Movement trajectory display system and movement trajectory display method

Abstract

An HDD (24) stores data that indicates the movement trajectory of a mobile entity. A server (10) generates a movement trajectory image regarding the movement trajectory of the mobile entity, on the basis of the data. The server (10) generates a movement trajectory map in which the movement trajectory image is superimposed on an in-facility map. The server (10) outputs the movement trajectory map to a display (35) that displays an image. The movement trajectory image includes a stop image that indicates a stop time at a position where the mobile entity has stopped and a speed image that indicates the movement speed of the mobile entity. The size of the stop image differs depending on the stop time of the mobile entity.

Description

[Technical field]

[0001] The present disclosure relates to a movement trajectory display system and a movement trajectory display method for displaying the movement trajectory of a moving object moving within a facility. [Background technology]

[0002] In building management, a method of displaying a movement trajectory map (traffic line map) showing the movement trajectory is generally used as an effective method for measuring and understanding the work efficiency or movement efficiency of workers or users in a facility. For example, JP 2016-85667 A (Patent Document 1) discloses a movement line information processing system that displays the movement line of a collection subject moving within a facility on a map of the facility. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-85667 A Summary of the Invention [Problem to be solved by the invention]

[0004] When moving objects such as facility users move within a facility, the moving speed of each moving object is different, and they may stop temporarily along their moving route. There is still room for improvement in the method of displaying the movement trajectory of such moving objects so that the moving state of such moving objects can be intuitively understood.

[0005] The present disclosure has been made to solve such problems, and an object of the present disclosure is to provide a movement trajectory display system and a movement trajectory display method that enable intuitive understanding of the movement state of a moving object when displaying the movement trajectory of the moving object moving within a facility. [Means for solving the problem]

[0006] A movement trajectory display system according to the present disclosure is a system that displays the movement trajectory of a moving object moving within a facility. The movement trajectory display system includes a control unit that executes a process for displaying the movement trajectory of the moving object, and a storage unit that stores data indicating the movement trajectory of the moving object. The control unit generates a movement trajectory image relating to the movement trajectory of the moving object based on the data. The control unit generates a movement trajectory map by superimposing the movement trajectory image on a map of the facility. The control unit outputs the movement trajectory map to a display unit that displays the image. The movement trajectory image includes a still image that indicates the stop time at a position where the moving object stops, and a speed image that indicates the movement speed of the moving object. The size of the still image differs depending on the stop time of the moving object.

[0007] A movement trajectory display method according to the present disclosure is a method for displaying the movement trajectory of a moving object moving within a facility. The movement trajectory display method includes a step of storing data indicating the movement trajectory of the moving object, a step of generating a movement trajectory image relating to the movement trajectory of the moving object based on the data, a step of generating a movement trajectory map by superimposing the movement trajectory image on a map of the facility, and a step of outputting the movement trajectory map to a display unit that displays an image. The movement trajectory image includes a still image indicating the stop time at a position where the moving object stops, and a speed image indicating the movement speed of the moving object. The size of the still image differs depending on the stop time of the moving object. Effect of the Invention

[0008] According to the present disclosure, when the movement trajectory of a moving object moving within a facility is displayed, the moving state of the moving object can be intuitively grasped. [Brief description of the drawings]

[0009] [Figure 1] 1 is an overall configuration diagram of a movement trajectory display system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a diagram illustrating a hardware configuration of the movement trajectory display system. [Diagram 3] FIG. 11 is a diagram illustrating an example of a flow line map. [Figure 4] FIG. 11 is a diagram illustrating an example of stop time data. [Diagram 5] FIG. 13 is a diagram showing an example of a stop mark. [Figure 6] FIG. 13 is a diagram showing an example of a stop mark displayed on a flow line map. [Figure 7] FIG. 11 is a diagram for explaining a moving speed and a stopping time. [Figure 8] FIG. 11 is a diagram for explaining a moving speed and a stopping time. [Figure 9] FIG. 11 is a diagram for explaining a moving speed and a stopping time. [Figure 10] FIG. 13 is a diagram for explaining a flow line map using an average speed classification diagram (color-coded). [Figure 11] FIG. 13 is a diagram for explaining a flow line map using an average speed division diagram (line division). [Figure 12] 10 is a flowchart showing a processing procedure of processing executed by the movement trajectory display system. [Figure 13] 13 is a flowchart of a movement trajectory image generating process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference characters and their description will not be repeated.

