JPH0868643A - Portable navigation device - Google Patents

Abstract

PURPOSE: To provide an inexpensive and portable navigation device for determining the path from a departure point to a current point and for returning to the departure point easily. CONSTITUTION: Every time a walker walks step by step, the step is detected by a walking sensor 21 and the azimuth of the walker is detected by an azimuth sensor 20. A position/distance calculation part 23 calculates the relative position of the walker viewed from a specific starting point while converting a walking detection output to a walking distance based on the walking detection output and the detection azimuth one by one by the selfcontained navigation. A walking trace/distance recording/erasure part 25 records a row of position data calculated by the position/distance calculation part 23 as walking trace data at a memory 24 and a drawing part 27 draws a walking trace from a specific starting point at a video RAM 26 using the walking trace data. The image data at the video RAM 26 are read by a n image conversion part 28 and are converted to an image signal, are outputted to a display part 5 of an operation/ display 3, and are displayed on a screen.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a portable navigation device which allows a pedestrian to display a route taken from a certain point on a screen and easily return to the original point.

[0002]

2. Description of the Related Art When a pedestrian wants to confirm the current position, it is easy to compare a map with a target object, but there is a case where there is no suitable target object other than a city or a town. When you walk from, you may not be able to return. Therefore, a global position system (GPS) that can detect absolute position coordinates (longitude, latitude) at any point on the earth is used to detect the current position by satellite navigation. The detection device has been put to practical use.

[0003]

However, the above-mentioned conventional portable position detecting device is very expensive because it receives radio waves from a plurality of GPS satellites and performs complicated calculations to obtain the current position. In addition, since the current position is displayed in longitude and latitude, there is a problem that the current position cannot be confirmed without returning a detailed map including a walking area, and the user cannot return to the original position.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an inexpensive portable navigation device in which the route to the original point can be known and the user can easily return to the original point.

[0005]

In order to solve the above-mentioned problems, the invention according to claim 1 is a walking detecting means for detecting the walking of a pedestrian, an azimuth detecting means for detecting the azimuth of a pedestrian, and a walking detection. Based on the walking detection output of the means and the detected azimuth of the azimuth detecting means, a position calculating means for sequentially calculating the relative position of the pedestrian viewed from a predetermined starting point by the autonomous navigation while converting the walking detection output into the walking distance. A predetermined starting point in the image storage means based on the walking locus recording means for recording the position data string calculated by the position calculation means in the walking locus storage means as walking locus data, and the walking locus data recorded in the walking locus storage means. Drawing means to draw the walking trajectory from
It is characterized by comprising a video conversion means for reading out the image data stored in the image storage means and converting it into a video signal, and a display means for displaying an image based on the video signal.

According to a second aspect of the present invention, in the portable navigation device according to the first aspect, step length designating means for designating a step length is provided, and the position calculating means uses the step length designated by the step length designating means. The walking detection output is converted into a walking distance.

According to a third aspect of the present invention, in the portable navigation device according to the first aspect, starting point display position designating means for designating a starting point display position is provided, and the drawing means is
It is characterized in that the starting point of the walking trajectory drawn in the image storage means is set to the position designated by the starting point display position designating means.

According to a fourth aspect of the present invention, in the portable navigation device according to the first aspect, there is provided temporary stop instruction means for instructing temporary stop of the recording of the walking locus, and the walking locus recording means is the temporary stop instruction means. When the temporary stop is instructed by, the recording of the position data string calculated by the position calculating means in the walking locus storing means is temporarily stopped.

According to a fifth aspect of the present invention, in the portable navigation device according to the first aspect, color change instruction means for instructing to change the color of the walking locus is provided, and the color change instruction means instructs the color change. At this time, the drawing means changes the color before and after the color change instruction to draw the walking locus.

