WO2019167269A1

WO2019167269A1 - Motion state detection device

Info

Publication number: WO2019167269A1
Application number: PCT/JP2018/008091
Authority: WO
Inventors: 川浦　健央; 隆博加島; 佐藤　健二; 浩之安田
Original assignee: 三菱電機株式会社; 三菱電機ビルテクノサービス株式会社
Priority date: 2018-03-02
Filing date: 2018-03-02
Publication date: 2019-09-06
Also published as: JP6415796B1; CN111758015A; CN111758015B; JPWO2019167269A1

Abstract

This device comprises: an inertial sensor (102) for measuring motion of said device; a pedestrian autonomous navigation unit (103) for calculating a relative coordinate of a user in possession of the device with respect to a reference coordinate; an atmospheric pressure sensor (104) for measuring the atmospheric pressure surrounding said device; a movement means estimation unit (105) for estimating a classification of a movement means used when the user moves between floors in a building on the basis of the measured motion and the measured atmospheric pressure; a floor estimation unit (106) for estimating the floor on which the user is present on the basis of the measured atmospheric pressure; an electronic compass (107) for detecting the azimuth of the travel direction of said device; a reference coordinate estimation unit (108) for estimating, as a reference coordinate, an absolute coordinate of an entrance, for the aforementioned floor, of the movement means used by the user on the basis of the estimated classification of the movement means, the estimated floor, and the detected azimuth; and a coordinate conversion unit (109) for converting the calculated relative coordinate to an absolute coordinate using the estimated reference coordinate.

Description

Dynamic detection device

The present invention relates to a dynamic detection device that detects the dynamics of a user who owns the device.

Conventionally, a dynamic detection device that detects the dynamics of a user who owns the device is known (see, for example, Patent Document 1). In the apparatus disclosed in Patent Document 1, the type of moving means used by the user is estimated by detecting the altitude and recognizing the user's walking motion, and detects the user's dynamics. In addition, as a classification of a moving means, the staircase or elevator etc. which were provided in buildings, such as a building, are mentioned, for example.

JP 2007-093433 A

However, when there are a plurality of moving means in a building, the above apparatus has a problem that the moving means used by the user cannot be estimated. In this case, it is necessary to separately provide a means for giving rough position information to the above-mentioned device on the building side and narrow down the moving means used by the user.

The present invention has been made to solve the above-described problems, and provides a dynamic detection device capable of detecting the dynamics of a user who owns his / her own device even when there are a plurality of moving means in a building. It is intended to provide.

The movement detection device according to the present invention includes an inertial sensor that measures the movement of the own aircraft, and a pedestrian autonomous navigation that calculates relative coordinates with respect to the reference coordinates of the user who owns the own aircraft based on the movement measured by the inertial sensor. Used when a user moves between floors in a building based on the atmospheric pressure sensor that measures the atmospheric pressure around the unit, the movement measured by the inertial sensor, and the atmospheric pressure measured by the atmospheric pressure sensor A moving means estimating section for estimating the type of moving means, a floor estimating section for estimating the floor on which the user is present based on the atmospheric pressure measured by the atmospheric pressure sensor, and an electronic compass for detecting the direction in which the user travels The user uses the type of moving means estimated by the moving means estimating unit, the floor estimated by the floor estimating unit, and the direction detected by the electronic compass. Using the reference coordinate estimation unit that estimates the absolute coordinates of the elevator door on the floor of the moving means as reference coordinates, and the reference coordinates estimated by the reference coordinate estimation unit, the absolute coordinates calculated by the pedestrian autonomous navigation unit are absolute And a coordinate conversion unit for converting into coordinates.

According to the present invention, since it is configured as described above, even when there are a plurality of moving means in a building, it is possible to detect the dynamics of the user who owns the device by itself.

