JP6328710B2 - Navigation system - Google Patents

Description

  The present invention relates to a navigation system.

  An electric cart is known as a moving means used when an elderly person, a disabled person, or the like moves to a destination. As an example of an electric cart, Patent Document 1 discloses a moving body that can travel autonomously without being operated by the user. The moving body of Patent Document 1 measures the position of the moving body with a GPS (Global Positioning System) receiver, and compares the position of the moving body measured with the GPS receiver with the travel route stored in the storage device. The mobile body is configured to autonomously travel on the stored travel route.

JP 11-290390 A

  The moving body of Patent Document 1 is configured to travel on a travel route created based on the starting point, the destination, and the latitude and longitude of the intersection. For this reason, the moving body of patent document 1 passes through the intersection in which the latitude longitude was input sequentially, and it is unclear which part on the road it travels. Therefore, the moving body of Patent Document 1 may travel on a dangerous part of a road such as a roadway. In particular, since the moving body of Patent Document 1 is assumed to be used by elderly people or persons with physical disabilities who are difficult to avoid danger by appropriately operating the steering wheel, there is a risk of traveling on a dangerous part of the road. Rise.

  The present invention has been made based on such a background, and an object of the present invention is to provide a navigation system that guides an object to be guided, in particular, an electric cart so as to move on a center line of a sidewalk.

In order to achieve the above object, a navigation system according to the present invention provides:
Storage means for storing map data and position data of the centerline of the sidewalk;
Current position acquisition means for acquiring the current position of the vehicle to be guided;
Control means for determining a path that leads from a starting point to a destination based on the map data as a route, and guiding the guidance target according to the route;
With
The control means includes
Based on the current position and the position data of the centerline of the sidewalk stored in the storage unit, the guidance target is guided to move on the centerline of the sidewalk included in the route,
With reference to the position data of the center line of the stored sidewalk in the storage means, wherein the path on the near Ru walkways stored in the storage means to find the position data of the center line, it searched for walkways Guide the target to pass through the position indicated by the centerline position data,
If it is determined whether the guidance target is on the centerline of the sidewalk and it is determined that the guidance target is not on the centerline of the sidewalk, referring to the position data of the centerline of the sidewalk stored in the storage means, the guide retrieves the positional data of the current position closest near Ru walkways of centerline position of the target, to induce the induced target searched walkways position corresponding to the position data of the center line of the.

Said storage means stores the positional data of the center line of a plurality of walkways along the center line of the sidewalk,
It said control means reads the position data of the center line of the path on the near-Ru walkways from the storage unit, induces the position indicated by the position data of the read walkways centerline as said induction object successively passes May be.

It further comprises a step detecting means for detecting a step on the sidewalk,
The control unit may guide the guidance target so as to avoid the step detected by the step detection unit.

  According to the present invention, the control means guides the guidance target to move on the centerline of the sidewalk included in the route based on the current position and the position data of the centerline of the sidewalk. Therefore, it is possible to provide a navigation system for guiding the object to be guided, especially the electric cart, to move on the center line of the sidewalk.

It is a front view which shows the electric cart which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the function of the navigation system which concerns on the 1st Embodiment of this invention. It is a schematic diagram which shows the path | route which the electric cart which concerns on the 1st Embodiment of this invention drive | works. It is a figure which shows the sidewalk centerline data table which concerns on the 1st Embodiment of this invention. It is a schematic diagram which shows the process which adjusts the traveling direction of the electric cart which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the navigation process which guides the electric cart which concerns on the 1st Embodiment of this invention from a departure place to the destination. It is a flowchart which shows the target point movement process which guides the electric cart which concerns on the 1st Embodiment of this invention from a current position to a target point. It is a front view which shows the electric cart which concerns on the 2nd Embodiment of this invention.

  Hereinafter, a navigation system according to an embodiment of the present invention will be described with reference to the drawings. In the embodiment of the present invention, an example in which the navigation system is applied to an electric cart for easy understanding is shown. However, the navigation system of the present invention is a vehicle other than the electric cart, walking for visually impaired persons. It can also be applied to support devices. In the drawings, the same or equivalent parts are denoted by the same reference numerals.