[0011] 1 is an overall configuration diagram of a movement trajectory display system 100 according to an embodiment of the present disclosure. The movement trajectory display system 100 according to the present embodiment is a system that displays the movement trajectory of a moving object moving within a facility.

[0012] In the present embodiment, a "moving body" includes people and objects. For example, a moving body refers to a walking person, a person pushing a shopping cart, a mobile robot, etc. In the following, the movement trajectory display according to the present embodiment will be described using the case of displaying a movement trajectory in a commercial facility (e.g., a shopping mall) as an example.

[0013] As shown in Fig. 1, the movement trajectory display system 100 includes servers 10 and 20, a terminal device 30, a plurality of wireless communication devices 72, and a plurality of cameras 70. The servers 10, 20, and the terminal device 30 are configured to be able to communicate with each other via a communication network NW (typically, the Internet). Note that the movement trajectory display system 100 may be configured with only the servers 10 and 20.

[0014] There are many moving objects within the facility, including facility users such as shoppers, employees of each store, cleaners, security guards, and facility managers.

[0015] The mobile body includes a mobile robot 40. The mobile robot 40 is, for example, a cleaning robot that is an autonomous mobile vacuum cleaner, an autonomous mobile transport robot, an autonomous mobile guide robot that responds to inquiries from shoppers 4 and 5, etc. The mobile robot 40 is equipped with a battery and can move within the facility using the power stored in the battery.

[0016] The mobile robot 40 is equipped with a wireless communication device 42. The wireless communication device 42 transmits a signal for detecting the position of the mobile robot 40 using a communication method conforming to the BLE (Bluetooth Low Energy, "Bluetooth" is a registered trademark) communication standard. Instead of the BLE communication standard, a communication method conforming to the UWB (Ultra Wide Band) communication standard or the like may be used. Alternatively, the wireless communication device 42 transmits an ID (Identification) for identifying the mobile robot 40, a signal indicating the operating state of the mobile robot 40, or the like to the server 20 using a communication method conforming to a wireless communication standard such as LTE (Long Term Evolution).

[0017] A shopping cart 60 used by a shopper 4 is equipped with a wireless communication device 62. Like the wireless communication device 42, the wireless communication device 62 transmits a signal for detecting the position of the shopping cart 60 using a communication method conforming to the BLE communication standard or the UWB communication standard or the like.

[0018] The multiple wireless communication devices 72 and the multiple cameras 70 are installed, for example, at an appropriate distance from each other on the ceiling 45 of the facility. The multiple wireless communication devices 72 receive signals emitted from the mobile robot 40 and the shopping cart 60 using a communication method conforming to the same communication standard as the wireless communication device 42 of the mobile robot 40 and the wireless communication device 62 of the shopping cart 60, and detect the reception strength of the signals. From the reception strength at the wireless communication device 72, the positions of the mobile robot 40 and the shopping cart 60 within the shopping mall can be measured. The wireless communication device 72 outputs the reception strength of the signals received from the mobile robot 40 and the shopping cart 60 to the server 20.

[0019] The camera 70 captures images of the inside of the facility and outputs the captured images (moving images) to the server 20. The captured images include images of people (shoppers, employees, etc.) present in the facility or the mobile robot 40. The wireless communication device 72 and the camera 70 may be installed on a wall.

[0020] The server 20 is a server that monitors moving objects existing in the facility. A plurality of wireless communication devices 72 and cameras 70 installed on the ceiling 45 are communicatively connected to the server 20. The server 20 may be a server that manages the mobile robot 40.

[0021] The server 20 receives from the wireless communication devices 72 the reception strength of the signals received by the wireless communication devices 72, and measures the positions of the mobile robot 40 and the shopping cart 60 within the facility from the reception strength of each wireless communication device 72. The server 20 also measures the position of people based on captured images (moving images) from the camera 70. Furthermore, the server 20 generates movement trajectory information (moving data) based on the position information of the shopping cart 60 and the captured images (moving images) from the camera 70. The server 20 transmits the movement trajectory information of the moving object to the server 10 via the communication network NW.

[0022] The server 10 has a function of generating and presenting a movement trajectory map (see Figs. 11 and 12 described later) within the facility to users of the facility. Here, the users of the facility include shoppers, facility managers, etc. As an example, the server 10 is installed in an operating company that operates the facility. The server 10 can be used by a manager entrusted with the management of the facility by the operating company. The server 10 displays the generated movement trajectory map to the user via the terminal device 30.