According to a sixth aspect of the present invention, in the portable navigation device according to the first aspect, display mode switching instruction means for instructing switching of the display mode is provided along a walking locus and a straight line. When the walking locus is designated, the drawing means draws the walking locus in the image storage means, and when the straight line is designated, draws a straight line connecting the starting point and the current position in the image storage means. And

[0011]

In the portable navigation device according to the first aspect, the pedestrian viewed from a predetermined starting point while converting the walking detection output into a walking distance based on the walking detection output of the walking detection means and the detected azimuth of the azimuth detection means. The relative position of is calculated sequentially by self-contained navigation, and the calculated position data string is recorded in the walking locus storage means as walking locus data. Based on the recorded walking locus data, a walking locus is drawn and displayed from a predetermined starting point. Thus, by looking at the walking locus on the screen, the route from the current position to the starting point can be known, and the user can easily return to the starting point. Moreover, since the current position is detected by the self-contained navigation based on the outputs of the walking detecting means and the azimuth detecting means instead of receiving the radio wave from the satellite, the simple structure is sufficient and the cost can be reduced.

According to another aspect of the portable navigation device of the present invention, the step length designated by the step length designation means is used.
The walking detection output is converted into walking distance. With this, the current position can be calculated in consideration of the stride of each user,
An accurate walking trajectory can be displayed.

In the portable navigation device according to the third aspect, the starting point of the walking locus drawn in the image storage means is the position designated by the starting point display position designating means. As a result, the starting point position on the screen can be arbitrarily specified, so that the direction of walking from the starting point can be widened so that the walking locus does not run off the screen.

In the portable navigation device according to the present invention, when the temporary stop instruction means instructs the temporary stop, the recording of the position data string calculated by the position calculation means in the walking locus storage means is temporarily stopped. . As a result, it is possible to prevent the walking locus from being displayed for a route that detours during walking, and to prevent the walking locus from becoming complicated and making it difficult to understand the route to the starting point.

In the portable navigation device according to the fifth aspect, when the color change instruction means gives an instruction to change the color, the drawing means changes the color before and after the color change instruction and draws the walking locus. As a result, it is possible to easily distinguish between the going route and the returning route, and return to the starting point without making a mistake in the route.

In the portable navigation device according to the sixth aspect, when the walking locus is instructed by the display mode switching instructing means, the walking locus is drawn, and when the straight line is instructed, the starting point and the current position are connected. Draw a straight line.
As a result, if necessary, instead of the walking locus, the starting point −
This is convenient because it is possible to display a straight route connecting the current positions and to know the direction and distance when trying to return to the starting point by the shortest route.

[0017]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a portable navigation device according to an embodiment of the present invention.

1 is a portable navigation device, of which 2 is the walking and direction of the pedestrian, and the detected output is used to calculate the relative current position of the pedestrian as seen from the starting point.
The main body 3 which records the walking locus data and draws the walking locus is an operation / display unit for performing various operations and for displaying the walking locus / straight path between the starting point and the current position, and the main body 2 and the operation / display unit. 3 is a separate body and is connected by a detachable cable 4.

The appearances of the main body 2 and the operation / display unit 3 are shown in FIG. The main body 2 is formed in a box shape so that a pedestrian can wear it on a belt or the like. Carry it so that the arrow A on the top faces the front of the pedestrian. The operation / display unit 3 is formed in a thin rectangular shape with a size that can be held by a pedestrian, and has a display unit 5 for displaying a walking locus / straight path on a screen and a key input unit 6 for performing various key operations. are doing. Key input section 6
Is a start key 7 for instructing to start recording the walking trajectory,
Pause key 8 for temporarily stopping the recording of the walking track, stop key 9 for stopping the recording of the walking track, color key 10 for changing the color, mode key 11 for switching the display mode between the walking track and the straight route, the screen 4 direction keys 12 to move the display starting point position up, down, left and right, a power key 13, a step key 14 for setting a step input mode, and a step step for specifying a predetermined size (for example, ± 5 cm). It has a number key 15 and a subtraction key 16. The display unit 5 corresponds to north, south, west, and east on the top, bottom, left, and right.

A connector 17 is provided between the cable 4 and the main body 2, and a connector 1 is provided between the cable 4 and the operation / display unit 3.
It is removable according to 8.