(First embodiment)
As shown in FIG. 1, which is a side view of the electric cart 100, the electric cart 100 includes a frame 101, a front wheel 102, a rear wheel 103, a shaft 104, motors 105 and 106, a handle 107, and an operation unit 108. Front wheels 102 that are independently rotatable are supported on the left and right sides of the frame 101 in the forward direction. A rotatable rear wheel 103 is also supported on the left and right sides of the frame 101 in the traveling direction. The left and right rear wheels 103 are connected to each other by a shaft 104. The shaft 104 is rotatably supported by the frame 101.

  The left and right front wheels 102 are supported so as to be swingable in the left-right direction with respect to the frame 101. The left and right front wheels 102 are connected to both ends of tie rods (not shown). The tie rod is connected to the motor 105 via a rack and a pinion (not shown), and moves in the left-right direction as the motor 105 rotates. Since the electric cart 100 is configured as described above, the electric cart 100 rotates the motor 105 to move the tie rods in the left-right direction, thereby swinging the left and right front wheels 102 in the left-right direction with respect to the frame 101 and moving in the traveling direction. Can be adjusted.

  The frame 101 supports a motor 106 for driving the rear wheel 103. The motor 106 is connected to the shaft 104 through a gear (not shown) so that a driving force can be transmitted. Therefore, when the motor 106 is rotated to rotate the shaft 104, the rotation is transmitted to the left and right rear wheels 103, and the electric cart 100 can be moved in the front-rear direction. The motors 105 and 106 are respectively controlled in rotation by the navigation system 1.

  The electric cart 100 is provided with a handle 107 for the user to operate the electric cart 100 in advance, backward, left and right, and stop. A sensor (not shown) for detecting the operating force of the handle 107 is attached to the handle 107. The handle 107 is provided with an operation unit 108 for the user to operate the navigation system 1.

  The electric cart 100 autonomously travels from the departure point where the electric cart 100 starts traveling toward the destination where the electric cart 100 finally reaches based on the instruction of the navigation system 1. To do. When the sensor provided on the handle 107 detects the operation force of the handle 107, the electric cart 100 prioritizes the handle operation by the user and stops the autonomous cart 100 from traveling autonomously.

  Next, functions of the navigation system 1 mounted on the electric cart 100 will be described with reference to the block diagram shown in FIG. Functionally, the navigation system 1 includes an instruction receiving unit 10, an output unit 20, a communication unit 30, a storage unit 40, a drive unit 50, and a control unit 60. The instruction receiving unit 10, the output unit 20, the communication unit 30, the storage unit 40, and the driving unit 50 are connected to the control unit 60 via an internal bus (not shown).

  The instruction receiving unit 10 receives instructions necessary for the user to create a route for the electric cart 100. The instruction receiving unit 10 includes a microphone 11 and a push button 12. The microphone 11 accepts information input related to a destination or the like by the user's voice. The push button 12 accepts selection and approval of a destination candidate and a route from the departure point to the destination by the user's operation. Both the microphone 11 and the push button 12 are attached to the operation unit 108 of the electric cart 100.

  The output unit 20 notifies the user of information from the navigation system 1. The output unit 20 includes a speaker 21 and a monitor 22. The speaker 21 notifies the user of the route to the destination, the display color of the traffic light, information on obstacles and people in front, and the like by voice. The monitor 22 displays the same information that is output from the speaker 21. Both the speaker 21 and the monitor 22 are provided in the operation unit 108 of the electric cart 100.

  The communication unit 30 transmits and receives signals between the navigation system 1 and the outside. The communication unit 30 includes a GPS unit 31, an ultrasonic transmission / reception unit 32, and an infrared transmission / reception unit 33. The GPS unit 31 receives a signal from a GPS satellite and detects the current position of the electric cart 100, that is, the position where the electric cart 100 actually exists at the present time. The GPS unit 31 notifies the control unit 60 of position data (longitude x, latitude y) indicating the current position of the electric cart 100.

  The ultrasonic transmission / reception unit 32 detects an obstacle ahead by transmitting ultrasonic waves in the traveling direction of the electric cart 100 and receiving reflected waves. The ultrasonic transmission / reception unit 32 measures the distance to the obstacle ahead based on the time required from the transmission of the ultrasonic wave to the reception of the reflected wave, and when the distance to the obstacle is equal to or less than a predetermined distance. The control unit 60 is notified that there is an obstacle ahead.