It is a block diagram which shows the structural example of the dynamic detection apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the hardware structural example of the dynamic state detection apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the operation example of the dynamic detection apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the operation example of the moving means estimation part in Embodiment 1 of this invention. FIG. 5A is a diagram illustrating an example of a measurement result by an inertial sensor and an atmospheric pressure sensor when the user moves on a staircase, and FIG. 5B is an example of a measurement result by an inertial sensor and an atmospheric pressure sensor when the user moves by an elevator. FIG. It is a figure which shows the process outline of the floor estimation by the floor estimation part in Embodiment 1 of this invention. It is a floor figure for demonstrating the reference coordinate estimation by the reference coordinate estimation part in Embodiment 1 of this invention. It is a figure which shows the information recorded on the coordinate information recording part in Embodiment 1 of this invention, and is a figure corresponding to the floor figure shown in FIG. It is a flowchart which shows the operation example of the reference | standard coordinate estimation part in Embodiment 1 of this invention. It is a block diagram which shows the structural example of the dynamic detection apparatus which concerns on Embodiment 2 of this invention. It is a floor figure for demonstrating the reference coordinate estimation by the reference coordinate estimation part in Embodiment 2 of this invention. It is a figure which shows the information recorded on the coordinate information recording part in Embodiment 2 of this invention, and is a figure corresponding to the floor figure shown in FIG. FIG. 13A is a diagram illustrating a case where the user is moving on the landing stage of the stairs, and FIG. 13B is a diagram illustrating an example of a measurement result obtained by the atmospheric pressure sensor when the user is moving on the landing area. It is a flowchart which shows the operation example of the reference | standard coordinate estimation part in Embodiment 2 of this invention. It is a block diagram which shows the structural example of the dynamic detection apparatus which concerns on Embodiment 3 of this invention. It is a floor figure for demonstrating the process outline | summary of the reference coordinate estimation by the reference coordinate estimation part and the reference coordinate determination part in Embodiment 3 of this invention. It is a flowchart which shows the operation example of the reference | standard coordinate determination part in Embodiment 3 of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration example of a dynamic detection device 1 according to Embodiment 1 of the present invention.
The dynamic detection device 1 detects the dynamics of the user who owns the own device (the dynamic detection device 1). As a user, for example, a worker who performs a patrol inspection of each floor of a building such as a building can be cited. As shown in FIG. 1, the dynamic detection device 1 includes a coordinate information recording unit 101, an inertial sensor 102, a pedestrian autonomous navigation unit 103, an atmospheric pressure sensor 104, a moving means estimation unit 105, a floor estimation unit 106, an electronic compass 107, A reference coordinate estimation unit 108 and a coordinate conversion unit 109 are provided.

The coordinate information recording unit 101 records, for each floor, information indicating the absolute coordinates of the elevator and the direction of the elevator that exist in the building. In addition, the direction of the lift is the direction of the doorway of the lift as seen from the center of the lift. Information recorded in the coordinate information recording unit 101 is read by the reference coordinate estimation unit 108.
Although FIG. 1 shows the case where the coordinate information recording unit 101 is provided inside the movement detection device 1, the present invention is not limited to this, and the coordinate information recording unit 101 may be provided outside the movement detection device 1. .

The inertial sensor 102 measures the movement of the own device (dynamic detection device 1). In addition, as a motion of an own machine, acceleration, rotation, etc. are mentioned, for example. Information indicating the movement measured by the inertial sensor 102 is output to the pedestrian autonomous navigation unit 103 and the moving means estimation unit 105.

The pedestrian autonomous navigation unit 103 calculates relative coordinates with respect to the reference coordinates of the user based on the movement measured by the inertial sensor 102. Information indicating the relative coordinates calculated by the pedestrian autonomous navigation unit 103 is output to the coordinate conversion unit 109.

The atmospheric pressure sensor 104 measures the atmospheric pressure around the own device (dynamic detection device 1). Information indicating the atmospheric pressure measured by the atmospheric pressure sensor 104 is output to the moving means estimating unit 105 and the floor estimating unit 106.

The movement means estimation unit 105 estimates the type of movement means used by the user for movement between floors based on the movement measured by the inertial sensor 102 and the atmospheric pressure measured by the atmospheric pressure sensor 104. Examples of the moving means include stairs or an elevator. Information indicating the type of moving means estimated by the moving means estimating unit 105 is output to the reference coordinate estimating unit 108.

The floor estimation unit 106 estimates the floor on which the user is present based on the atmospheric pressure measured by the atmospheric pressure sensor 104. Information indicating the floor estimated by the floor estimation unit 106 is output to the reference coordinate estimation unit 108.

The electronic compass 107 detects the azimuth in the traveling direction of the own device (dynamic detection device 1). Information indicating the orientation detected by the electronic compass 107 is output to the reference coordinate estimation unit 108.

Based on the type of moving means estimated by the moving means estimating unit 105, the floor estimated by the floor estimating unit 106, and the orientation detected by the electronic compass 107, the reference coordinate estimating unit 108 is based on the coordinate information recording unit 101. From the recorded information, the absolute coordinates of the lift on the floor of the moving means used by the user are estimated as the reference coordinates. Information indicating the reference coordinates estimated by the reference coordinate estimation unit 108 is output to the coordinate conversion unit 109.

The coordinate conversion unit 109 converts the relative coordinates calculated by the pedestrian autonomous navigation unit 103 into absolute coordinates using the reference coordinates estimated by the reference coordinate estimation unit 108. At this time, the coordinate conversion unit 109 obtains the absolute coordinates of the user by adding the reference coordinates to the relative coordinates. Information indicating the absolute coordinates obtained by the coordinate conversion unit 109 is output to the outside.

