JP2019056674A - Display system, electronic device, and map information display method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display system capable of presenting a passing method in which vibration and load when passing through a step or a gradient are small. SOLUTION: In the display system of the present invention, a server stores a barrier point that can be an obstacle to the running of a moving object, a storage means for storing the obstacle information (the size of a step or an inclination), and map data, and the barrier point. A determining means for determining a recommended approach direction to a step or an inclination when displaying, a map information generating means for generating map information including the approaching direction, and a providing means for providing the generated map information to an electronic device. Have. The electronic device has a display means for displaying map information provided by the server. [Selection diagram] Fig. 6

Description

  The present invention relates to a technique for providing barrier information useful for traveling a mobile body for personal mobility such as a wheelchair, an electric wheelchair, an electric cart, and a stroller.

  Conventionally, there is a barrier-free map that displays, for each building, the presence or absence of a slope used by a person with a physical disability and the presence or absence of facilities such as a toilet for the disabled. In the barrier-free map, in addition to displaying the target equipment, some steep slopes may display the slope in%. Such a barrier-free map is particularly useful information for those who go out using a wheelchair.

  In the handicapped probe information collection system of Patent Literature 1, probe information including information indicating the current position of the mobile terminal and the type of the user's fault is transmitted from the mobile terminal used by the handicapped person to the map information providing server. The providing server analyzes the probe information, and grasps when and what route the user has moved, where the user was unable to pass, and the like. When the map information providing server receives the navigation request from the mobile terminal, the map information providing server provides the mobile terminal with information on roads and the like that could not be passed by the wheelchair due to steps or steep slopes.

JP 2012-150584 A

  In a barrier map generation system that includes barrier information such as road steps and gradients, the server collects the values of inertial sensors provided in the electric wheelchair, and the server analyzes the collected sensor values to determine the type of barrier, The azimuth angle at the time of approach is detected and registered in the map database. For example, when there is a navigation request from the user's portable terminal to the server, the server provides the portable terminal with map data of a barrier-free route to a destination that avoids the barrier specified by the user. For example, when the user sets a condition that “a step with a height of 5 cm or more does not pass”, the server searches for a route that avoids a point where a step with a height of 5 cm or more exists, and provides guidance according to the condition. . FIG. 1 is a display example of a map of the barrier-free route K on the portable terminal side when such conditions are set. In addition, if the barrier detection result of “height 5 cm” and “height 3 cm” is uploaded from the wheelchair to the server for the same step point, the server will keep the record of “height 3 cm”. The larger step is used as a representative value.

  The conventional barrier-free route guidance has the following problems. For example, when the condition of “a step with a height of 5 cm or more does not pass” is set, a step with a height of 4 cm is included in the passage target point. The mechanical vibration or impact when riding is large, and the burden on the user is large. Especially for wheelchair users who are disabled, it is desirable that the load of vibration and impact is as small as possible.

  The present invention solves such a conventional problem, and provides a display system, an electronic device, and a map information display method capable of presenting a passing method with less vibration and load when passing through a step or a gradient. For the purpose.

  A display system according to the present invention includes a server and an electronic device having a function of displaying map information provided from the server, and the server is a barrier point that may be an obstacle to travel of a moving object. And obstacle information of the barrier point, storage means for storing map data, determination means for determining a recommended approach direction to the barrier point when displaying the barrier point, and referring to the map data, A generating unit configured to generate map information including guidance information indicating an approach direction and a barrier point; and a providing unit configured to provide the generated map information to the electronic device, wherein the electronic device is provided by the providing unit. Display means for displaying the map information.

  In one embodiment, the obstacle information includes step information relating to a road step, and the determining means determines a recommended approach direction to the step based on the step information. In one embodiment, the step information includes a plurality of step data defining a relationship between a height of the step and an approach angle to the step with respect to the same step point, and the determining means includes the step data of the plurality of step data. The recommended step data is selected from the inside, and the recommended approach angle to the step is determined based on the selected step data. In one embodiment, the obstacle information includes inclination information related to a road inclination, and the determining means determines a recommended approach direction to the inclination based on the inclination information. In one embodiment, the inclination information has a plurality of inclination data defining a relationship between an inclination angle of the inclination and an approach angle to the inclination with respect to the same inclination point, and the determining means includes the plurality of inclination data. The recommended inclination data is selected from the above, and the recommended approach angle to the inclination is determined based on the selected inclination data. In one embodiment, the guidance information is an arrow. In one embodiment, the guidance information is a text display. In one embodiment, the mobile body is a wheelchair.