  The infrared receiving unit 33 is attached to the front of the electric cart 100 and detects the person in front by receiving infrared rays emitted from the human body. When the infrared receiver 33 detects a person in front, the infrared receiver 33 notifies the controller 60 that there is a person in front.

  The storage unit 40 stores a program 41, a map database 42, and a sidewalk database 43.

  The map database 42 is a database that stores map data for navigation covering the whole country. The map data includes information indicating the presence / absence of a sidewalk on the road, information indicating the presence / absence of a signal at an intersection, and the like.

  The sidewalk database 43 is a database that stores position data of the centerline of the sidewalk. As shown in FIG. 3, the position data of the centerline of the sidewalk is composed of position data indicating the positions of a plurality of points plotted at a constant interval (for example, 1 m interval) on the centerline CL of the sidewalk. The The center line CL of the sidewalk is a line connecting the centers of the widths of the sidewalk in the length direction.

  As shown in FIG. 4, the position data of the centerline of the sidewalk corresponds to “point P” for identifying each point on the centerline CL of the sidewalk and “position data” indicating the position of this point P. It is stored in the sidewalk centerline data table. The position data is represented by coordinates (x, y) composed of longitude x and latitude y.

  Referring back to FIG. 2, the driving unit 50 includes a motor driver 51 and an azimuth meter 52. The motor driver 51 supplies necessary power to the motors 105 and 106 based on an instruction from the control unit 60. The direction meter 52 measures the direction in which the electric cart 100 is actually traveling at the present time, and notifies the control unit 60 of the measured direction.

  The control unit 60 executes the program 41 stored in the storage unit 40. The control unit 60 is constituted by a processor including a CPU (Central Processing Unit), for example. The control unit 60 includes an audio processing unit 61 and a navigation unit 62.

  The voice processing unit 61 converts the voice signal acquired from the microphone 11 into text data and provides it to the navigation unit 62. Further, the text data acquired from the navigation unit 62 is converted into an audio signal and provided to the speaker 21.

  The navigation unit 62 guides the traveling of the electric cart 100 based on the signals received from the instruction receiving unit 10, the communication unit 30, the storage unit 40, and the driving unit 50. More specifically, the navigation unit 62 searches the map database 42 for a point corresponding to the content of the text data supplied from the voice processing unit 61 and sets it as the destination. In addition, the navigation unit 62 acquires the departure place of the electric cart 100 from the GPS unit 31. Further, the navigation unit 62 accesses the map database 42 and determines a route from the departure place to the destination.

  When the navigation unit 62 determines a route from the departure point to the destination, the navigation unit 62 guides the electric cart 100 to travel along the centerline CL of the sidewalk according to the route. At this time, the navigation unit 62 determines whether the electric cart 100 is traveling along the centerline CL of the sidewalk according to the route based on the information acquired from the GPS unit 31 and the azimuth meter 52.

As shown in FIG. 5, the navigation unit 62 includes an angle θ ₁ formed by the direction D1 that the electric cart 100 positioned at the current position CP (x _c , y _c ) should travel and the reference line BL, and an azimuth meter 52. Request the angle theta ₂ which the direction D2 which the electric cart 100 is actually traveling with the reference line BL is formed to be measured by. Then, the navigation unit 62 calculates an angle difference Δθ = θ ₂ −θ ₁ between the angle θ ₁ and the angle θ ₂ and controls the motor driver 51 so that the angle difference Δθ becomes zero. Here, the reference line BL is a magnetic north line (a line indicating the direction of magnetic north) at the current position CP of the electric cart 100.

  Next, the operation of the navigation system 1 will be described. In order to facilitate understanding, description will be made assuming that the electric cart 100 travels along the route shown in FIG.

First, the process of creating a route from the starting point P ₀ to the destination will be described with reference to the navigation system 1.