Returning to FIG. 1, 20 is the direction of the pedestrian (see FIG. 2).
Direction sensor for detecting the direction indicated by arrow A in FIG.
Reference numeral 1 denotes a walking sensor that outputs a walking pulse every time a pedestrian walks one step, and is composed of, for example, a vibration sensor. Reference numeral 22 is a parameter registration unit for registering the display start point position, color, and stride specified by various keys of the operation / display unit 3 and outputting it to each unit of the main body 2, and 23 is a direction sensor 2
Based on the detected azimuth of 0 and the walking detection output of the walking sensor 21, while converting the walking detection output into a walking distance of one step, the relative current position of the pedestrian viewed from the starting point, the cumulative walking distance from the starting point, A position / distance calculation unit that calculates a linear distance between the starting point and the current position, a memory 24 that stores the position data string as walking locus data, and a cumulative walking distance and a linear walking distance (see FIG. 4), and 25 A walking locus / distance recording / erasing unit for additionally recording the current position data calculated by the position / distance calculating unit 23 in the memory 24 or rewriting and recording the cumulative walking distance and the straight walking distance, and 26 is one screen of the display unit 5. Video RAM with 2 minutes storage, 2
7 is a video RAM 26 based on the contents stored in the memory 24.
At the start point-current position, draw a walking path (when the display mode is a walking path) or a straight path (when the display mode is a straight path) with the top facing north, and also draw the cumulative walking distance,
A drawing unit 28 that also draws a character indicating a straight walking distance is a video conversion unit 28 that reads an image stored in the video RAM 26, converts the image into a video signal, and outputs the video signal to the display unit 5. A method of calculating the current position and distance by the position / distance calculating unit 23 will be described with reference to FIG. A pedestrian is 1 from a starting point P ₀ (x ₀ , y ₀ ) = P ₀ ( ₀ , ₀ ) in a coordinate system in which an arbitrary starting point P ₀ is set as an origin, the east direction is the X axis, and the north direction is the Y axis.
When a walking pulse is output from the walking / walking sensor 21, the position / distance calculation unit 23 detects the detected azimuth θ ₁ at that time,
Using the stride r registered in the parameter registration unit 22, the change amount [Delta] x ₁ and [Delta] y ₁ from P ₀ to the current position P ₁
To

[0023]

[Formula 1] Δx ₁ = rcos θ ₁ Δy ₁ = rsin θ ₁

It is calculated by When the next walking pulse is output, the changes Δx ₂ and Δy ₂ from P ₁ to the current position P ₂ are calculated using the detected azimuth θ ₂ at that time and the stride r registered in the parameter registration unit 22. ,

[0025]

[Formula 2] Δx ₂ = rcos θ ₂ Δy ₂ = rsin θ ₂

It is calculated by The coordinates (x ₂ , y ₂ ) of P ₂ with respect to P ₀ are

[0027]

X ₂ = x ₀ + Δx ₁ + Δx ₂ = r (cos θ ₁ + cos θ ₂ ) y ₂ = y ₀ + Δy ₁ + Δy ₂ = r (sin θ ₁ + sin θ ₂ )

[0028] Generally, the coordinates (x _i , y) of the current position P _i at the time when i walking pulses are output from the starting point
_i ) is

[0029]

X _i = r (cos θ ₁ + cos θ ₂ + ... +
cos θ _i ) y _i = r (sin θ ₁ + sin θ ₂ + ... + sin θ
_i )

Is obtained as The cumulative running distance L between P _{0 and} P _i and the straight line distance L ′ are

[0031]

Equation 5] _{L = Δx 1 + Δx 2 +} ··· + Δ i L'= {(Δx i -Δx 0) 2 + (Δy i -Δy 0)
₂ } ^1/2

Is obtained as The memory 24 can also store color palette data in association with each position data of walking locus data.
When recording the position data, the erasing unit 25 also records the color / color palette data registered in the parameter registration unit 22 as a pair. Further, the drawing unit 27 draws the walking locus so that the walking locus is displayed on the screen at a predetermined scale, and the starting point is drawn at the position indicated by the starting point display position data registered in the parameter registration unit 22. Is. The drawing unit 27 also draws a current position mark with an arrow pointing in the azimuth direction detected by the azimuth sensor 20 at a position corresponding to the current position of the video RAM 26, and draws a starting point mark at a position corresponding to the starting point. To do.