[0023] In this embodiment, the server 20 that monitors the facility and the server 10 that generates the movement trajectory map are configured as separate entities, but this is not limiting, and the servers 10 and 20 may be configured as an integrated entity.

[0024] The terminal device 30 is communicatively connected to the server 10 via the communication network NW. The terminal device 30 is an information processing device having communication and display functions, and is typically a smartphone or a tablet. The terminal device 30 can be used by shoppers 1 in the facility, a facility manager 3, employees of each store, and the like. The terminal device 30 is not limited to a mobile terminal such as a smartphone or a tablet, and may be a PC (Personal Computer) or the like installed in the facility.

[0025] The terminal device 30 typically has a web browser. The terminal device 30 accesses the server 10 and displays screen data (WEB screen) on the terminal device 30. Note that the terminal device 30 needs to log in to the server 10 in order to display the screen data.

[0026] In this embodiment, the terminal device 30 and the server 10 are configured as separate entities, but the present invention is not limited to this, and the terminal device 30 and the server 10 may be configured as an integrated entity.

[0027] 2 is a diagram showing a hardware configuration of the movement trajectory display system 100. The movement trajectory display system 100 includes servers 10, 20, etc. The server group consisting of the servers 10, 20 includes a storage unit that stores programs and data related to the movement trajectory display system 100, and a control unit that executes programs related to the movement trajectory display system 100. The control unit executes processes and the like for displaying the movement trajectory of a moving object. The storage unit stores movement data and the like that indicate the movement trajectory of a moving object.

[0028] The server group (servers 10, 20) includes, as a control unit, a processor 11 of server 10 and a processor 21 of server 20, which will be described below. The server group (servers 10, 20) also includes, as a storage unit, a read only memory (ROM) 12, a random access memory (RAM) 13, and a hard disk drive (HDD) 14 of server 10, and a ROM 22, a RAM 23, and a HDD 24 of server 20, which will be described below.

[0029] The server 10 includes, as its main components, a processor 11 that executes a program, a ROM 12 that stores data in a non-volatile manner, a RAM 13 that stores in a volatile manner data generated by the execution of the program by the processor 11 or data input via an input device, an HDD 14 that stores data in a non-volatile manner, and a communication IF (Interface) 15. The components are mutually connected by a data bus 16.

[0030] The communication IF 15 is an interface for communication between the server 20 and the terminal device 30 and the server 10. The HDD 14 stores various data. The server 10 may include another non-volatile storage device instead of or in addition to the HDD 14.

[0031] The server 20 includes, as main components, a processor 21, a ROM 22, a RAM 23, a HDD 24, and a communication IF 25. The components are mutually connected by a data bus 26. The communication IF 25 is an interface for communicating with the server 10, the mobile robot 40, the wireless communication device 72, and the camera 70. The HDD 24 stores information on the mobile robot 40, information on facilities, and position information on the mobile robot 40, people, and shopping carts 60. The HDD 24 also stores various databases for managing the mobile robot 40.

[0032] Note that, while FIG. 2 shows a configuration example in which the necessary processes are provided by each of the processors 11 and 21 executing a program, some or all of the processes provided may be implemented using a dedicated hardware circuit (for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array)).

[0033] The terminal device 30 includes, as main components, a processor 31, a ROM 32, a RAM 33, an input unit 34, a display 35, and a communication IF 36. The components are mutually connected by a data bus 37. The input unit 34 accepts input from a user (e.g., a shopper 1, a facility manager 3, etc.). The display 35 outputs processing results and the like from the processor 11. A touch panel display in which the input unit 34 and the display 35 are integrated may be adopted. The communication IF 36 is an interface for communicating with the server 10. The HDD 34 stores installed apps and the like.

[0034] The server 20 receives from the wireless communication devices 72 the reception strength of the signal received by the wireless communication devices 72, and measures the position of the mobile robot 40 within the facility from the reception strength of each wireless communication device 72. Then, the server 20 generates movement data indicating the movement trajectory of the mobile robot 40 based on the position of the mobile robot 40, and is capable of transmitting the generated movement data to the server 10 via the communication network NW.