  A user gets on the electric cart 100 parked in a parking lot or the like, and turns on the power of the navigation system 1. Then, the navigation system 1 outputs a voice message prompting the user to set the destination from the speaker 21. The navigation system 1 receives, via the microphone 11, a voice representing a destination issued by the user in response to the voice message. The microphone 11 converts the received sound into a sound signal and outputs the sound signal to the sound processing unit 61. The voice processing unit 61 recognizes the destination from the voice signal acquired from the microphone 11, converts it to text data, and notifies the navigation unit 62.

The navigation unit 62 searches for destination candidates from the map database 42 using the notified text data as a key. Thereafter, the monitor 22 displays the destination candidates retrieved from the map database 42. In addition, the navigation unit 62 instructs the voice processing unit 61 to issue a message prompting the user to select a destination. Then, the speaker 21 outputs a message that prompts the user to select a destination. When the user pushes the push button 12 and selects one of the destination candidates, the navigation unit 62 acquires the position data (x ₀ , y ₀ ) of the departure point P ₀ via the GPS unit 31. .

When the starting point P ₀ and the destination are specified, the navigation unit 62 creates a route from the starting point P ₀ of the electric cart 100 to the destination. The route is created by referring to the map database 42 so as to travel as much as possible on a road where an intersection or a sidewalk with a signal is provided. The monitor 22 displays the route created on the map. When the user pushes the push button 12 and the route from the departure point P ₀ to the destination is approved, the navigation unit 62 starts navigation of the electric cart 100 based on the route.

Next, with reference to the flowchart of FIG. 6, the navigation unit 62 performs will be described an electric cart 100 from the starting point P ₀ on the navigation process to induce the destination.

First, the navigation unit 62 acquires the position data (x ₀ , y ₀ ) of the departure point P ₀ of the electric cart 100 from the GPS unit 31 (step S101). When the navigation unit 62 confirms that the user has approved the route, the navigation unit 62 determines whether or not the position data (x ₀ , y ₀ ) of the departure point P ₀ acquired by the GPS unit 31 is on the center line CL of the sidewalk. (Step S102). Specifically, the navigation unit 62 determines whether the position data (x ₀ , y ₀ ) of the departure point P ₀ is in the sidewalk centerline data table stored in the sidewalk database 43 shown in FIG. Whether or not it is on the center line CL of the sidewalk. If the departure point _{P 0} is on the centerline CL of the sidewalk (step S102: YES), the navigation unit 62 advances the process to step S106.

On the other hand, if the departure point _{P 0} is not on the center line CL of the sidewalk (step S102: NO), the navigation unit 62 refers to the sidewalk centerline data table sidewalk database 43, the closest walkway from a departure point _{P 0} The point P on the center line CL is identified, and the identified point P is selected as the target point TP (step S103). For example, in the route shown in FIG. 3, the target point TP of the electric cart 100 at the departure point P ₀ is the point P ₁ on the centerline CL of the sidewalk, and the position data is (x ₁ , y ₁ ).

The navigation unit 62 before starting the driving of the electric cart 100 toward the departure point P ₀ to the target point TP, the effect of the voice message to be moved from the starting point P ₀ toward the center line CL of the sidewalk to the speaker 21 The data is output and notified to the user (step S104). Thereafter, the navigation unit 62 performs a target point movement process to induce an electric cart 100 is moved from the starting point P ₀ to the target point TP (step S105).

  Here, with reference to the flowchart of FIG. 7, the target point movement process which the navigation part 62 performs is demonstrated. The target point moving process is a process for guiding and moving the electric cart 100 from the current position CP to the target point TP.

When starting the target point movement process, the navigation unit 62 first starts guiding the electric cart 100 from the current position CP to the target point TP (step S200). Subsequently, the navigation unit 62 acquires the position data (x _c , y _c ) of the current position CP of the electric cart 100 from the GPS unit 31 approximately one second after the guidance of the electric cart 100 is started (step S201). ). For example, in the route shown in FIG. 3, the electric cart 100 about 1 second after the navigation unit 62 starts guiding is located at the current position CP between the departure point P ₀ and the target point P ₁ .

The navigation unit 62 calculates an angle θ ₁ formed by the direction D1 that should be traveled in order to move from the current position CP to the target point P ₁ and the reference line BL (step S202). As shown in FIG. 5, the navigation unit 62 obtains the direction D1 based on the position data (x _c , y _c ) of the current position CP and the position data (x _t , y _t ) of the target point TP, and the angle θ ₁ is calculated.