FIG. 2 shows a hardware configuration example of a computer that realizes the dynamic detection device 1 according to the first embodiment of the present invention.
The functions of the pedestrian autonomous navigation unit 103, the moving means estimation unit 105, the floor estimation unit 106, the reference coordinate estimation unit 108, and the coordinate conversion unit 109 are realized by a processing circuit. As shown in FIG. 2, the processing circuit is a CPU (Central Processing Unit, a central processing unit, a processing unit, a processing unit, a microprocessor, a microcomputer, a processor, or a DSP (Digital) that executes a program stored in the system memory 202. Signal Processor) 201).

The functions of the pedestrian autonomous navigation unit 103, the moving means estimation unit 105, the floor estimation unit 106, the reference coordinate estimation unit 108, and the coordinate conversion unit 109 are realized by software, firmware, or a combination of software and firmware. Software and firmware are described as programs and stored in the system memory 202. The processing circuit reads out and executes the program stored in the system memory 202, thereby realizing the function of each unit. That is, the behavior detection device 1 includes a system memory 202 for storing a program that, when executed by the processing circuit, for example, results in each step shown in FIG. These programs can also be said to cause the computer to execute the procedures and methods of the pedestrian autonomous navigation unit 103, the moving means estimation unit 105, the floor estimation unit 106, the reference coordinate estimation unit 108, and the coordinate conversion unit 109. Here, as the system memory 202, for example, a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (Electrically EPROM), or the like. Magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), and the like.

The GUI for operating the program is displayed on the display device 208 via the GPU 204, the frame memory 205, and the RAMDAC (Random Access Memory Digital-to-Analog Converter) 206. The user operates the GUI with the operation device 207.
The coordinate information recording unit 101 uses the storage 203 for recording information.

Next, an operation example of the behavior detection apparatus 1 according to the first embodiment will be described with reference to FIG. Note that the coordinate information recording unit 101 records in advance, for each floor, information indicating the absolute coordinates of the elevator of the moving means existing in the building and the direction of the elevator.
In the operation example of the movement detection device 1, as shown in FIG. 3, first, the inertial sensor 102 measures the movement of the own device (step ST301). Information indicating the movement measured by the inertial sensor 102 is output to the pedestrian autonomous navigation unit 103 and the moving means estimation unit 105.

Next, the pedestrian autonomous navigation unit 103 calculates relative coordinates with respect to the reference coordinates of the user based on the detection result by the inertial sensor 102 (step ST302). Information indicating the relative coordinates calculated by the pedestrian autonomous navigation unit 103 is output to the coordinate conversion unit 109.

Further, the atmospheric pressure sensor 104 measures the atmospheric pressure around the own device (step ST303). Information indicating the atmospheric pressure measured by the atmospheric pressure sensor 104 is output to the moving means estimating unit 105 and the floor estimating unit 106.

Next, based on the movement measured by the inertial sensor 102 and the atmospheric pressure measured by the atmospheric pressure sensor 104, the movement means estimating unit 105 estimates the type of the moving means used by the user for movement between floors ( Step ST304). Details of the operation of the moving means estimating unit 105 will be described later. Information indicating the type of moving means estimated by the moving means estimating unit 105 is output to the reference coordinate estimating unit 108.

Further, the floor estimation unit 106 estimates the floor on which the user is present based on the atmospheric pressure measured by the atmospheric pressure sensor 104 (step ST305). Details of the operation of the floor estimation unit 106 will be described later. Information indicating the floor estimated by the floor estimation unit 106 is output to the reference coordinate estimation unit 108.

Moreover, the electronic compass 107 detects the direction of the traveling direction of the own device (step ST306). Information indicating the orientation detected by the electronic compass 107 is output to the reference coordinate estimation unit 108.

Next, the reference coordinate estimating unit 108 records coordinate information based on the type of moving means estimated by the moving means estimating unit 105, the floor estimated by the floor estimating unit 106, and the direction detected by the electronic compass 107. From the information recorded in the unit 101, the absolute coordinates of the lift on the floor of the moving means used by the user are estimated as the reference coordinates (step ST307). Details of the operation of the reference coordinate estimation unit 108 will be described later. Information indicating the reference coordinates estimated by the reference coordinate estimation unit 108 is output to the coordinate conversion unit 109.