  An electronic device having a function of displaying map information according to the present invention includes guide information indicating a recommended approach direction to a barrier point when displaying a barrier point that may be an obstacle to traveling of a moving object, and the barrier point. Holding means for holding the included map information, and display means for displaying the held map information.

  A map information display method in an electronic apparatus having a function of displaying map information according to the present invention is a guide that indicates a recommended approach direction to a barrier point when displaying a barrier point that may be an obstacle to traveling of a mobile object. The map information including the information and the barrier point is held, and the held map information is displayed.

  According to the present invention, when the barrier point is displayed, the guidance information indicating the recommended approach direction to the barrier point is displayed, so that vibration to the user when passing through the barrier point such as a step or an inclination is displayed. And impact or load can be reduced.

It is a display example of a conventional barrier-free route. It is a figure which shows the structure of the display system which concerns on the Example of this invention. It is a block diagram which shows the structure of the server which concerns on the Example of this invention. 4A shows the barrier information registered in the map data according to the embodiment of the present invention, FIG. 4B shows the details of the step information, and FIG. 4C shows the details of the inclination information. Indicates. It is a figure explaining the relationship between a level | step difference and the approach direction to the said level | step difference, and an inclination and the direction of approach to the said level | step. It is a figure which shows the functional structure of the map information provision program which concerns on the Example of this invention. It is a figure which shows the example of a production | generation of the map information which concerns on the Example of this invention. It is a block diagram which shows the structural example of the portable terminal which concerns on the Example of this invention. It is a figure which shows the functional structural example of the navigation request | requirement program which concerns on the Example of this invention. It is an operation | movement flow of the display system which concerns on the Example of this invention.

  Next, embodiments of the present invention will be described in detail with reference to the drawings. A display system according to an embodiment of the present invention includes a server and an electronic device that displays information distributed from the server. The server stores map data including link data related to roads and node data related to intersections, and the link data is associated with barrier information that may be an obstacle in traveling on a wheelchair or the like. The electronic device only needs to have a display medium that can communicate with the server and is visible to the user such as a wheelchair. For example, a multifunctional mobile phone such as a smartphone, a portable information terminal, a laptop Or it can be a notebook computer. The electronic device may be fixedly attached to a wheelchair or the like, or may be removable. In the following examples, a case where a mobile terminal such as a smartphone is used as the electronic device will be exemplified.

  FIG. 2 is a diagram showing the configuration of the display system according to the embodiment of the present invention. The display system 10 according to the present embodiment includes a mobile terminal 30 held by a user who has boarded the wheelchair 20 and a server 40 that provides map information. The portable terminal 30 is connected to the server 40 via the network NW by wireless communication means such as a wireless LAN such as Wi-Fi (registered trademark) or other wireless public communication network, and is interactively connected to the server 40. Data communication can be performed.

  When there is a request for distribution of map information from the mobile terminal 30, the server 40 transmits the map information to the mobile terminal 30, and the mobile terminal 30 displays the received map information. In addition, the server 40 collects barrier information such as steps and gradients that may cause wheelchair obstacles from a plurality of wheelchairs 20-1, 20-2,... Register fault information in the map database. In one embodiment, the wheelchair is equipped with various sensors such as an acceleration sensor, an angular velocity sensor, a vibration sensor, or a vehicle speed sensor. The information (included in the mobile terminal 30) is uploaded to the server 40, and the server 40 identifies the link and the barrier point from the uploaded position information, and analyzes the detection value of the sensor to detect the barrier (for example, the level difference). Height, slope of slope, etc.) and register it in association with the corresponding link.

  FIG. 3 is a block diagram illustrating a configuration of the server 40. The server 40 includes a communication unit 100, a control unit 110, and a storage unit 120. However, this configuration is an example, and the server 40 may further include other configurations.

  The communication unit 100 establishes a connection with the mobile terminal 30 via the network NW, and transmits and receives data to and from the mobile terminal 30. The control unit 110 controls the entire server 40. The storage unit 120 stores a program executed by the control unit 110 of the server 41, a map database, and the like.