The navigation unit 62 calculates an angle theta ₂ formed by the direction D2 and the reference line BL of the electric cart 100 acquired from the azimuth meter 52 is actually traveling (step S203).

Subsequently, the navigation unit 62 calculates an angle difference Δθ = θ ₂ −θ ₁ between the angle θ ₁ and the angle θ ₂ calculated in steps S202 and S203 (step S204).

  The navigation unit 62 determines whether or not the angle difference Δθ = 0 (step S205). If the angle difference Δθ = 0 (step S205: YES), the navigation unit 62 advances the process to step S207. On the other hand, for example, as shown in FIG. 5, when the angle difference Δθ is not 0 (step S205: NO), the navigation unit 62 controls the motor 105 of the electric cart 100 so that the angle difference Δθ becomes zero (step S205). S206). In order to achieve Δθ = 0, it is necessary to adjust the direction D2 in which the electric cart 100 actually travels. The navigation unit 62 controls the motor driver 51 to adjust the direction D2 by rotating the motor 105 and turning the front wheel 102 left and right.

About 1 second after measuring the current position CP of the electric cart 100, the navigation unit 62 obtains again the position data (x _c , y _c ) of the current position CP from the GPS unit 31 (step S207).

Next, the navigation unit 62 determines whether or not the electric cart 100 has reached the target point TP based on the acquired position data (x _c , y _c ) of the current position CP (step S208). When the electric cart 100 reaches the target point TP (step S208: YES), the navigation unit 62 returns the process.

  On the other hand, when the electric cart 100 has not reached the target point TP (step S208: NO), the navigation unit 62 returns the process to step S202. The electric cart 100 is guided to the target point TP by repeating the processes of steps S202 to S208 until the electric cart 100 arrives at the target point TP.

Referring back to the flowchart shown in FIG. 6, returning to the description of the navigation process, after executing the process of step S105 or when determining YES in step S102, the navigation unit 62 has the current position CP as the destination. Is determined (step S106). For example, in the route shown in FIG. 3, when the electric cart 100 is at the point P ₁ on the centerline CL of the sidewalk, the current position P ₁ is not the destination, so the navigation unit 62 determines that the current position CP is not the destination. Judge that there is no.

If the current position CP is the destination (step S106: YES), the navigation unit 62 ends the navigation process. On the other hand, when the current position CP is not the destination (step S106: NO), the navigation unit 62 controls the voice processing unit 61 to cause the user to output a voice message indicating that the user travels along the route, to the speaker 21. The user is notified (step S107). Then, the navigation unit 62 accesses the sidewalk database 43, searches for the point P on the centerline CL of the sidewalk included in the route that is closest to the current position CP, and the point on the centerline CL of the searched sidewalk. P is selected as the target point TP (step S108). For example, in the path shown in FIG. 3, if the electric cart 100 is in the point P ₁ on the center line CL of the sidewalk, the nearest to the current position P _1, the point P on the center line CL of the sidewalk included in the route point since a P _2, point _{P 2} is selected as the target point TP.

After executing the process of step S108, the navigation unit 62 executes a target point movement process to guide the electric cart 100 to move from the current position CP to the target point TP (step S109). Target point movement process performed in step S109 is the same as the target point movement process performed in order to move to the target position TP from the starting point P ₀ of the electric cart 100 described above with reference to the flowchart of FIG. 7 Therefore, the description is omitted.

After executing the process of step S109, the navigation unit 62 determines whether or not the current position CP is the destination (step S110). For example, in the path shown in FIG. 3, if the electric cart 100 is in the point P ₂ on the center line CL of the sidewalk, since the current position P ₂ is not the destination, the navigation unit 62, at the current position CP is the destination Judge that there is no.

  If the current position CP is the destination (step S110: YES), the navigation unit 62 ends the navigation process. On the other hand, when the current position CP is not the destination (step S110: NO), the navigation unit 62 returns the process to step S108. The electric cart 100 is guided to the destination by repeating the processing of steps S108 to S110 until the electric cart 100 arrives at the destination.