Next, the coordinate conversion unit 109 converts the relative coordinates calculated by the pedestrian autonomous navigation unit 103 into absolute coordinates using the reference coordinates estimated by the reference coordinate estimation unit 108 (step ST308). Information indicating the absolute coordinates obtained by the coordinate conversion unit 109 is output to the outside.
Note that if the type of moving means is not estimated by the moving means estimating unit 105 in step ST304, that is, if the user is not moving between floors, the processing in steps ST305 to 307 is skipped, and the coordinate converting unit 109 converts the relative coordinates calculated by the pedestrian autonomous navigation unit 103 into absolute coordinates using the reference coordinates previously estimated by the reference coordinate estimation unit 108.

Next, an operation example of the moving means estimation unit 105 will be described with reference to FIG. In the following, the case where the type of moving means is staircase and elevator and the movement measured by the inertial sensor 102 is acceleration in the vertical direction (z-axis direction) is shown.
The moving means estimation unit 105 first determines from the movement measured by the inertial sensor 102 whether the frequency of the acceleration waveform in the vertical direction is equal to or higher than a preset threshold value α [Hz] (step ST401). The threshold value α is a value that can determine whether the user is walking or standing still.

In step ST401, when the moving means estimating unit 105 determines that the frequency of the acceleration waveform in the vertical direction is equal to or higher than the threshold value α, the magnitude of the change per hour of the atmospheric pressure measured by the atmospheric pressure sensor 104 is It is determined whether or not the threshold value γ [Pa / sec] or more is set in advance (step ST402). The threshold value γ is a value with which it is possible to determine whether the user has moved to another floor.

In step ST402, when the moving means estimating unit 105 determines that the magnitude of the change in atmospheric pressure per time is equal to or greater than the threshold value γ, the moving means estimating unit 105 determines that the type of moving means is a staircase (step ST403). When the type of moving means used by the user is staircase, the vertical acceleration waveform measured by the inertial sensor 102 and the atmospheric pressure measured by the atmospheric pressure sensor 104 are as shown in FIG. 5A, for example.
On the other hand, in step ST402, when it is determined that the magnitude of the change in pressure per hour is less than the threshold γ, the moving means estimating unit 105 determines that the user is walking on the floor (step ST404). ).

On the other hand, when the moving means estimating unit 105 determines in step ST401 that the frequency of the acceleration waveform in the vertical direction is less than the threshold value α, the magnitude of the change per hour in the atmospheric pressure measured by the atmospheric pressure sensor 104 is determined. Then, it is determined whether it is equal to or higher than a preset threshold value β [Pa / sec] (step ST405). The threshold value β is a value that can determine whether the user has moved to another floor.

In step ST405, the moving means estimating unit 105 determines that the type of moving means is an elevator when the magnitude of the change in pressure per hour is equal to or greater than the threshold value β (step ST406). When the type of moving means used by the user is an elevator, the vertical acceleration waveform measured by the inertial sensor 102 and the atmospheric pressure measured by the atmospheric pressure sensor 104 are as shown in FIG. 5B, for example.
On the other hand, in step ST405, the moving means estimating unit 105 determines that the user is stationary on the floor when determining that the magnitude of the change in pressure per hour is less than the threshold value β (step ST407). ).

Next, an operation example of the floor estimation unit 106 will be described with reference to FIG.
The floor estimation unit 106 estimates that there is a linear relationship between the atmospheric pressure and the height, and estimates the floor where the user is present from the atmospheric pressure measured by the atmospheric pressure sensor 104.
Here, as shown in FIG. 6, the motion detection device 1 measures the atmospheric pressure A on the first floor and the atmospheric pressure B on the M floor in advance, and the floor estimation unit 106 determines these measurement results. From the following equation (1), the atmospheric pressure difference ΔP per layer is obtained.
ΔP = (A−B) / (M−1) (1)

And the floor estimation part 106 estimates the floor N in which the said user exists from the atmospheric | air pressure C measured by the atmospheric | air pressure sensor 104 at the time of operation | movement from the following Formula (2).
N = {(AC) / ΔP} +1 (2)

Further, when the height h per floor of the target building is known, the floor estimation unit 106 calculates the above-mentioned user from the atmospheric pressure change amount D per height 1 m according to the following equation (3). The floor N that is present may be estimated. The atmospheric pressure change amount D per 1 m height is usually about 11 to 12 pa / m.
N = {(AC) / (D × h)} + 1 (3)

Next, an operation example of the reference coordinate estimation unit 108 will be described with reference to FIGS.
The floor diagram shown in FIG. 7 shows an arbitrary floor in the building and shows a case where four moving means are provided. Further, in FIG. 7, reference symbols a to d indicate the positions of the lift ports of the moving means, and reference symbol x indicates the position of the user. Further, the table shown in FIG. 8 is information that is recorded in the coordinate information recording unit 101 and indicates the absolute coordinates of the elevator doors of the moving means on the floor shown in FIG.

