JP3781506B2 - Walking position detecting device and route guide device for pedestrian - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a walking position detection device that detects a current walking position when walking from a predetermined position (for example, a starting position) to a desired position (target position), for example.
[0002]
Moreover, this invention relates to the route guidance apparatus for pedestrians which guides a walk route with respect to a pedestrian by displaying a pedestrian's position on a map in piles.
[0003]
[Prior art]
As a prior art, there is a pedestrian route guidance apparatus disclosed in Japanese Patent Laid-Open No. 8-202982. In this apparatus, a GPS receiver and a geomagnetic sensor are used as means for detecting the current position of the pedestrian, and a gyroscope and a geomagnetic sensor are used as means for detecting the walking direction.
[0004]
The route guidance device for pedestrians according to this prior art includes road information storage means and objective value input means. In order to guide the pedestrian to the target position input by the objective value input means, for example, a pedestrian The route is visually guided by displaying the current position of the vehicle on the map, or the route is guided by voice, and the route is guided by a vibrator that gives vibration to the pedestrian. .
[0005]
[Problems to be solved by the invention]
However, according to this conventional technique, the GPS receiver, the geomagnetic sensor, the gyroscope and / or the geomagnetic sensor are used as means for detecting the current position of the pedestrian. There is a problem that it is difficult to detect the position.
[0006]
The present invention has been made in consideration of the above-described problems, and an object of the present invention is to provide a walking position detection device that can detect the position of a pedestrian with high accuracy.
[0007]
Another object of the present invention is to provide a pedestrian route guidance device that can display the exact position of a pedestrian on a map.
[0008]
[Means for Solving the Problems]
The walking position detection device of this invention is
Is attached to the upper body of the pedestrian, and a magnetic field generating means for generating a magnetic field, respectively mounted on the left and right feet of the pedestrians, the relative position sensor you measure the magnetic field,
It is mounted on the body of the pedestrian, to have a walking position detecting means for calculating a walking distance and walking direction in the three-dimensional based on the measurement result in the relative position sensor for detecting a position of the pedestrian Features.
[0009]
According to the present invention, by mounting the relative position sensors on the left and right feet of the pedestrian, it is possible to directly detect the actual walking of the pedestrian and to detect the position with high accuracy.
[0010]
In this case, by mounting the relative position sensors on the left and right shoes, respectively, as a result, the relative position sensors can be easily mounted on the pedestrian's feet.
[0011]
In the present invention, it is preferable to mount the relative position sensor below the ankle, but if it is a portion below the knee, the accuracy is the same as when it is attached below the ankle by simple calibration. The relative position can be detected.
[0012]
Moreover, the route guide device for pedestrians of this invention is
A magnetic field generating means for generating a magnetic field mounted on the upper body of a pedestrian;
Respectively provided on the right and left legs of the pedestrian, the relative position sensor you measure the magnetic field,
Is attached to the upper body of the pedestrian, the pedestrian position detection means for detecting a position of the pedestrian to calculate the walking distance and walking direction in the three-dimensional based on the measurement result in the relative position sensor,
And having a navigation device that displays superimposed position of the pedestrian detected by the walking position detecting means on the map.
[0013]
According to this invention, it becomes possible to display the exact position of a pedestrian on the map.
[0014]
In this case, in order to use the automobile navigation apparatus widely used at present, it has a distance wheel pulse conversion means and an angular velocity calculation means, and the walking distance obtained from the relative position sensor by these means is used as the wheel pulse. In addition to the conversion, the walking angular velocity is obtained from the calculated walking direction, and the obtained wheel pulse and angular velocity are input to the automobile navigation device. For this reason, the exact walking position of the pedestrian can be displayed on the map displayed on the display means of the automobile navigation device.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[0016]
FIG. 1: has shown the circuit block diagram of the route guidance apparatus 10 for pedestrians of this embodiment which has the walking position detection apparatus 12 of this embodiment.
[0017]
FIG. 2 shows a mechanical configuration of the pedestrian route guidance apparatus 10 shown in FIG.
[0018]
As can be seen from FIG. 1, the pedestrian route guidance device 10 is configured by a walking position detection device 12 and a navigation device 14 connected thereto in terms of electrical circuit.