[0035] Server 20 also monitors the movements of people (shoppers, employees, etc.) within the facility. Multiple wireless communication devices 72 and cameras 70 installed on ceiling 45 are communicatively connected to server 20. Multiple wireless communication devices 72 and cameras 70 are installed on ceiling 45 at appropriate distances, and are used to detect the movements of shoppers 4, 5 within the facility. Wireless communication devices 72 and cameras 70 may also be installed on walls.

[0036] Specifically, a shopping cart 60 used by a shopper is equipped with a wireless communication device 62. Like the wireless communication device 72, the wireless communication device 62 transmits a signal for detecting the position of the shopping cart 60 using a communication method conforming to the BLE communication standard or the UWB communication standard or the like.

[0037] The wireless communication device 72 receives a signal emitted from the shopping cart 60 using a communication method conforming to the same communication standard as the wireless communication device 62 of the shopping cart 60, and detects the reception strength of the signal. The wireless communication device 72 outputs the reception strength of the signal received from the shopping cart 60 to the server 20. The camera 70 captures images of the facility and outputs the captured images (moving images) to the server 20. The captured images include images of shoppers 4 and 5 passing through the facility.

[0038] The server 20 receives from the wireless communication devices 72 the reception strength of the signal received by each wireless communication device 72, and measures the position of the shopping cart 60 within the facility from the reception strength of each wireless communication device 72. The server 20 generates movement trajectory data (flow line data) indicating the movement line of people within the facility based on the position information of the shopping cart 60 and the captured images (moving images) from the camera 70. The movement trajectory data is stored in the HDD 24. The server 20 can transmit the generated flow line data to the server 10 via the communication network NW.

[0039] In this embodiment, the route along which a moving body (person or object) moves is referred to as a "movement trajectory." Among these, the route along which a person moves may be referred to as a "trajectory." Furthermore, a map generated based on the movement trajectory is referred to as a movement trajectory map or a trajectory map.

[0040] People flow data (movement data) is generated by the server 10. The server 10 measures the positions of people and shopping carts 60 within the facility at a predetermined sampling period. The positions of people can be measured from images captured by multiple cameras 70 using known image analysis technology. In addition, the position of the shopping cart 60 can be measured from the reception strength of multiple wireless communication devices 72.

[0041] 3 is a diagram showing an example of a flow line map (movement route map). The movement routes shown in the following description include movement routes of moving objects including people and mobile robots, but for the purpose of explanation, there are cases where the description is given assuming that only people are moving.

[0042] A screen 91 in Fig. 3 shows a schematic plan view of the floors in the facility as seen from the ceiling. As shown in Fig. 3, the facility is provided with a plurality of entrances, a plurality of stores, a store warehouse, a shopper passageway for shoppers to pass through, an employee passageway for employees to pass through, a machine room, a restroom (toilet), and elevators EV1 and EV2.

[0043] 3 show the movement trajectories (movement lines) of people or shopping carts 60. The movement lines L1 to L4 show how people move through passageways between entrances and exits, elevators, and facilities such as stores.

[0044] 3 are "stop marks" that indicate positions where the movement of a person has stopped. These stop positions are detected on the condition that the position of the person or shopping cart 60 does not change over a number of sampling periods (for example, one second or one minute).

[0045] The display size of the stop mark may be changed according to the stop time. Fig. 4 is a diagram showing an example of stop time data. Here, the flow lines L1 to L4 in Fig. 3 are also referred to as flow lines 1 to 4, respectively, and the stops by the stop marks SA to SF are also referred to as stops A to F, respectively.

[0046] As shown in Figure 4, in flow line 1, the stop time of stop A is 1 second, and the stop time of stop B is 5 seconds. In flow line 2, the stop time of stop C is 13 seconds, and the stop time of stop D is 8 seconds. In flow line 3, the stop time of stop E is 31 seconds, and the stop time of stop F is 23 seconds.

[0047] In this case, the width of the stop mark is determined as follows. First, the maximum stop time and the minimum stop time are extracted from the target movement trajectories L1 to L4. Next, the stop times are classified into a number of groups. Then, the size (width) of the stop mark is made different depending on the stop group to which it belongs. Note that instead of the width of the stop mark, the color density of the stop mark may be made different.

[0048] In this embodiment, the server 10 classifies the stops A to F into three groups. Specifically, the server 10 extracts the maximum stop time (31 seconds for stop E) and the minimum stop time (1 second for stop A) of the stop data for stop A to F. The server 10 sets the minimum stop time as the lower limit and the maximum stop time as the upper limit, and creates three groups so that the time ranges are equal.