As shown in FIG. 9, the reference coordinate estimation unit 108 first determines, based on the floor estimated by the floor estimation unit 106, the absolute information of the elevators of all the moving means existing on the floor from the coordinate information recording unit 101. The coordinates and the direction of the elevator are acquired (step ST901). Hereinafter, it is assumed that the reference coordinate estimation unit 108 has acquired the information shown in FIG.

Next, the reference coordinate estimating unit 108 determines whether or not the type of moving means estimated by the moving means estimating unit 105 is a staircase (step ST902).

In step ST902, if the reference coordinate estimation unit 108 determines that the type of moving means is a staircase, the reference coordinate estimation unit 108 determines whether the direction detected by the electronic compass 107 is west (step ST903).

In step ST903, when the reference coordinate estimation unit 108 determines that the direction is westward, the reference coordinate estimation unit 108 estimates the absolute coordinate of the position b as the reference coordinate from the information shown in FIG. 8 (step ST904).

On the other hand, in step ST903, when the reference coordinate estimation unit 108 determines that the azimuth is not westward, that is, when the azimuth is eastward, the absolute coordinate of the position d is obtained from the information shown in FIG. (Step ST905).

On the other hand, if the reference coordinate estimation unit 108 determines in step ST902 that the type of moving means is not a staircase, that is, if the type of moving means is an elevator, the direction detected by the electronic compass 107 is westward. Is determined (step ST906).

In step ST906, when the reference coordinate estimation unit 108 determines that the direction is westward, the reference coordinate estimation unit 108 estimates the absolute coordinate of the position a as the reference coordinate from the information shown in FIG. 8 (step ST907).

On the other hand, in Step ST906, when the reference coordinate estimation unit 108 determines that the azimuth is not westward, that is, when it is determined that the azimuth is eastward, the absolute coordinate of the position c is determined from the information illustrated in FIG. To be the reference coordinates (step ST908).

As described above, according to the first embodiment, the motion detection device 1 includes the inertial sensor 102 that measures the movement of the own apparatus, and the user who owns the own apparatus based on the movement measured by the inertial sensor 102. Pedestrian autonomous navigation unit 103 that calculates relative coordinates with respect to the reference coordinates of the vehicle, an atmospheric pressure sensor 104 that measures atmospheric pressure around the aircraft, movement measured by the inertial sensor 102, and atmospheric pressure measured by the atmospheric pressure sensor 104 Based on the movement means estimation unit 105 for estimating the type of movement means used when the user moves between floors in the building, and the floor on which the user is based on the atmospheric pressure measured by the atmospheric pressure sensor 104 Of the moving means estimated by the floor estimating unit 106 that estimates the direction of travel, the electronic compass 107 that detects the direction of the traveling direction of the own aircraft, Separately, based on the floor estimated by the floor estimation unit 106 and the direction detected by the electronic compass 107, the reference coordinates for estimating the absolute coordinates of the elevator door on the floor of the moving means used by the user as the reference coordinates An estimation unit 108 and a coordinate conversion unit 109 that converts the relative coordinates calculated by the pedestrian autonomous navigation unit 103 into absolute coordinates using the reference coordinates estimated by the reference coordinate estimation unit 108 are provided. Thereby, even if there exists a some moving means in a building, the dynamic detection apparatus 1 can detect the said user's dynamic with the apparatus single-piece | unit.

Embodiment 2. FIG.
FIG. 10 is a block diagram showing a configuration example of the dynamic detection device 1 according to the second embodiment of the present invention. In the behavior detection device 1 according to the second embodiment shown in FIG. 10, a time counting unit 110 is added to the behavior detection device 1 according to the first embodiment shown in FIG. Other configurations are the same, and only the different parts are described with the same reference numerals.

In addition to the information shown in the first embodiment, the coordinate information recording unit 101 sets a reference time (reference required time) required for the user to move from the entrance / exit of each moving unit to the first point. Record the information shown for each floor. The first point can be arbitrarily set for each floor. For example, when the user comes to the floor, the first point is always the first stop point.
Information indicating the movement of the own device measured by the inertial sensor 102 and information indicating the atmospheric pressure measured by the atmospheric pressure sensor 104 are also output to the time counting unit 110, respectively.

Based on the movement measured by the inertial sensor 102 and the atmospheric pressure measured by the atmospheric pressure sensor 104, the time counting unit 110 is a time during which the user has a constant atmospheric pressure (including a substantially constant meaning) during walking. That is, the time when there is no change in the atmospheric pressure is counted. Information indicating the time counted by the time counting unit 110 is output to the reference coordinate estimating unit 108. The function of the time counting unit 110 is realized by a processing circuit.