[0019]
As can be seen from FIG. 2, the route guide device 10 for pedestrians is mechanically connected to the portable unit 20 carried by the pedestrian and the portable unit 20 via cables 21 and 22. It consists of receivers 31 and 32 as relative position sensors. The portable unit 20 includes a navigation device 14 and a control main body 18 that is integrally connected to the navigation device 14.
[0020]
FIG. 3 schematically illustrates a use state in which the pedestrian route guidance apparatus 10 is carried by the pedestrian 40.
[0021]
As schematically depicted in FIG. 3, in use, the portable unit 20 is usually attached to the abdomen on the waist of the pedestrian 40 by a wearing means such as a belt (not shown), and the receivers 31 and 32 are These are attached to shoes 41 and 42 respectively worn on the left and right feet via attachment means such as clips. In this case, the receiver 31 is attached to the right shoe 41 and the receiver 32 is attached to the left shoe 42. In this embodiment, the receivers 31 and 32 and the portable unit 20 are connected via cables 21 and 22 via connectors (not shown), but can also be connected using wireless communication such as infrared communication. .
[0022]
As shown in FIG. 1, the walking position detection device 12 includes a three-dimensional magnetic sensor 44 and a calculation unit 46 to which this output is supplied. The control main body 18 constituting the portable unit 20 is configured to include the entire calculation unit 46 and a part of the three-dimensional magnetic sensor 44.
[0023]
The three-dimensional magnetic sensor 44 uses a device for obtaining a so-called virtual reality, and transmits a transmitter (magnetic field) via a drive circuit 54 under the control of a control unit 52 incorporated in the control main body 18. (Generating means) A magnetic field is generated from 56, currents induced in the receivers 31 and 32 placed in the magnetic field MF are measured in a time division manner by the detection circuit 58, and each receiver 31, 32 is measured by the control unit 52 from the measurement result. XYZ three-dimensional coordinates and Euler angles (three angle parameters of pitch, yaw, and roll that define the orientation of the object with respect to the reference axis) are detected. The detection output is supplied to the walking distance calculation unit 62 and the walking direction calculation unit 72, the walking distance from the reference position (reset position) is calculated by the walking distance calculation unit 62, and the walking direction for each walking is calculated as the walking direction calculation unit. 72 and are supplied to the navigation device 14.
[0024]
As shown in FIG. 4, the navigation device 14 includes a navigation system main body 61, a CD-ROM (map information storage means) 60 in which map information necessary for road walking and road management is stored (recorded), and the CD. An information reproducing unit 63 that reads out the map information recorded in the ROM 60, a display (display unit) 64 that displays map information including character information, a speaker (audio output unit) 65 that outputs sound, and a navigation; It has an operation unit 66 in which button switches for operating the system main body 61 and the like are arranged, and a controller 70 for controlling the operation of these components. The controller 70 is supplied with the three-dimensional walking distance and walking direction from the calculation unit 46 as data.
[0025]
As the navigation system main body 61, there are a high-precision gas rate sensor type navigation system, a GPS type navigation system, a geomagnetic sensor type navigation system, an inertial navigation type navigation system, and the like, and any of these known systems may be used. May be used.
[0026]
In practice, each of the three-dimensional magnetic sensor 44, the calculation unit 46, and the navigation device 14 includes a plurality of microcomputers that function as driving, control, processing, and judging means. A read-only memory in which a microprocessor (MPU) corresponding to a processing unit (CPU), an input / output device connected to the microprocessor, an I / O port, a control program, a system program, a lookup table, etc. are written in advance (ROM), a random access memory (RAM: write / read memory) for temporarily storing processing data, an interrupt processing circuit, and the like are provided as an LSI device integrated on one chip.
[0027]
Next, the operation of the above embodiment will be described in detail.
[0028]
First, the pedestrian 40 wears the pedestrian route guidance apparatus 10. Then, when a reset button (not shown) of the operation unit 66 on the navigation device 14 is pressed, measurement with the position as the initial position is started. By this reset operation, the calculator 46 and the three-dimensional magnetic sensor 44 are also reset. Then, it is assumed that the pedestrian 40 starts walking in the arrow P direction (also referred to as the walking direction P or the traveling direction P) shown in FIG.
[0029]
In this case, a high-frequency alternating current of about 10 kHz output from the control unit 52 constituting the three-dimensional magnetic sensor 44 is supplied to the transmitter 56 as a current signal through the drive circuit 54.