  FIG. 4 shows an example of map data of this embodiment. The map data includes link data 130 relating to roads, node data 132 relating to intersections, facility data 134 relating to facilities, and the like. The link data 130 includes the link type (sidewalk, road, city road, etc.), node coordinates of the start node and end node to which the link is connected, the direction of the link (for example, the road traveling direction or the start node and the end node) In addition, the information includes a barrier point (coordinates) 136 that may become an obstacle during traveling of a wheelchair or the like and obstacle information of the barrier point. The direction of the link is used for calculating the approach angle θ when the wheelchair enters the road, as will be described later. The obstacle information at the barrier point 136 includes step information 138 including the presence / absence of a road step and the height of the step, and inclination information 140 including the presence / absence and inclination of the road. As described above, the obstacle information of these barrier points 136 may be generated based on information collected from users of the plurality of wheelchairs 20-1 to 20-N.

  The step information 138 indicates whether there is a step on the road (link), and includes, for example, a step flag such as “0” if there is no step and “1” if there is a step. The step information 138 further includes step data representing the height of the step if the step flag is “1”.

  Here, as shown in FIG. 4A, even if the step 150 is the same, the step 150 is used when entering the direction S1 perpendicular to the step 150 and when entering the oblique direction S2 with respect to the step 150. The shock and vibration when passing through are different. For example, for a step of 4 cm, the impact when entering at 45 degrees is smaller than the impact when entering at a right angle. Accordingly, the sensor value uploaded from the user when traveling on the same step is not necessarily constant, and varies depending on the approach angle θ to the step. For example, the sensor value of a certain user indicates the magnitude of impact when passing through a step of 4 cm, and the sensor value of another user indicates the magnitude of impact when passing through a step of 2 cm.

  When different sensor values are collected for the same step point and the analysis results indicate different step heights, the server 40 obtains step data that associates the step height with the approach angle θ at that time. Register in the information 138. For example, as shown in FIG. 4B, the step height data of the step height “4 cm” and the approach angle “0 °”, the step height data “2 cm” and the approach angle “45 °”, the step data, A plurality of step data of height “3 cm” and approach angle “30 °” are registered as step information 138 of the same step point. When a plurality of step data is registered for the same step point, step data with an approach angle of 0 ° that gives the highest impact or vibration to the step is used as a representative value, and this representative value is used when searching for a barrier-free route. This is used to determine whether or not the setting condition is met.

  The sensor value uploaded from the user includes the output of the wheelchair angular velocity sensor, the wheelchair traveling direction calculated from the angular velocity sensor, and the link direction included in the road link data including the steps. The approach angle θ to the step can be calculated from the difference between the two. For example, if the traveling direction of the wheelchair and the link direction (the traveling direction of the road) are parallel, the approach angle θ = 0 degrees, and if the traveling direction of the wheelchair and the link direction are orthogonal, the approach angle θ = 90 degrees. The approach angle θ is a value within a range of −90 degrees to +90 degrees with respect to the link direction.

  The inclination information 140 indicates whether or not there is an inclination (gradient) in the traveling direction of the road (link), and includes, for example, an inclination flag such as “0” if there is no inclination and “1” if there is an inclination. If the inclination flag is “1”, the inclination information 140 further includes inclination data indicating the inclination distance L (see FIG. 4A) and the inclination angle.

  As in the case of the step, even in the same inclination point, as shown in FIG. 4A, when entering the direction S3 perpendicular to the inclination 160 and when entering the oblique direction S4 with respect to the inclination 160 The load when passing through the slope 160 is different. For example, with respect to an inclination having an inclination angle of 10 °, the load when entering at 45 degrees is smaller than the load when entering at a right angle. Therefore, the sensor value uploaded from the user when traveling on the same slope is not necessarily constant, and varies depending on the approach angle θ to the slope. For example, the sensor value of a certain user indicates the magnitude of the load when passing through an inclination with an inclination angle of 10 °, and the sensor value of another user indicates the magnitude of the load when passing through an inclination with an inclination angle of 5 °. Indicates.