Further, in addition to the function shown in the first embodiment, the reference coordinate estimating unit 108 is based on the floor estimated by the floor estimating unit 106 and the time counted by the time counting unit 110, and the coordinate information recording unit 101. From the information recorded in the above, there is also a function for estimating the absolute coordinates of the lift on the floor of the moving means used by the user as reference coordinates.

Next, an operation example of the reference coordinate estimation unit 108 will be described with reference to FIGS.
Note that the floor diagram shown in FIG. 11 shows an arbitrary floor in the building, and shows a case where three moving means are provided. Further, in FIG. 11, reference symbols a to c indicate the positions of the lift ports of the moving means, and reference symbol x indicates the position of the user. In FIG. 11, the first point is assumed to be the entrance of the management room. Further, the table shown in FIG. 12 is recorded in the coordinate information recording unit 101. The absolute coordinates of the elevator of the moving means on the floor shown in FIG. 11, the direction of the elevator, and the first point from the elevator. It is the information which shows the reference required time until.

In the floor diagram shown in FIG. 11, all moving means are in the same direction (north in FIG. 11). Therefore, in the method shown in the first embodiment, the moving means used by the user may not be estimated. Therefore, in this case, the movement detection device 1 estimates the moving means using the time counted by the time counting unit 110.

In this case, as shown in FIG. 14, the reference coordinate estimation unit 108 first raises / lowers all the moving means existing on the floor from the coordinate information recording unit 101 based on the floor estimated by the floor estimation unit 106. The absolute coordinates of the mouth and the reference required time from the elevator to the first point are acquired (step ST1401). Hereinafter, it is assumed that the reference coordinate estimation unit 108 has acquired the information shown in FIG.

Next, reference coordinate estimating section 108 determines whether or not the time counted by time counting section 110 is equal to or less than a preset threshold value θ (step ST1402). The threshold value θ is a time shorter than each reference required time to the first point on the floor, and is a time required for the user to move on a stair landing as shown in FIG. 13A, for example. is there.
In step ST1402, when the reference coordinate estimation unit 108 determines that the time is equal to or less than the threshold value θ, the sequence returns to step ST1401. That is, when the time when the atmospheric pressure is constant while the user is walking is equal to or less than the threshold value θ, it can be estimated that the user is not on the floor and the user is on the stair landing as shown in FIG. Therefore, in this case, the reference coordinate estimation unit 108 performs the reference coordinate estimation again. FIG. 13B shows an example of a measurement result by the atmospheric pressure sensor 104 when the user moves on the landing.

On the other hand, if it is determined in step ST1402 that the time is not less than or equal to the threshold θ, the reference coordinate estimation unit 108 determines whether or not the time is 100 seconds or less (step ST1403). This 100 seconds is the shortest time of the reference required time to the first point included in the information shown in FIG.
In step ST1403, when the reference coordinate estimation unit 108 determines that the time is 100 seconds or less, the reference coordinate estimation unit 108 estimates the absolute coordinate of the position a as the reference coordinate from the information shown in FIG. 12 (step ST1404).

On the other hand, if it is determined in step ST1404 that the time is not 100 seconds or less, the reference coordinate estimation unit 108 determines whether the time is 300 seconds or less (step ST1405). This 300 seconds is the second shortest time of the reference required time to the first point included in the information shown in FIG.
In step ST1405, when the reference coordinate estimation unit 108 determines that the time is 300 seconds or less, the reference coordinate estimation unit 108 estimates the absolute coordinate of the position b as the reference coordinate from the information shown in FIG. 12 (step ST1406).

On the other hand, if it is determined in step ST1406 that the time is not 300 seconds or less, the reference coordinate estimation unit 108 estimates the absolute coordinate of the position c as the reference coordinate from the information shown in FIG. 12 (step ST1407). .

As described above, according to the second embodiment, the dynamic detection device 1 is configured to measure the atmospheric pressure while the user is walking based on the movement measured by the inertial sensor 102 and the atmospheric pressure measured by the atmospheric pressure sensor 104. Is provided with a time counting unit 110 that counts a time during which the user is constant, and the reference coordinate estimation unit 108 determines whether the user is based on the floor estimated by the floor estimation unit 106 and the time counted by the time counting unit 110. The absolute coordinates of the lift on the floor of the moving means used are estimated as reference coordinates. Thereby, in addition to the effect in Embodiment 1, the dynamic detection apparatus 1 can estimate the reference coordinates even when the lift ports of the plurality of moving means are in the same direction.