[0030]
The magnetic field MF generated by the transmitter 56 is output from the control main body 18, and the output magnetic field MF is detected by the detection circuit 58 via the receivers 31 and 32 attached to the left and right shoes 41 and 42 of the pedestrian 40. And sent to the control unit 52.
[0031]
The control unit 52 determines the three-dimensional relative positions TR (x, y, z) and TL (x, y, z) of the receivers 31 and 32 using the position of the transmitter 56 as the reference position (origin coordinates) from the detected intensity distribution. ) Is continuously measured and sent to the calculation unit 46.
[0032]
The calculation unit 46 stores the three-dimensional relative position TR (x, y, z) and TL (x, y, z) in a memory (not shown) in time series. The processing in the calculation unit 46 is performed by the walking distance calculation unit 62 or the walking direction calculation unit 72 unless otherwise specified.
[0033]
Next, the calculation unit 46 detects the ground contact positions of the shoes (also referred to as feet) 41 and 42 from the trajectories of the three-dimensional relative positions TR and TL stored in the memory.
[0034]
The ground contact positions of the shoes 41 and 42 are the locus of the three-dimensional relative position TR of the right foot 41 (attached to the receiver 31) shown in FIG. It can be detected from the locus of the three-dimensional relative position TL of the left foot 42 (attached to the receiver 32) in FIG. That is, when walking, the foot 41 (receiver 31) and the foot 42 (receiver 32) are obliquely upward from the position where one of the feet is substantially grounded and the remaining feet are grounded. The position indicated by the symbols a and c in FIG. 5 is the contact position of the right foot 41 (receiver 31) (receiver 31). (Also referred to as a grounding point) (the right foot 41 has moved from the grounding position a to the next grounding position c via the upper position a ′), and the positions represented by symbols b and d in FIG. It can be seen that this is the contact position of the left foot 42 (receiver 32) (the left foot 42 has moved from the contact position b to the next contact position d via the upper position b ').
[0035]
By defining the contact position in this way, the contact position can be detected as a three-dimensional relative position. For this reason, this invention can be applied as it is, for example, not only to a flat walking path but also to a walking path with ups and downs that goes up and down stairs.
[0036]
In this embodiment, a straight line distance between the ground contact position of one foot and the next ground contact position is referred to as a distance between ground contact positions (corresponding to a general stride), and the distance between the ground contact positions of the right foot 41 is Rd (see FIG. 5) and the distance between the ground contact positions of the left foot 42 are referred to as Ld (see FIG. 6).
[0037]
Next, from the ground contact positions a, c, b, d,... In the three-dimensional relative positions TR = a, a ′, c, TL = b, b ′, d, and the like, Find the relative travel distance. It should be noted that during the three-dimensional relative positions TR and TL, the ground contact positions (which are also three-dimensional relative positions) a, c, b, d, and the like related to the ground contact positions are denoted by TRe (a), TRe (c), Let TLe (b) and TLe (d). Therefore, precisely, the relative movement direction and the relative movement distance are determined from the three-dimensional relative positions TRe and TLe related to the ground contact position, excluding the positions a ′ and b ′ above the three-dimensional relative positions TR and TL. Will be asked.
[0038]
When the walking direction P is a linear direction, as shown in the plan view of FIG. 7, the ground contact positions a, c, e in the three-dimensional relative position TRe of the right foot 41 and the three-dimensional relative position of the left foot 42 The relative movement distance from the ground contact positions b and d in TLe is the distance Rd1 / 2 that is half the distance between the ground contact positions ac (the distance between the ground contact positions of the right foot 41) Rd1, and the distance (the left foot 42 of the left foot 42). The distance Ld2 / 2 which is half of the distance between the ground positions) Ld2 and the distance Rd3 / 2 which is half of the distance Rd3 between the ground positions ce (the distance between the ground positions of the right foot 41).
[0039]
In FIG. 7, for example, when the movement distance from the contact position b to the contact position e, that is, the absolute distance (also referred to as the movement distance) D, represented by reference sign D, D2, D3, is absolute. The distance D is calculated by the walking distance calculation unit 62 as D = D1 + D2 + D3 = (Rd1 / 2) + (Ld2 / 2) + (Rd3 / 2) and supplied to the navigation device 14. Thus, in this embodiment, the movement distance D is set such that the distance between the ground contact positions Rd or Ld of the other moving foot is halved with the coordinates of one foot at the ground contact position as the origin (fixed point). It can also be thought of as a distance.