  When different sensor values are collected for the same inclination point and the analysis results indicate different inclination angles, the server 40 stores the inclination data associating the inclination angle with the approach angle θ at that time in the inclination information 140. sign up. For example, as shown in FIG. 4C, the inclination data “10 °” and the entry angle “0 °”, the inclination data “5 °” and the entry angle “45 °”, and the inclination angle “7”. A plurality of inclination data of “°” and an approach angle “30 °” are registered as inclination information 140 of the same inclination point. When multiple slope data are registered for the same slope point, the slope data with an approach angle of 0 ° that gives the highest load on the slope is the representative value, and this representative value is set when searching for a barrier-free route. Used to determine whether the condition is met.

  Here, the angle of the step is not necessarily 90 degrees, and may be an angle smaller than that. In the above example, the step information and the inclination are distinguished as the failure information. However, if the angle of the step becomes gentle, it can be regarded as the inclination. That is, it is not always necessary to distinguish between a step and an inclination, and both may be a unit “step” or simply “an inclination”.

  In the above description, the case where one step has one height, or one inclination has one inclination angle, and the height or the inclination angle differs when the approach angle is different has been described. The inclination is not limited to this. In other words, if the road surface shape is different, the height of the step may be different depending on the position and direction of entering the step. Similarly, if the road surface shape is different, the inclination angle itself depends on the position and direction of entering the slope. May be different. Furthermore, the step and the boundary of the inclination do not necessarily need to be linear, and the step and the boundary of the inclination may be bent or curved. In the present invention, such various steps and inclinations are also applied.

  Next, the control unit 110 of the server 40 will be described. In a preferred embodiment, the control unit 110 includes a microcontroller including a ROM, a RAM, and the like, and the ROM or the RAM can store various programs for controlling the operation of each unit of the server 40. In the present embodiment, the control unit 110 executes a map information providing program that provides map information including barrier information to the mobile terminal 30 in response to a request from the mobile terminal 30.

  FIG. 5 is a diagram illustrating a functional configuration example of the map information providing program. The map information providing program 200 includes a navigation request acquisition unit 210, a barrier free route search unit 220, a barrier point approach direction determination unit 230, a map information generation unit 240, and a map information transmission 250.

  The navigation request acquisition unit 210 receives a navigation request from the mobile terminal 30. The navigation request includes, for example, location information (for example, current location) of the mobile terminal 30, a destination, a condition for setting failure information, and the like. The failure information setting conditions include the presence / absence of a step that can be passed by the user, the height of an allowable step, the presence / absence of an inclination, an allowable gradient angle, and the like.

  When the navigation request is acquired, the barrier free route search unit 220 refers to the map data and searches for a barrier free route from the current location of the mobile terminal 30 to the destination, for example. If the failure information setting condition is, for example, “a step of 5 cm or more does not pass”, the barrier-free route search unit 220 searches for a route that avoids a point having a step of 5 cm or more. If it does not pass a slope of more than °, a route that avoids a point where a slope of 10 ° or more exists is searched.

The barrier point approach direction determination unit 230 extracts a barrier point existing on the route searched by the barrier free route search unit 220 and determines an approach direction to the extracted barrier point. As described above, a plurality of step data may be registered for the same step point, and a plurality of tilt data may be registered for the same tilt point. The barrier point approach direction determination unit 230 determines whether or not there is a plurality of step data for the same step point in the extracted barrier points and whether or not there are a plurality of tilt data for the same tilt point. If there are multiple step data, select the approach angle with the lowest step height as the recommended approach angle, and if there are multiple slope data, select from these, The approach angle with the smallest inclination angle is selected as the recommended approach angle, and the selected approach angle is determined as the approach direction to the barrier point. In the example of FIG. 4B, an approach angle of 45 ° when the height of the step is the smallest “2 cm” is selected, and in the example of FIG. 4C, “5” is the smallest inclination angle. The entry angle 45 ° when “°” is selected, and these are determined as the approach directions to the barrier point.
In addition, the approach direction to the recommended barrier point is within ± 90 degrees with respect to the link direction (the traveling direction of the road).