Embodiment 3 FIG.
FIG. 15 is a block diagram showing a configuration example of the dynamic detection device 1 according to the third embodiment of the present invention. In the movement detection device 1 according to the third embodiment shown in FIG. 15, a reference coordinate determination unit 111 is added to the movement detection device 1 according to the first embodiment shown in FIG. Other configurations are the same, and only the different parts are described with the same reference numerals.

In addition to the information shown in the first embodiment, the coordinate information recording unit 101 records information indicating the absolute coordinates of the obstacle present in the building for each floor. Examples of the obstacle include a wall.
Information indicating the floor estimated by the floor estimation unit 106 is also output to the reference coordinate determination unit 111.

In addition to the function shown in the first embodiment, the reference coordinate estimation unit 108 stores the coordinate information recording unit 101 based on the floor estimated by the floor estimation unit 106 and the determination result by the reference coordinate determination unit 111. From the recorded information, it also has a function of estimating, as a reference coordinate, the absolute coordinate of the lift on the floor of the moving means used by the user.
At this time, based on the floor estimated by the floor estimation unit 106, the reference coordinate estimation unit 108 first determines, based on the information recorded in the coordinate information recording unit 101, the elevator openings of all the moving means existing on the floor. Absolute coordinates are estimated as reference coordinates. Thereafter, the reference coordinate estimation unit 108 excludes the reference coordinates detected by the reference coordinate determination unit 111 from the estimation target.

Based on the floor estimated by the floor estimation unit 106, the reference coordinate determination unit 111 uses the information recorded in the coordinate information recording unit 101 and the trajectory of the absolute coordinates obtained by the coordinate conversion unit 109 to the floor. A reference coordinate constituting an absolute coordinate that intersects an absolute coordinate of an existing obstacle is detected. Information indicating the reference coordinates detected by the reference coordinate determination unit 111 is output to the reference coordinate estimation unit 108. The function of the reference coordinate determination unit 111 is realized by a processing circuit.

Next, operation examples of the reference coordinate estimation unit 108 and the reference coordinate determination unit 111 will be described with reference to FIGS.
The floor diagram shown in FIG. 16 shows an arbitrary floor in the building and shows a case where three moving means are provided. Further, in FIG. 16, reference symbols a to c indicate the positions of the lift ports of the moving means, and reference symbol x indicates the position of the user.

In the floor diagram shown in FIG. 16, all moving means are in the same direction (north in FIG. 16). Therefore, in the method shown in the first embodiment, the moving means used by the user may not be estimated. Therefore, in this case, the movement detection device 1 uses the reference coordinate determination unit 111 to estimate the moving means.

In this case, the reference coordinate estimation unit 108 first determines, based on the floor estimated by the floor estimation unit 106, the information on the coordinate information recording unit 101 of all the moving means existing on the floor. Absolute coordinates are estimated as reference coordinates. Next, the coordinate conversion unit 109 converts the relative coordinates calculated by the pedestrian autonomous navigation unit 103 into absolute coordinates using each reference coordinate estimated by the reference coordinate estimation unit 108. FIG. 16 shows the locus x1 to x3 of the absolute coordinates of the user when the absolute coordinates of the positions a to c of the lifting / lowering openings of each moving means are set as reference coordinates.

Next, based on the floor estimated by the floor estimation unit 106, the reference coordinate determination unit 111 performs a coordinate conversion unit on the absolute coordinates of the obstacle present on the floor from the information recorded in the coordinate information recording unit 101. Among the absolute coordinates obtained by 109, the reference coordinates constituting the absolute coordinates where the trajectories intersect are detected. Details of the operation by the reference coordinate determination unit 111 will be described below with reference to FIG.

As shown in FIG. 17, the reference coordinate determination unit 111 first obtains absolute coordinates of all obstacles existing on the floor from the coordinate information recording unit 101 based on the floor estimated by the floor estimation unit 106. (Step ST1701). Hereinafter, it is assumed that the reference coordinate determination unit 111 has acquired the absolute coordinates of all obstacles present on the floor shown in FIG.
Further, reference coordinate determination section 111 acquires all absolute coordinates obtained by coordinate conversion section 109 (step ST1702).

Next, the reference coordinate determination unit 111 detects reference coordinates that constitute absolute coordinates whose trajectory intersects the absolute coordinates of the obstacle present on the floor among the acquired absolute coordinates (step ST1703). In the example of FIG. 16, since the trajectory x2 and the trajectory x3 intersect the absolute coordinates of the obstacle, the reference coordinate determination unit 111 detects the absolute coordinates (reference coordinates) of the position b and the absolute coordinates (reference coordinates) of the position c. To do. Information indicating the reference coordinates detected by the reference coordinate determination unit 111 is output to the reference coordinate estimation unit 108.