[0040]
In this case, the movement direction (walking direction) H is calculated, for example, at the movement distance calculation points c, d, and e in the same direction as H = H1, H2, and H3 indicated by arrows parallel to the traveling direction P. Absolute distance data and paired data (D1, H1), (D2, H2), etc. are supplied to the navigation device 14.
[0041]
When the walking direction P is changed from the linear direction, as shown in the plan view of FIG. 8, the moving distance D is, for example, the distance between the ground contact positions ac (the right foot 41 of the right foot 41) as in the example of FIG. The distance Rd1 / 2 which is half of the distance between the ground contact positions) Rd1 is set as the movement distance D1. The moving direction H is defined as a walking trajectory before and after the same foot, for example, an angle (relative angle) θ = θ2 formed between the ground point ac and the ground point ce. Therefore, at the contact point c, the relative angle θ = 0 °, at the contact point d, the relative angle θ = θ1, and at the contact point e, the relative angle θ = θ2,..., And the absolute angle (accumulated from the initial position). The moving direction H expressed in terms of angle) is, for example, H4 = θ1 + θ3 + θ5 at the ground point f, and H5 = θ2 + θ5 at the ground point g. This is the walking direction, is calculated by the walking direction calculation unit 72, and is sent to the navigation device 14.
[0042]
The controller 70 of the navigation device 14 uses the information reproducing unit 63 from the CD-ROM 60 for the walking distance D and the walking direction H obtained with respect to the left and right feet 41 and 42 calculated by the calculating unit 46 of the control main body unit 18. Map matching with the reproduced map information is performed, and the current position of the pedestrian 40 is displayed on the map 81 as a marker 80 (see FIG. 2) on the screen of the display 64 (see FIG. 2). Note that by performing map matching, the display image can be displayed so as to match the actual direction. Of course, a so-called head-up display or a north-up display can also be used. It is also possible to output the current position of the pedestrian 40 from the speaker 65 by voice.
[0043]
Further, when the current position has not changed for a certain period of time, it can be recognized that the walking is stopped. When the walking is stopped, the portable unit 20 in which the transmitter 56 is built can be moved to check whether the moving direction is the correct direction by display or voice.
[0044]
As described above, according to the above-described embodiment, the receivers 31 and 32 that are relative position sensors are attached to the left and right feet 41 and 42 of the pedestrian 40 to directly detect the actual walking of the pedestrian 40. Therefore, highly accurate position detection can be performed, and as a result, navigation with less error is possible.
[0045]
In the example of FIG. 3, since the receivers 31 and 32, which are relative position sensors, are attached to the shoes 41 and 42, the detected position can be used as data as it is. Thus, since the detection position can be used as data as it is, it is preferable that the receivers 31 and 32 are mounted below the ankle, but the present invention is applied to any leg portion below the knee. In that case, by measuring the length from the foot to the attachment part, the position can be detected with the same accuracy as when it is attached below the ankle with a simple configuration. be able to. Moreover, although the portable part 20 is attached near the abdomen by a belt, for example, only the display 64 may be separated and carried, and the remaining part may be carried on the back. Moreover, it is good also as a structure carried over a neck or a shoulder.
[0046]
FIG. 9 shows the configuration of a pedestrian route guidance apparatus 10A according to another embodiment of the present invention.
[0047]
The pedestrian route guidance apparatus 10A of this example in FIG. 9 connects the calculation unit 46 to the walking distance calculation unit 62 in the calculation unit 46, as compared with the pedestrian route guidance apparatus 10 of FIG. The distance wheel pulse conversion unit 90 and the angular velocity conversion unit 92 connected to the walking direction calculation unit 72 are used as a calculation unit 46A, and the navigation device 14 is changed to a car navigation device 14A. The calculation unit 46A and the three-dimensional magnetic sensor 44 constitute a walking position detection device 12A.
[0048]
The automobile navigation device 14A is currently widely used and commercially available. This automobile navigation device 14A uses a wheel pulse (for example, 4 pulses per wheel rotation) as a distance input signal as a distance input signal, and a yaw rate, ie, a direction input signal. Use angular acceleration. As is well known, the automobile navigation device 14A is configured to convert the number of wheel pulses into a distance and to integrate the angular acceleration to obtain the direction.