[0049] The server 10 divides the minimum downtime (1 second) through the maximum downtime (31 seconds) into equal intervals of 10 seconds each, and creates three groups: group 1 is "1 second or more but less than 11 seconds," group 2 is "11 seconds or more but less than 21 seconds," and group 3 is "21 seconds or more but less than 31 seconds."

[0050] As a result, stops A, B, and D are classified into group 1, stop C into group 2, and stops E and F into group 3.

[0051] 5 is a diagram showing an example of stop marks. The stop marks SA to SF (stops A to F) divided into three groups as described above are displayed on the flow line map as shown in FIG.

[0052] The stop mark is indicated by the stop mark M3 in group 1 "1 second or more and less than 11 seconds", by the stop mark M2 in group 2 "11 seconds or more and less than 21 seconds", and by the stop mark M1 in group 3 "21 seconds or more and less than 31 seconds". In this way, the stop marks are displayed larger in the order of the stop time, from the stop mark M1, M2, to the stop mark M3.

[0053] Fig. 6 is a diagram showing an example of stop marks displayed on a flow line map (movement route map). The stop marks SA, SB, and SD on screen 91 in Fig. 3 are classified into group 1, and therefore are displayed as stop mark M3 on screen 92 in Fig. 6. The stop mark SC is classified into group 2, and therefore is displayed as stop mark M2. The stop marks SE and SF are classified into group 3, and therefore are displayed as stop mark M1.

[0054] In this way, by displaying the stop mark in three stages based on the actual stop time that occurred, rather than classifying the stop marks in a complex manner, it becomes possible to more intuitively grasp the stop time of a moving object.

[0055] The outline of the flow line map (movement route map) in this embodiment has been described above. In the following, problems in displaying the moving speed and the stop time in the flow line map and a method of displaying the moving speed and the stop time in this embodiment will be described with reference to Figs. 7 to 9.

[0056] 7 to 9 are diagrams for explaining the moving speed and the stopping time. In the explanation of Fig. 7 to Fig. 9, route diagrams 81 to 89, 87a, and 89a are diagrams for explaining the moving speed and the stopping speed in the moving trajectory (flow line).

[0057] Conventional display methods have a problem in that the moving speed and the presence or absence of a stop cannot be seen at a glance. If the moving speed and the presence or absence of a stop can be seen at a glance, the actual movement of people and objects can be understood in more detail, so that people can intuitively grasp the moving speed and the state of the stop without displaying using numerical values ​​or performing complicated calculations. In this way, for example, when multiple possible routes are selectable, it is easy to determine which route is the easiest to move.

[0058] An example of a method for expressing the speed of a line of movement (movement trajectory) is shown in Fig. 7. In a route diagram 81, one method for expressing the speed of a line of movement (movement trajectory) is to put marks (hereinafter referred to as "time stamps") on the line of the line of movement at regular intervals.

[0059] In the route maps 81-89, 87a, and 89a, the positions of the marks M4 and M5 are indicated every second by the time stamps. In this embodiment, among the time stamps, the time stamps that indicate the stop time are referred to as "stop marks." Hereinafter, the images of the marks displayed by the time stamps are also referred to as "position images," and the images of the stop marks are also referred to as "stop images."

[0060] In a route diagram 81 using a conventional display method, a movement trajectory (flow line) C0 from a start point ST to a goal point GL is shown. The direction indicated by the arrow is the direction of travel. In the route diagram 81, a moving object starts moving from the start point ST, and the movement every second is indicated by a mark M4 on the movement trajectory C0.

[0061] In the example of route diagram 81, the distance between marks M4 is wide near the start point ST and the goal point GL (the moving speed of the moving body is fast), but the distance between marks M4 is narrow near the midpoint between the start point ST and the goal point GL (the moving speed of the moving body is slow), and the moving body stops temporarily.

[0062] However, in the display method of the route map 81, if a moving object continues to stay in the same place, the time stamps on the line are displayed overlapping each other, making it impossible to express the stop time (it is impossible to know which time stamp represents a temporary stop). Therefore, in this embodiment, a stop mark (stop image) with a larger width than the time stamp (position image) is used during a stop. Specifically, the length of the stop time is expressed by the width of the stop mark itself.