  While the navigation unit 62 is performing navigation processing, that is, while the electric cart 100 is being guided, the ultrasonic transmission / reception unit 32 is always operating, and when the obstacle in front is detected, the navigation unit 62 is informed accordingly. Notice. In addition, the infrared receiving unit 33 is always operating, and when a person in front is detected, the navigation unit 62 is notified of that fact. Upon receiving the notification, the navigation unit 62 stops the navigation process or the target point movement process and controls the motor driver 51 so as to avoid an obstacle or a person ahead. When the avoidance of the obstacle or the person is finished, the navigation unit 62 performs the navigation process or the target point movement process from the beginning, and guides the electric cart 100 to travel autonomously on the center line CL of the sidewalk.

  When there is no sidewalk on the road, the navigation unit 62 cannot proceed with the navigation process or the target point movement process. Therefore, based on the information from the map database 42, a voice message indicating that there is no sidewalk and autonomous driving is not possible is output from the speaker 21 to notify the user. A similar message is also displayed on the monitor 22. In this case, the user operates the handle 107 himself and drives the electric cart 100.

As described above, the navigation system 1 according to Embodiment 1 of the present invention is to travel on the center line CL of the sidewalk electric cart 100 toward the destination from the departure point P ₀ is located on the route by the navigation unit 62 Can be guided. For this reason, the navigation system which guides the electric cart 100 to move on the centerline of a sidewalk can be provided.

(Second Embodiment)
A navigation system 1 ′ according to a second embodiment of the present invention will be described with reference to FIG. The basic configuration of the navigation system 1 ′ according to the second embodiment is the same as that of the navigation system 1 according to the first embodiment, but the step detection unit 34 that detects a step such as a sidewalk is provided in the communication unit 30. It differs from the navigation system 1 according to the first embodiment in that it is provided.

  The level difference detection unit 34 is a laser positioning meter that measures the distance from the electric cart 100 to the road surface of the sidewalk. The laser positioning meter measures the distance between the laser positioning meter and the surface of the sidewalk by emitting laser light toward the surface of the sidewalk and receiving the laser light reflected by the surface of the sidewalk. As shown in FIG. 8, which is a side view of the electric cart 100, the level difference detection unit 34 is fixed to the bottom of the frame 101 so as to be positioned ahead of the ground contact surface with the sidewalk of the front wheel 102. In order to fix the level difference detection unit 34 ahead of the ground contact surface with the sidewalk of the front wheel 102, the frame 101 extends forward of the frame 101 of the first embodiment.

  When the distance between the level difference detection unit 34 and the sidewalk is larger than a threshold (for example, about 5 cm) set according to the level difference running performance of the electric cart 100, the navigation unit 62 has a level difference that cannot be traveled on the sidewalk. Judge. In this case, the navigation unit 62 searches for a portion where the level difference in the vicinity of the route is equal to or less than the threshold, and guides the traveling of the electric cart 100 so as to return to the original route after passing through that portion. On the other hand, if the distance between the step detection unit 34 and the sidewalk is not greater than the threshold value, the navigation unit 62 determines that there is no step that cannot be run on the route. In this case, the navigation unit 62 guides the traveling of the electric cart 100 along the route.

  The steps of the sidewalk include not only the asphalt defect, drainage, and depression that exist on the sidewalk itself, but also the boundary between the sidewalk and the roadway at the intersection. The electric cart 100 travels by giving priority to a portion formed as a gentle slope in the boundary between the sidewalk and the roadway at the intersection in order to avoid a step larger than the threshold by the step detection unit 34.

  As described above, in the second embodiment of the present invention, since the step detection unit 34 is provided, the electric cart 100 does not travel on a dangerous step on the sidewalk. For this reason, it is possible to prevent the electric cart 100 from falling at a dangerous step on the sidewalk.

  In addition, said embodiment is an illustration, This invention is not limited to these, Various embodiment is possible in the range which does not deviate from the meaning of the invention described in the claim. The components described in each embodiment and modification can be freely combined. Further, inventions equivalent to the inventions described in the claims are also included in the present invention.

