user type of the user, it is possible to guide the user on the route that allows the user to travel from the starting point to the destination in the shortest time.
  • the server 10 collects congestion information in the facility and the positions of mobile objects (mobile robot 40, costume, etc.) in the facility. Information is acquired, and the weight value assigned to each section of route weight data for each user is adjusted based on the acquired information. According to this, since the current situation in the facility can be reflected in the weight value, it is possible to guide the user to an appropriate moving route in consideration of the current situation in the facility.
  • the server 10 adjusts the weight value given to each section of the user-specific route weight data according to the type of mobile object located within the facility and the user type of the user. Accordingly, even when a mobile object exists in the facility, it is possible to guide the appropriate moving route according to the user type of the user.

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Abstract

La présente invention concerne un serveur (10) qui maintient, pour chaque type d'utilisateur, des données de poids dans lesquelles chaque section d'une allée accessible à un utilisateur dans une installation est attribuée d'une valeur de poids qui dépend d'un temps de déplacement de l'utilisateur. Le serveur (10) utilise une condition de recherche, qui est reçue de l'utilisateur et comprend un type d'utilisateur, un point de départ et un point de destination de l'utilisateur, pour récupérer une pluralité de candidats pour un itinéraire de déplacement du point de départ au point de destination. Le serveur (10) utilise des données de poids correspondant au type d'utilisateur de l'utilisateur pour chaque candidat de la pluralité de candidats pour calculer une somme d'au moins une valeur de poids incluse dans le candidat et montre à l'utilisateur un itinéraire de déplacement qui est un candidat minimisant la somme d'au moins une valeur de poids parmi la pluralité de candidats.
PCT/JP2022/005955 2022-02-15 2022-02-15 Système de navigation d'installation et procédé de navigation d'installation WO2023157081A1 (fr)

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PCT/JP2022/005955 WO2023157081A1 (fr) 2022-02-15 2022-02-15 Système de navigation d'installation et procédé de navigation d'installation
JP2024500734A JPWO2023157081A1 (fr) 2022-02-15 2022-02-15

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007066106A (ja) * 2005-08-31 2007-03-15 Fujitsu Ltd 経路案内装置
US20070219711A1 (en) * 2006-03-14 2007-09-20 Tim Kaldewey System and method for navigating a facility
WO2014132802A1 (fr) * 2013-02-27 2014-09-04 インターナショナル・ビジネス・マシーンズ・コーポレーション Procédé permettant de fournir un guide d'itinéraire au moyen de données de modélisation d'informations de bâtiment (bim), ordinateur permettant de fournir un guide d'itinéraire, et programme informatique associé

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007066106A (ja) * 2005-08-31 2007-03-15 Fujitsu Ltd 経路案内装置
US20070219711A1 (en) * 2006-03-14 2007-09-20 Tim Kaldewey System and method for navigating a facility
WO2014132802A1 (fr) * 2013-02-27 2014-09-04 インターナショナル・ビジネス・マシーンズ・コーポレーション Procédé permettant de fournir un guide d'itinéraire au moyen de données de modélisation d'informations de bâtiment (bim), ordinateur permettant de fournir un guide d'itinéraire, et programme informatique associé

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