[0063] In this case, the display of route map 81 will be displayed as route map 82. The location where a temporary stop occurs is assumed to have a stop time of 11 seconds or more and less than 21 seconds. In route map 82, the location where a temporary stop occurs is displayed by a stop mark M2, as described with reference to FIGS.

[0064] Also, the time interval for displaying the time marks may be set to be as short as possible. In that case, the boundaries between the time marks will become invisible and they will appear as a single line. However, the width of the "stop" time mark is large, so only the place where the train stopped will be visible (see route map 82).

[0065] One possible method for showing dwell time (stop time) is to use a dwell time heat map. A dwell time heat map divides a floor map into multiple small sections and displays each section in a color according to the time that a moving object stayed in that section (for example, the longer the dwell time, the darker the red color).

[0066] When using a dwell time heat map, the stop time can be displayed, but if multiple people move along similar routes, it becomes impossible to grasp the status of each person, such as who took which route and how long they stopped. On the other hand, when stop marks are used on the flow lines as in route map 82, it is possible to simultaneously show the flow lines in the relevant area and the relative stay time (degree of congestion).

[0067] Next, a method of displaying a time stamp with an arrow will be described with reference to Fig. 8. Here, the running direction of the moving object is represented by the mark M5. The direction indicated by the arrow of the mark M5 is the traveling direction of the moving object.

[0068] A route map 84 using a conventional display method shows a similar situation to the route map 81. However, unlike the route map 81, the route map 84 shows the moving direction of the moving object by a mark M5. The mark M5 shows that the moving object is moving from the start point ST toward the goal point GL.

[0069] In the route map 84, when a person pauses to look at a store window, wait for an appointment, etc., the direction of the arrow is displayed as not changing during the pause. However, during the pause, the person may look in various directions, such as turning around. For this reason, the direction indicated by the mark M5 may differ from the actual direction of the moving object (person).

[0070] For this reason, in order to avoid the above-mentioned mismatch in direction during the stop time, in this embodiment, a stop mark that does not indicate a direction is used. For example, instead of using an arrow while stopped, a mark that cannot express the direction of travel (such as a circle, square, or diamond) is used.

[0071] In this example, as shown in the route diagram 85, during a stop, the mark M5 indicating the direction of travel is not used, and the mark M4 not indicating the direction of travel is used. In this case, the stop marks M1 to M3 indicating the stop time may be used according to the stop time.

[0072] Next, a method for displaying moving speeds will be described with reference to Fig. 9. When multiple flow lines are displayed on one map using existing methods, such as route maps 86 and 87 in Fig. 9, it is impossible to know which moving object on route maps 86 and 87 moved faster without counting the number of time stamps.

[0073] In the route diagram 86, 16 marks M4 are displayed at equal intervals during the movement of the moving object from the start point ST to the goal point GL, so it can be seen that the moving object moves at a constant speed. By counting the marks M4 in the route diagram 86, it can be seen that the moving object moved from the start point ST to the goal point GL in 16 seconds.

[0074] On the other hand, in the route diagram 87, in the movement from the start point ST to the goal point GL, since the interval between the marks M4 near the start point ST is narrow, it can be seen that the moving object gradually accelerates near the start point ST.

[0075] It can be seen from the route diagram 87 that the moving object moved from the start point ST to the goal point GL in 12 seconds (12 marks M4). In other words, it can be seen that the moving object arrived at the goal point GL earlier in the route diagram 87 (12 seconds) than in the route diagram 86 (16 seconds). In addition, the example of the route diagram 87a shows the moving object gradually decelerating and finally stopping.

[0076] In the above-mentioned representation method, it is impossible to know which moving object reached the goal first (which has a higher average speed) without counting the time stamps. For this reason, in this embodiment, the relative speed among the multiple movement lines (movement trajectories) acquired from the HDD 14 is represented by different colors of the movement lines (see also FIG. 10 described later). Note that the relative speed may also be represented by the type of line (see FIG. 11 described later).

[0077] As shown in the "Average Speed ​​Classification Diagram (Color-Coded)", if, among the multiple acquired flow lines, the average speed of the moving object is in the top 20%, the flow line is represented by color C1. If the average speed of the moving object is in the top 21-41%, the flow line is represented by color C2. If the average speed of the moving object is in the middle 20%, the flow line is represented by color C3. If the average speed of the moving object is in the bottom 21-41%, the flow line is represented by color C4. If the average speed of the moving object is in the bottom 20%, the flow line is represented by color C5. In other words, the average speeds have the following relationship: colors C1>C2>C3>C4>C5.