In the above embodiment, the navigation unit 62 guides the traveling of the electric cart 100 so that the difference between the angle θ ₁ and the angle θ ₂ is zero, but the present invention is not limited to this. For example, the navigation unit 62 obtains a function that can pass through points P ₁ , P ₂ , P ₃ , P ₄ ,..., P _n on the centerline CL of the sidewalk using an interpolation method, and based on this function. Then, other arbitrary points on the center line CL may be specified, and the traveling of the electric cart 100 may be guided so as to sequentially pass the specified arbitrary points.

  In the above embodiment, the microphone 11 and the speaker 21 are attached to the operation unit 108. However, the present invention is not limited to this. For example, the electric cart 100 may employ a headset that is provided separately from the operation unit 108 and integrally includes the microphone 11 and headphones.

  In the said embodiment, although the microphone 11 and the push button 12 were illustrated as the instruction | indication reception part 10, and the speaker 21 and the monitor 22 were illustrated as the output part 20, this invention is not limited to such a thing. For example, the instruction receiving unit 10 and the output unit 20 may be configured from one touch panel, and the touch panel may receive an instruction or display various information on the touch panel.

  In the said embodiment, although the present position of the electric cart 100 was acquired by the GPS part 31, this invention is not limited to such a thing. For example, the GPS unit 31 may be combined with a gyro, an acceleration sensor, or the like, and the current position may be acquired with higher accuracy.

In the above embodiment, the position data (x _c , y _c ) of the current position CP is acquired at intervals of about 1 second, but the present invention is not limited to this. The interval for acquiring the position data (x _c , y _c ) of the current position CP of the electric cart 100 is appropriately set according to the traveling speed of the electric cart 100, the communication speed of the communication unit 30, the processing capability of the control unit 60, and the like. May be.

  In the said embodiment, although the navigation part 62 showed the example which calculates | requires a path | route, this invention is not limited to such a thing. For example, a route obtained by an external device such as a smartphone or a server may be downloaded to the storage unit 40, and the electric cart 100 may be guided along the downloaded route.

  Furthermore, as a modification, the communication unit 30 may be provided with a traffic signal receiving unit capable of receiving radio waves from a traffic signal having a function of transmitting traffic signal information by radio waves. The traffic signal information is information indicating whether the traffic light is a green signal, a yellow signal, or a red signal. When the traffic signal receiving unit receives a radio wave indicating that it is a green signal, the navigation unit 62 permits the electric cart 100 to travel, and when the traffic signal receiving unit receives a radio wave indicating that the signal is a red signal and a yellow signal, navigation is performed. The unit 62 stops the electric cart 100 before the intersection.

  In relation to the modified example, when the electric cart 100 approaches an intersection where a traffic signal not having a function of transmitting traffic signal information by radio waves is installed or an intersection where no traffic signal is installed, the navigation unit 62 is It may be determined on the basis of the map database 42 that the vehicle is approaching an intersection. In this case, the voice processing unit 61 may be instructed to notify the speaker 21 of a voice message that calls attention to the user.

In the above modification, the traffic signal receiving unit of the electric cart 100 directly receives the traffic signal information from the traffic light, but the present invention is not limited to this. All traffic signal information generated by each traffic light may be stored in the server, and the traffic signal receiving unit may be configured to receive the traffic signal information from the server as necessary.
For example, when the traveling electric cart 100 reaches a limit position where it can be safely stopped before the traffic signal, the traffic signal receiving unit receives traffic signal information of the corresponding traffic signal from the server. When the received traffic signal information indicates a red signal or a yellow signal, the navigation unit 62 controls the motor 106 so that the electric cart 100 stops in front of the traffic light.

  When the navigation system 1 is applied to a walking assist device for a visually impaired person in relation to the above-described modification, when the visually impaired person approaches a pedestrian crossing with a traffic light, the traffic signal receiving unit receives the traffic signal from the server. Receive traffic signal information. When the traffic signal information indicates a red signal or a yellow signal, the navigation unit 62 causes the speaker 21 to output a voice message indicating that the traffic light is a red signal or a yellow signal.