[0049]
Therefore, in the pedestrian route guidance apparatus 10A in the example of FIG. 9 , the walking distance calculated by the walking distance calculation unit 62 is converted into wheel pulses (for example, one wheel pulse is output for every walking distance of 40 cm). On the other hand, the walking direction calculated by the walking direction calculation unit 72 is time-differentiated and converted into angular acceleration (change in angle with time).
[0050]
By configuring as in the example of FIG. 9, it is possible to divert the low-cost automobile navigation device 14A mass-produced as it is for pedestrians, and as a result, route guidance for pedestrians in the example of FIG. The effect is that the pedestrian route guidance device 10A with reduced cost can be created with the same guidance performance (accuracy) as the device 10.
[0051]
Note that the present invention is not limited to the above-described embodiments, and various configurations can be adopted without departing from the gist of the present invention.
[0052]
【The invention's effect】
As described above, according to the present invention, since the movement distance and movement direction of the left and right feet of the pedestrian are accurately calculated, the position of the pedestrian can be detected with high accuracy (accurately). The effect of being able to be achieved is achieved. Moreover, the effect that the exact position of a pedestrian can be superimposed and displayed on a map is achieved by utilizing a navigation apparatus.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an electrical configuration of an embodiment of the present invention.
FIG. 2 is an explanatory diagram showing a mechanical configuration of the example of FIG.
FIG. 3 is an explanatory diagram showing a use state of the apparatus in the example of FIG. 2;
4 is a block diagram showing a configuration example of a navigation device in the example of FIG. 1. FIG.
FIG. 5 is a diagram for explaining calculation of walking distance.
FIG. 6 is a diagram for explaining the calculation of walking distance.
FIG. 7 is a diagram for explaining calculation of a walking distance and a walking direction at the time of linear walking.
FIG. 8 is a diagram for explaining calculation of walking distance and walking direction during curved walking.
FIG. 9 is a block diagram showing an electrical configuration of another embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10, 10A ... Route guidance device for pedestrians 12, 12A ... Walking position detection device 14 ... Navigation device 14A ... Car navigation device 18 ... Control main body 20 ... Mobile unit 21, 22 ... Cable 31, 32 ... Receiver 40 ... Walking 41 ... Right foot (shoes)
42 ... Left foot (shoes) 44 ... Three-dimensional magnetic sensor 46, 46A ... Calculation unit 56 ... Transmitter 62 ... Walking distance calculation unit 72 ... Walking direction calculation unit 90 ... Distance wheel pulse conversion unit 92 ... Angular velocity conversion unit

Claims (5)

A magnetic field generating means for generating a magnetic field mounted on the upper body of a pedestrian;
Wherein mounted on the left and right feet of pedestrians, and a relative position sensor for measuring the magnetic field,
It is attached to the upper body of the pedestrian, that it has a walking position detecting means for calculating a walking distance and walking direction in the three-dimensional based on the measurement result in the relative position sensor for detecting a position of the pedestrian A walking position detection device as a feature. The apparatus of claim 1.
A walking position detecting device, wherein the relative position sensors are respectively attached to left and right shoes. A magnetic field generating means for generating a magnetic field mounted on the upper body of a pedestrian;
Wherein mounted on the left and right feet of pedestrians, and a relative position sensor for measuring the magnetic field,
Is attached to the upper body of the pedestrian, the pedestrian position detection means for detecting a position of the pedestrian to calculate the walking distance and walking direction in the three-dimensional based on the measurement result in the relative position sensor,
Pedestrian route guidance device characterized by having a navigation device that displays superimposed position of the pedestrian detected by the walking position detecting means on the map. A magnetic field generating means for generating a magnetic field mounted on the upper body of a pedestrian;
Respectively provided on the right and left legs of the pedestrian, the relative position sensor you measure the magnetic field,
Is attached to the upper body of the pedestrian, the pedestrian position detection means for detecting a position of the pedestrian to calculate the walking distance and walking direction in the three-dimensional based on the measurement result in the relative position sensor,
Distance wheel pulse conversion means for converting the walking distance detected by the walking position detection means into wheel pulses;
Angular velocity calculating means for obtaining a walking angular velocity from the walking direction detected by the walking position detecting means;
A vehicle navigation device to which the wheel pulse and the walking angular velocity are supplied,
A route guide device for pedestrians characterized in that the position of the pedestrian is displayed on a display map of the navigation device for automobiles. The device according to claim 3 or 4,
A route guide device for pedestrians, wherein the relative position sensors are respectively attached to left and right shoes.

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