[0078] Here, color C5 is black, and colors C1 to C4 are gray. The colors C1, C2, C3, C4, and C5 are considered to have increasing brightness in this order, with color C1 having the highest brightness and color C5 having the lowest brightness. In other words, when looking at the flow lines of colors C1 to C5, it can be seen that the brighter the color of the flow line, the greater the average speed.

[0079] In this embodiment, the route maps 86, 87, and 87a are displayed as route maps 88, 89, and 89a, respectively. The route maps 88 and 89a each show the flow line in color C5. In contrast, the route map 89 is displayed in color C1, which is lighter than color C5.

[0080] This allows the user to intuitively understand that the moving object's speed is faster on the route map 89 than on the route map 88 (i.e., the moving object reaches the goal point GL earlier on the route map 89 than on the route map 88).

[0081] The example described with reference to Figures 7 to 9 will be described in more detail below with reference to Figures 10 and 11. Figure 10 is a diagram for explaining a flow line map using an average speed classification diagram (color coding).

[0082] Screen 93 in Fig. 10 shows a schematic plan view of the floors in the facility as seen from the ceiling, similar to screen 91 in Fig. 3. Here, multiple movement trajectories (traffic lines) from a start point ST to a goal point GL are displayed.

[0083] Movement trajectories A1 to A3 and B1 to B3 are displayed on the screen 93. In this example, the server 20 acquires the movement trajectories A1 to A3 and B1 to B3, and the server 10 generates a flow line map (movement trajectory map) including these.

[0084] The server 10 classifies a route going counterclockwise to a plurality of stores arranged in a circle in the center of the screen as “route A” and a route going clockwise to the plurality of stores as “route B.” The movement trajectories A1 to A3 are classified as route A, and the movement trajectories B1 to B3 are classified as route B.

[0085] Here, the average movement speed of moving objects (people) who moved along movement trajectories A1 and A2 is assumed to be included in the bottom 20% of movement speeds. The average movement speed of moving objects (people) who moved along movement trajectories A3 and B3 is assumed to be included in the top 20% of movement speeds. The average movement speed of moving objects (people) who moved along movement trajectory B1 is assumed to be included in the middle 20% of movement speeds. The average movement speed of moving objects (people) who moved along movement trajectory B2 is assumed to be included in the top 21 to 40% of movement speeds.

[0086] For this reason, in the example of FIG. 10, as explained in FIG. 9, the lines indicating the movement trajectories A1 and A2 (hereinafter also referred to as "speed images") are displayed in color C5. The speed images of the movement trajectories A3 and B3 are displayed in color C1. The speed image of the movement trajectory B1 is displayed in color C3. The speed image of the movement trajectory B2 is displayed in color C2. As described above, the colors C1, C2, C3, C4, and C5 indicate the largest average movement speed in this order and are displayed in brighter colors.

[0087] Furthermore, in the example of FIG. 10, as explained with reference to FIGS. 5 and 7, the longer the stop time, the larger the stop mark displayed.

[0088] What can be seen from the display of route A is that there is a mixture of people moving fast and people moving slowly, and that there are long stops. The movement trajectories A1 and A2 are displayed in color C5, which indicates the smallest average movement speed, while the movement trajectory A3 is displayed in color C1, which indicates the largest average movement speed.

[0089] Also, in the movement trajectory A1, many stop marks with long stop times are displayed. In particular, an extremely long stop time occurs in front of a certain store. This is because the person stops for a long time to look at the products displayed in the store (for window shopping). Note that in this example, the marks and stop marks are omitted in the movement trajectories A2 and A3, but it is assumed that the movement trajectory A2 also displays many stop marks with similarly long stop times.

[0090] On the other hand, what can be seen from the display of route B is that it is used by a group of people who move fast and the stop time is short. Movement trajectories B1 to B3 are displayed with C1 to C3, which have high average movement speeds. Also, in the movement trajectories B1 to B3, the frequency of stop marks with long stop times is low compared to the movement trajectories A1 to A3.

[0091] Other than the above, there are other situations where a stop occurs, such as when a person stops in front of a restroom to wait for a companion. Stops are also likely to occur in places that are used as meeting spots. Stops may also occur in front of an elevator to wait for the elevator.