In the above embodiment, the electric cart 100 includes the GPS unit 31 that receives a GPS signal and detects the current position CP of the electric cart 100, but the present invention is not limited to such a configuration. The GPS unit 31 of the electric cart 100 is configured to store all the GPS signals of other vehicles in the server, acquires the GPS signals of other vehicles from the server as necessary, and detects the current position CP of the other vehicles. You may comprise as follows.
For example, when the electric cart 100 is about to start traveling from a parking lot or the like toward the road, the GPS unit 31 is within a predetermined range from the current position CP of the electric cart 100 (for example, about 500 m around the current position CP). GPS signals of all vehicles traveling within (range) are acquired from the server. The navigation unit 62 determines whether or not the electric cart 100 may collide with another vehicle based on the GPS signal of the other vehicle acquired from the server. When it is determined that there is no possibility of a collision with another vehicle, the navigation unit 62 controls the motors 105 and 106 so that the electric cart 100 starts traveling from the parking lot or the like toward the road. Such navigation systems 1, 1 'using GPS signals of other vehicles may be used to avoid collision with other vehicles when a vehicle such as the electric cart 100 turns right at the intersection.

When the navigation system 1 is applied to a walking assist device for a visually impaired person in connection with the above modification, when the visually impaired person approaches a pedestrian crossing, the GPS unit 31 receives the GPS signal of each vehicle from the server. Then, the presence / absence of a vehicle traveling within a predetermined range from the pedestrian crossing (for example, within a range of about 500 m around the pedestrian crossing) is determined. When there is no vehicle traveling within a predetermined range from the pedestrian crossing, the navigation unit 62 causes the speaker 21 to output a voice message indicating that the pedestrian crossing can be crossed.
When a traffic signal providing traffic signal information is installed at the intersection, the navigation unit 62 can cross the pedestrian crossing when the traffic signal information indicates a green light and there is no vehicle traveling within a predetermined range from the pedestrian crossing. Is output from the speaker 21.

  In the above-described embodiment, the example in which the electric cart 100 is selected as the guidance target of the navigation system 1 has been described, but the present invention is not limited to such an example. For example, the navigation system 1 of the present invention may be applied to a walking assistance device for visually impaired persons. Further, the navigation system 1 of the present invention may be applied to an automobile and guided so that the automobile travels along the center line of the roadway.

1, 1 'Navigation system 10 Instruction receiving unit 11 Microphone 12 Push button 20 Output unit 21 Speaker 22 Monitor 30 Communication unit 31 GPS unit 32 Ultrasonic transmission / reception unit 33 Infrared reception unit 34 Step detection unit 40 Storage unit 41 Program 42 Map database 43 Sidewalk database 50 Drive unit 51 Motor driver 52 Direction meter 60 Control unit 61 Audio processing unit 62 Navigation unit 100 Electric cart 101 Frame 102 Front wheel 103 Rear wheel 104 Shaft 105, 106 Motor 107 Handle 108 Operation unit BL Reference line CL Center line P ₀ Departure points P, P ₁ , P ₂ , P ₃ , P ₄ points CP Current position TP Target point

Claims (3)

Storage means for storing map data and position data of the centerline of the sidewalk;
Current position acquisition means for acquiring the current position of the vehicle to be guided;
Control means for determining a path that leads from a starting point to a destination based on the map data as a route, and guiding the guidance target according to the route;
With
The control means includes
Based on the current position and the position data of the centerline of the sidewalk stored in the storage unit, the guidance target is guided to move on the centerline of the sidewalk included in the route,
With reference to the position data of the center line of the stored sidewalk in the storage means, wherein the path on the near Ru walkways stored in the storage means to find the position data of the center line, it searched for walkways Guide the target to pass through the position indicated by the centerline position data,
If it is determined whether the guidance target is on the centerline of the sidewalk and it is determined that the guidance target is not on the centerline of the sidewalk, referring to the position data of the centerline of the sidewalk stored in the storage means, Find the position data of the center line of the closest position near Ru walkways to the current position of the induction subject, induces the induction target position corresponding to the position data of the searched walkways centerline,
Navigation system. Said storage means stores the positional data of the center line of a plurality of walkways along the center line of the sidewalk,
It said control means reads the position data of the center line of the path on the near-Ru walkways from the storage unit, induces the position indicated by the position data of the read walkways centerline as said induction object successively passes To
The navigation system according to claim 1. It further comprises a step detecting means for detecting a step on the sidewalk,
The control means guides the guidance target so as to avoid the step detected by the step detection means;
The navigation system according to claim 1 or 2.

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