  The map information generation unit 240 generates map information according to the barrier free route searched by the barrier free route search unit 220 and the approach direction to the barrier point determined by the barrier point approach direction determination unit 230. Specifically, as shown in FIG. 6, when there is a step on the barrier free route K, in addition to displaying the step, a recommended approach direction (arrow) H to the step is displayed. The approach direction H is an approach angle θ of the wheelchair with respect to the traveling direction of the road. If necessary, the recommended approach angle text may be displayed, or the balloon may be displayed when the user touches the step.

  In the example of FIG. 6, recommended approach angles for steps on the barrier-free route K are shown, but recommended approach angles for other steps and slopes may be displayed. . In FIG. 6, the step of “5 cm” is avoided from the route K. However, if the approach angle is not 0 ° but the step is entered in an oblique direction with respect to the step of “5 cm”, there is a step. If there is “4 cm” or less, the user can select the shortcut of the step “5 cm” by his / her own judgment by referring to the step data.

  The map information transmission unit 250 transmits the map information generated by the map information generation unit 240 to the mobile terminal 30 that has made the navigation request. Here, if the mobile terminal 30 includes map data, the server 40 may transmit information regarding the barrier-free route and the barrier point guidance method to the mobile terminal, and does not need to transmit map data. In this case, the portable terminal 30 displays the information related to the received barrier-free route and the barrier information guidance method superimposed on the map data.

  Next, the mobile terminal will be described. FIG. 7 is a block diagram illustrating a configuration of the mobile terminal 30. The mobile terminal 30 includes a communication unit 300, an input unit 310, a display unit 320, an external I / F (interface) 330, an audio output unit 340, and a position detection unit. 350, the memory | storage part 360, and the control part 370 are comprised. However, this is a typical configuration example, and the mobile terminal 30 may include functions other than those described above.

  As illustrated in FIG. 2, the communication unit 300 enables wireless communication connection with the server 40 via a network. The input unit 310 receives input from the user and provides it to the control unit 360. For example, when requesting the navigation function from the server 40, the user inputs the obstacle condition setting conditions, the destination, and the like. The display unit 320 displays map information and the like transmitted from the server 40. The external I / F 330 provides an interface with a sensor attached to the wheelchair 20, for example, and receives a detection value of the sensor. The detection value of the sensor is uploaded to the server 40 together with the position information of the wheelchair, and is used to generate a barrier point and its failure information map.

  The audio output unit 340 outputs audio data stored in the storage unit 360 and audio data provided from the server 10. The position detection unit 340 detects the current location of the mobile terminal 30 based on GPS signals received from GPS satellites and self-contained navigation sensors. The storage unit 360 stores a program to be executed by the mobile terminal 30, an application, data downloaded from the server 40, and the like. The storage unit 360 can also store map data necessary for navigation.

  In a preferred embodiment, the control unit 370 includes a ROM, a RAM, a microcontroller, and the like, and the ROM or the RAM can store various programs for controlling the operation of each unit of the mobile terminal 30. In the present embodiment, the control unit 370 executes a navigation request program that requests the navigation function of the server 40.

  FIG. 8 is a functional configuration example of the navigation request program according to the present embodiment, and the program 400 includes a navigation request unit 410, a map information acquisition unit 420, and a map information display unit 430.

  The navigation request unit 410 makes a navigation request to the server 40 in response to an instruction from the user via the input unit 310. The request for navigation includes setting conditions (conditions for avoiding steps and inclinations) of obstacle information for the current location, destination, and barrier point of the mobile terminal 30 detected by the position detection unit 350.

  The map information acquisition unit 420 receives the map information generated by the map information generation unit 230 from the server 40. The map information display unit 430 displays the map information acquired by the map information acquisition unit 420 on the display unit 320. As shown in FIG. 6, for example, the display unit 320 includes a barrier-free route from the current location of the mobile terminal 30 to the destination, and guidance on the approach direction to the barrier point (recommended approach angle to the step, etc.). Is displayed.

  Here, the guidance of the approach direction to the barrier spot may be identified from other information. For example, the direction H representing the approach angle may be displayed in a color different from the road or background color, or may be hatched. Further, the guidance of the approach direction to the barrier point may be such that text data representing the approach angle is converted into voice data, and the voice data is output from the voice output unit 340 as voice.