The position / distance calculation section 23 is always in the interval from when the start key 7 is pressed to start recording the walking locus until when the stop key 9 is pressed to instruct recording of the walking locus. The current position is calculated, and the cumulative walking distance L and the straight-line distance L ′ are calculated except when the pause key 8 is instructed to pause the walking locus recording. When calculating the cumulative walking distance L, the walking while the temporary stop is instructed is ignored. The walking locus / distance recording / erasing unit 25 is constantly operated from when the start key 7 is pressed to instruct to start recording the walking locus until when the stop key 9 is pressed to instruct to stop recording the walking locus. Straight line distance L
Further, rewriting recording is performed, and additional recording of position data and rewriting recording of the cumulative walking distance L are performed except when the pause key 8 is instructed to pause the recording of the walking trajectory.

Next, the operation of the above embodiment will be described with reference to FIGS.
Will be explained.

5 to 7 are flowcharts showing the walking locus / straight route display processing by the main body 2, and FIGS. 8 and 9 are explanatory views of the display screen. The memory 24 is assumed to be cleared in advance.

When the power is turned on by pressing the power key 12,
The parameter registration unit 22 initializes red as the color palette data, 40 cm as the stride, a position corresponding to the center of the screen as the starting point display position data, and a walking locus as the display mode (step 101). The drawing unit 27 inputs the detected azimuth from the azimuth sensor 20 and displays a red current position mark having an arrow pointing in the direction of the detected azimuth when the upward direction is north at a position corresponding to the starting point display position of the video RAM 26. draw. The image drawn in the video RAM 26 is read by the video conversion unit 28, converted into a video signal, output to the display unit 5, and displayed on the screen (steps 102-).
104). As a result, the current position mark indicating the direction of the pedestrian appears in the center of the screen (see the screen in FIG. 2).

When a pedestrian walks northward (the direction of the current position mark indicates the planned walking direction on the screen), it is better to set the starting point on the screen as low as possible. Of the 16, press the down key. While the down key is pressed, the parameter registration unit 22 changes the starting point display position data to the lower part of the screen, and the drawing unit 27 draws the current position mark at the changed starting point display position. (105, 106).
When you reach the desired position, release the down key to stop the movement of the current position mark.

Although the color of the walking locus is red by default, the color palette data registered in the parameter registration unit 22 is changed to green, yellow, black, etc. each time the color key 10 is pressed once. It can be changed to another color (steps 107, 108). Here, it remains red. Furthermore, the stride automatically becomes 40 cm by the initial setting, but when the stride of the pedestrian is longer or shorter than this, the stride key 13, the increment key 14, and the decrement key 15 are used to specify another stride. can do. In particular,
When the step key 13 is pressed, the step input mode is set for a certain period of time, and each time the increment key 14 is pressed during this time, the parameter registration unit 22 sets the registered step data to 45 cm or 50 cm.
For example, change by 5 cm in increments of cm, and on the contrary,
Each time the reduction key 15 is pressed, it is changed by 35 cm or 30 cm, for example, by -5 cm (step 10).
9, 110).

After setting the starting point display position, color and stride to desired parameters, the start key 7 is used to start walking.
Press to instruct to start recording the walking locus (step 11
1 is YES). Then, the walking track / distance recording / erasing unit 2
5 is x ₀ = 0, y as the first position data in the memory 24
₀ = 0 is recorded, and the red color pallet data registered in the parameter registration unit 22 in combination with this position data is recorded (step 112). One step of a pedestrian,
Each time the user walks, the walking sensor 21 outputs a walking detection pulse. The position / distance calculation unit 23 inputs the detected azimuth from the azimuth sensor 20 every time a walking detection pulse is input (steps 201 and 202), on condition that the pause key 8 is not in the pose state (step 203). NO), it is calculated that the user has walked by the distance of the stride data registered in the parameter registration unit 22 from the time the previous walk detection pulse is input until the time this walk detection pulse is input, and the self-contained navigation shown in FIG. Thus, the present position, the cumulative walking distance L, and the straight walking distance L'are calculated sequentially (step 204).
The walking track / distance recording / erasing unit 25 is the position / distance calculating unit 2
Each time the calculation for one time is completed in step 3, the position data is paired with the color palette data and additionally recorded in the memory 24, and the cumulative walking distance L and the straight walking distance L'are rewritten and recorded (step 205).