Next, the reference coordinate estimation unit 108 excludes the reference coordinates detected by the reference coordinate determination unit 111 from the estimation target. In the example of FIG. 16, the reference coordinate estimation unit 108 excludes the absolute coordinates of the position b and the absolute coordinates of the position c from the estimation target, and the coordinate conversion unit 109 uses only the absolute coordinates of the position a and uses pedestrian autonomous navigation. The relative coordinates calculated by the unit 103 are converted into absolute coordinates.

As described above, according to the third embodiment, the reference coordinate estimation unit 108 uses the floor estimated by the floor estimation unit 106 to calculate the absolute coordinates of the elevators of all the moving means existing on the floor. Based on the floor estimated by the floor estimation unit 106, the motion detection apparatus 1 estimates the reference coordinates, and the absolute coordinate obtained by the coordinate conversion unit 109 is the absolute coordinate of the obstacle whose trajectory exists on the floor. The reference coordinate determination unit 111 that detects the reference coordinates constituting the absolute coordinates intersecting with the reference coordinate determination unit 111 is excluded, and the reference coordinate estimation unit 108 excludes the reference coordinates detected by the reference coordinate determination unit 111 from the estimation target. Thereby, in addition to the effect in Embodiment 1, the dynamic detection apparatus 1 can estimate the reference coordinates even when the lift ports of the plurality of moving means are in the same direction.
Moreover, in the dynamic detection device 1 according to the third embodiment, the reference coordinates can be estimated even when the reference required time to the first point shown in the second embodiment is not known.

In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

The movement detection device according to the present invention can detect the movement of a user who owns his / her own apparatus and detects the movement of the user who owns the apparatus even if there are a plurality of moving means in the building. Suitable for use in devices and the like.

DESCRIPTION OF SYMBOLS 1 Dynamic detection apparatus, 101 Coordinate information recording part, 102 Inertial sensor, 103 Pedestrian autonomous navigation part, 104 Barometric pressure sensor, 105 Moving means estimation part, 106 Floor estimation part, 107 Electronic compass, 108 Reference coordinate estimation part, 109 Coordinate conversion Part, 110 time counting part, 111 reference coordinate determination part, 201 CPU, 202 system memory, 203 storage, 204 GPU, 205 frame memory, 206 RAMDAC, 207 operation device, 208 display device.

Claims

An inertial sensor that measures the movement of the aircraft,
Based on the movement measured by the inertial sensor, a pedestrian autonomous navigation unit that calculates relative coordinates with respect to the reference coordinates of the user who owns the aircraft,
An atmospheric pressure sensor that measures the atmospheric pressure around the aircraft,
A moving means estimating unit for estimating the type of moving means used when the user moves between floors in a building based on the movement measured by the inertial sensor and the atmospheric pressure measured by the atmospheric pressure sensor; ,
Based on the atmospheric pressure measured by the atmospheric pressure sensor, a floor estimation unit that estimates the floor where the user is,
An electronic compass that detects the direction of travel of the aircraft,
Based on the type of moving means estimated by the moving means estimating unit, the floor estimated by the floor estimating unit, and the direction detected by the electronic compass, the moving means used by the user on the floor A reference coordinate estimation unit that estimates the absolute coordinates of the mouth as the reference coordinates;
A motion detection apparatus comprising: a coordinate conversion unit that converts relative coordinates calculated by the pedestrian autonomous navigation unit into absolute coordinates using the reference coordinates estimated by the reference coordinate estimation unit.
Based on the movement measured by the inertial sensor and the atmospheric pressure measured by the atmospheric pressure sensor, the time counting unit that counts the time during which the user has a constant atmospheric pressure while walking,
The reference coordinate estimation unit calculates the absolute coordinates of the lift on the floor of the moving means used by the user based on the floor estimated by the floor estimation unit and the time counted by the time counting unit. The motion detection device according to claim 1, wherein the motion detection device is estimated as a reference coordinate.
The reference coordinate estimator is a time shorter than the reference required time from the elevator door of the moving means existing on the floor estimated by the floor estimator to the first point, as counted by the time counter. The dynamic detection device according to claim 2, wherein the reference coordinate is re-estimated when the value is equal to or less than a certain threshold value.
Based on the floor estimated by the floor estimation unit, the reference coordinate estimation unit estimates the absolute coordinates of the lifts of all moving means existing on the floor as the reference coordinates,
Based on the floor estimated by the floor estimator, a reference coordinate constituting an absolute coordinate intersecting with an absolute coordinate of an obstacle existing on the floor among the absolute coordinates obtained by the coordinate converter is detected. A reference coordinate determination unit is provided.
The dynamic detection device according to claim 1, wherein the reference coordinate estimation unit excludes the reference coordinates detected by the reference coordinate determination unit from an estimation target.