  Next, FIG. 9 shows an operation flow of the display system according to the present embodiment. In the mobile terminal 30, for example, the user activates an application for navigation (S 100), and subsequently, conditions for avoiding the failure information of the destination and barrier points are input by the user (S 102). In response to this, the navigation request program 400 is activated, and the navigation request unit 410 transmits a request including information input by the user and the current position of the mobile terminal 30 to the server 40.

  When the navigation request is received by the server 40 (S104), a barrier-free route to the destination is searched (S106), the barrier point approach direction determining unit 230 determines the approach direction to the barrier point (S108), and the map Map information is generated by the information generation unit 240 (S110), and the map information generated by the map information transmission unit 250 is transmitted to the mobile terminal 30 (S112). The portable terminal 30 receives the map information transmitted from the server 40 (S114), and displays the received map information on the display unit 320 (S116).

  As described above, according to the present embodiment, when passing through a barrier point such as a step or an inclination, the user is notified of a passing method with less impact and load. Can pass through.

  In the above embodiment, the display example of the barrier point when searching for the barrier-free route to the destination is shown. However, this is an example, and for example, a road map around the current position of the wheelchair is displayed on the mobile terminal. The present invention can also be applied to such cases. In this case, the mobile terminal 30 transmits a map distribution request to the server 40. This request includes the current position of the information terminal 30. In response to this request, the server 40 reads map data around the current position, determines an approach direction to the barrier point included therein, and transmits map information including them to the mobile terminal 30. The portable terminal 30 causes the display unit 320 to display the received map information. On the map screen of the display unit 320, information recommending the approach direction to the barrier point as shown in FIG. 6 is displayed.

  In the above embodiment, the wheelchair is exemplified as the moving body. However, the present invention can be applied to a moving body such as an electric cart, a stroller, a walking assist device, and personal mobility in addition to the wheelchair. This can be applied not only to manual driving by a user on the body but also to route guidance during automatic driving.

  The preferred embodiment of the present invention has been described in detail above. However, the present invention is not limited to the specific embodiment, and various modifications and variations are possible within the scope of the gist of the invention described in the claims. It can be changed.

10: Display system 20: Wheelchair 30: Mobile terminal 40: Server 150: Step 160: Inclination K: Barrier-free routes S1, S2, S3, S4: Approach direction θ: Approach angle L: Gradient distance

Claims (10)

A display system including a server and an electronic device having a function of displaying map information provided from the server,
The server
A storage unit that stores a barrier point that can be an obstacle to travel of the moving body, failure information of the barrier point, and map data;
A determining means for determining a recommended approach direction to the barrier point when displaying the barrier point;
Generating means for referring to the map data and generating map information including guidance information indicating the approach direction and a barrier point;
Providing means for providing the generated map information to the electronic device;
The electronic device is
A display system comprising display means for displaying map information provided by the providing means. The display system according to claim 1, wherein the obstacle information includes step information regarding a step of the road, and the determination unit determines a recommended approach direction to the step based on the step information. The step information includes a plurality of step data defining the relationship between the step height and the approach angle to the step with respect to the same step point, and the determination means is recommended from the plurality of step data. The display system according to claim 2, wherein step data is selected, and a recommended approach angle to the step is determined based on the selected step data. The display system according to claim 1, wherein the obstacle information includes inclination information regarding a road inclination, and the determination unit determines a recommended approach direction to the inclination based on the inclination information. The inclination information has a plurality of inclination data defining the relationship between the inclination angle of the inclination and the approach angle to the inclination with respect to the same inclination point, and the determining means is recommended from the plurality of inclination data. The display system according to claim 4, wherein the inclination data is selected and a recommended approach angle to the inclination is determined based on the selected inclination data. The display system according to claim 1, wherein the guidance information is an arrow. The display system according to claim 1, wherein the guidance information is a text display. The display system according to claim 1, wherein the moving body is a wheelchair. An electronic device having a function of displaying map information,
Holding means for holding guidance information indicating a recommended approach direction to the barrier point when displaying a barrier point that may be an obstacle to traveling of the moving object, and map information including the barrier point;
Display means for displaying the stored map information;
An electronic device. A method of displaying map information in an electronic device having a function of displaying map information,
Holds the guide information indicating the recommended approach direction to the barrier point when displaying the barrier point that may be an obstacle to travel of the moving body and the map information including the barrier point,
A map information display method that displays stored map information.

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