Since the display mode is the walking locus at present, the drawing unit 27 reads out the position data string forming the walking locus data of the memory 23, and the first position (x ₀ , y) corresponding to the starting point.
_The walking locus is drawn in the video RAM 26 such that the position ₀ ) corresponds to the starting point display position data, the starting point mark is at the position corresponding to the starting point, and the azimuth direction detected by the direction sensor 20 is at the position corresponding to the current position. A current position mark pointing at is drawn, and a character indicating the cumulative walking distance L and the straight line distance L'is also drawn at the bottom of the video RAM 26 (steps 206 and 207). The image in the video RAM 26 is read by the image conversion unit 28, converted into a predetermined image signal, output to the display unit 5, and displayed on the screen (step 208).

For example, when walking for 1500 m, the screen is as shown in FIG. 8 (1), and it is possible to see at a glance whether or not the user has walked on a path like a degree from the starting point.

When the walking locus is recorded / displayed up to a certain point, the pause key 8 is pressed when it is desired to temporarily stop the recording of the walking locus for a while to make a detour. Then, the position / distance calculation unit 23 and the walking locus / distance recording / erasing unit 25 of the main body 2 are in the pause state (steps 305 to 305).
307), the position / distance calculation unit 23 only updates the current position (step 209), and the walking locus / distance recording / erasing unit 25 does not record the position data and the like in the memory 24. Therefore, the detoured route can be prevented from being displayed on the screen, and the walking locus can be prevented from becoming complicated (see FIG. 8 (2)). When the user wants to resume recording the walking locus, the pause state can be canceled by pressing the pause key 8 again (steps 305, 306, 308).

After that, when returning to the original starting point when a certain point is reached, it is sufficient to walk in the opposite direction along the path of the walking locus displayed on the screen. The walking distance from the cumulative distance display to the return to the starting point can be known.

If the forward and return paths are displayed in the same color, the current position cannot be known or the route to return to the starting point cannot be known when the walking loci overlap. Therefore, the color key 10 is pressed to instruct the color change. To do. Color key 10 to 2
When pressed once, the parameter registration unit 22 changes the color designation data to yellow (steps 303 and 304). Therefore,
After that, the walking locus / distance recording / erasing unit 25 changes the color palette data to be recorded in pair with the position data to yellow,
Since the drawing unit 27 draws the walking path until the color change is instructed in red and the walking path after the color change is instructed in yellow, the forward path and the return path are displayed in different colors on the screen (Fig. 9 ( See 1)). Therefore, it is possible to distinguish the outward route and the return route at a glance, the current position with respect to the starting point and the route returning to the starting point can be grasped without mistake, and the returning point can be surely returned.

When it is desired to confirm the linear direction and distance from the current position to the starting point, the mode key 11 is pressed once. Then, the drawing unit 27 of the main body 2 sets the display mode to the straight path (steps 301 and 302), and the first position data (corresponding to the starting point) in the walking locus data of the memory 24.
Based on the last position data (corresponding to the current position) and the color indicated by the color palette data recorded as a pair with the last position data, draw a straight line path connecting the starting point and the current position, and mark the starting point at both ends. Draw the current position mark. Further, the straight line distance L'is drawn. At this time, a straight line path connecting the starting point and the current position is displayed on the screen (see FIG. 9).
(Refer to (2)), it is possible to know in what direction and how far the starting point exists from the direction and length, and if you want to walk linearly through the shortest route to the starting point, how much in which direction. It is possible to easily grasp whether or not to reach the starting point by walking at the distance. In this embodiment, since the straight line distance L'is also displayed, the accurate distance to the starting point can be known.

When it is desired to return straight to the starting point, if the user walks so that the direction of the current position mark matches the direction of the starting point, the starting point can be easily reached by the shortest route.

By pressing the mode key 11 again, the original display mode can be returned to the original walking locus (steps 31, 302).

When the stop key 9 is pressed when returning to the starting point, the walking locus / distance recording / erasing unit 25 causes the memory 24 to operate.
After erasing the stored contents of (steps 309, 31
0), the process returns to step 101, so that the walking locus can be displayed when walking on another route.

In the above-described embodiment, the drawing unit 27 draws the walking locus and the straight line path at a certain scale, but the key input unit 6 is provided with the enlargement / reduction key, and the enlargement / reduction key is used. The parameter registration unit 22 may change and register the scale according to the operation, and the walking locus and the straight route may be drawn based on the scale after the change registration.

[0050]

As is apparent from the above description, according to the present invention, a predetermined starting point is obtained while converting the walking detection output into a walking distance based on the walking detection output of the walking detection means and the detected azimuth of the azimuth detecting means. The relative position of the pedestrian viewed from above is sequentially calculated by the self-contained navigation, and the calculated position data string is recorded as the walking track data in the walking track storage means. Based on the recorded walking locus data, a walking locus is drawn and displayed from a predetermined starting point. Thus, by looking at the walking locus on the screen, the route from the current position to the starting point can be known, and the user can easily return to the starting point. Moreover, since the current position is detected by the self-contained navigation based on the outputs of the walking detecting means and the azimuth detecting means instead of receiving the radio waves from the satellite, it is possible to provide a portable navigation device which has a simple structure and can be inexpensive. it can.

[Brief description of drawings]

FIG. 1 is a circuit diagram showing a configuration of a portable navigation device according to an embodiment of the present invention.

FIG. 2 is an external configuration diagram of a portable navigation device.

FIG. 3 is an explanatory diagram of a position detection method by self-contained navigation.

FIG. 4 is an explanatory diagram of walking locus data recorded in a memory.

FIG. 5 is a flowchart showing the operation of the main body of the portable navigation device.

FIG. 6 is a flowchart showing the operation of the main body of the portable navigation device.

FIG. 7 is a flowchart showing the operation of the main body of the portable navigation device.

FIG. 8 is an explanatory diagram of a display screen.

FIG. 9 is an explanatory diagram of a display screen.

[Explanation of symbols]

 1 Portable Navigation Device 2 Main Unit 3 Operation / Display 5 Display 6 Key Input 7 Start Key 8 Pause Key 9 Stop Key 10 Color Key 11 Mode Key 13 Step Width Key 14 Increment Key 15 Decrement Key 16 4 Direction Key 20 Direction Sensor 21 walking sensor 22 parameter registration unit 23 position / distance calculation unit 24 memory 25 walking locus / distance recording / erasing unit 26 video RAM 27 drawing unit 28 conversion unit

Claims (6)

[Claims] 1. A walking detection output based on the walking detection means for detecting the walking of a pedestrian, the azimuth detecting means for detecting the azimuth of the pedestrian, the walking detection output of the walking detection means and the detected azimuth of the azimuth detecting means. While converting to walking distance, the relative position of the pedestrian viewed from the predetermined starting point is sequentially calculated by self-contained navigation.
An image based on the position calculation means for calculating, the walking trajectory recording means for recording the position data string calculated by the position calculation means in the walking trajectory storage means as the walking trajectory data, and the walking trajectory data recorded in the walking trajectory storage means The storage means includes a drawing means for drawing a walking locus from a predetermined starting point, a video conversion means for reading out the image data stored in the image storage means and converting it into a video signal, and a display means for displaying an image based on the video signal. A portable navigation device characterized by being provided. 2. A stride designating means for designating a stride is provided, and the position calculating means converts the walking detection output into a walking distance using the stride specified by the stride designating means. Item 1. A portable navigation device according to Item 1. 3. A starting point display position designating means for designating the starting point display position is provided, and the drawing means sets the starting point of the walking trajectory drawn in the image storage means to the position designated by the starting point display position designating means. The portable navigation device according to claim 1, wherein: 4. A position data string calculated by the position calculation means when temporary stop instruction means is provided for instructing temporary stop of recording of a walking locus, and when the walking locus recording means is instructed by the temporary stop instruction means. 2. The portable navigation device according to claim 1, wherein the recording of the data in the walking locus storage means is temporarily stopped. 5. A color change instructing means for instructing a color change of a walking locus is provided, and when the color change instructing means gives an instruction to change the color, the drawing means changes the color before and after the color change instruction and the walking locus. The portable navigation device according to claim 1, wherein the drawing is performed. 6. A display mode switching instructing means for instructing switching of the display mode is provided along a walking locus and a straight line, and when the walking locus is instructed by the display mode switching instructing means, the drawing means stores the walking locus in the image storage means. 2. The portable navigation device according to claim 1, wherein a straight line connecting the starting point and the current position is drawn in the image storage means when the line is drawn and the straight line is instructed.