[0092] The speed of a moving object may be slowed down due to window shopping, or may be faster if there is a reason to arrive at a parking lot quickly to avoid paying a higher parking fee, or to go to the restroom quickly.

[0093] There are also differences in the characteristics of moving objects. For example, elderly people and people with children tend to move slowly. On the other hand, young people who move quickly feel stressed when they take a slow route. Also, in the case of an emergency, such as when a sick or injured person occurs, ambulances and police may want to move quickly. In such cases, it is necessary to select a route that avoids slow routes.

[0094] In this embodiment, the stopping time of the moving object can be grasped from an image corresponding to the stopping time at the position where the moving object stops, and the stopping speed can be grasped from a speed image indicating the moving speed of the moving object, so that both the stopping time and the stopping speed of the moving object can be intuitively grasped. As a result, the moving state of the moving object can be intuitively grasped in the display of the moving trajectory of the moving object moving within the facility. In this way, for example, a person who is in a hurry can move by selecting a route with a high average moving speed (route B in FIG. 10) while avoiding routes with frequent stops.

[0095] In this embodiment, the position every second is displayed by the mark M4 that does not indicate the direction of travel (see FIG. 7). However, the present invention is not limited to this, and the position every second may be displayed by the mark M5 that indicates the direction of travel (see FIG. 8).

[0096] In the above example of FIG. 10, the relative speed is represented by different colors of the movement trajectories, but as shown in the example of FIG. 11 below, the relative speed may be represented by the type of line of the movement trajectory.

[0097] Fig. 11 is a diagram for explaining a flow line map using an average speed division diagram (line division). The screen 94 of Fig. 11 shows movement trajectories A1 to A3 (route A) and B1 to B3 (route B) in the same way as Fig. 10. The average movement speeds of the movement trajectories A1 to A3 and B1 to B3 are also the same as those of Fig. 10.

[0098] In this example, if the average moving speed of the moving object (person) is within the bottom 20% of moving speeds, the moving trajectory is displayed by line D5. If the average moving speed of the moving object (person) is within the bottom 21 to 40% of moving speeds, the moving trajectory is displayed by line D4. If the average moving speed of the moving object (person) is within the middle 20% of moving speeds, the moving trajectory is displayed by line D3. If the average moving speed of the moving object (person) is within the top 21 to 40% of moving speeds, the moving trajectory is displayed by line D2. If the average moving speed of the moving object (person) is within the top 20% of moving speeds, the moving trajectory is displayed by line D1.

[0099] For this reason, in the example of FIG. 11, the movement routes of the movement trajectories A1 and A2 are displayed by line D5. The movement routes of the movement trajectories A3 and B3 are displayed by line D1. The movement route of the movement trajectory B1 is displayed by line D3. The movement route of the movement trajectory B2 is displayed by line D2. The average movement speeds are greatest in the order of lines D1, D2, D3, D4, and D5, and are displayed by dashed lines using shorter lines in the order of lines D1, D2, D3, and D4.

[0100] 12 and 13, a process executed by the movement trajectory display system 100 in this embodiment will be described with reference to a flowchart. FIG.

[0101] A series of processes shown in this flowchart is executed by the terminal device 30 and the servers 10, 20 when a user using a facility operates the terminal device 30 to display a movement trajectory map (flow line map) within the facility.

[0102] In the figure, the processing executed by the terminal device 30 is shown on the left, the processing executed by the server 10 is shown in the center, and the processing executed by the server 20 is shown on the right. Each step is realized by software processing by the processor 31 in the terminal device 30, the processor 11 in the server 10, and the processor 21 in the server 20, but may also be realized by hardware such as an LSI (Large Scale Integration) arranged in the terminal device 30 and the servers 10 and 20.

[0103] In step (hereinafter simply referred to as "S") 01, the terminal device 30 determines whether or not a display request for displaying a movement trajectory map (flow line map) has been accepted by a user input.

[0104] In S01, for example, when a user (shopper 1 or facility manager 3 shown in FIG. 1) launches an app pre-installed in terminal device 30 and clicks a “Display” button on the input screen displayed on display 35 to display a traffic flow map (movement trajectory map), a YES judgment is made, and a NO judgment is made otherwise.

[0105] At that time, the user specifies the area within the facility for which the flow line map is to be displayed, the start and end positions of the flow line, etc. The user may also specify the day of the week or time period when the movement trajectory to be displayed was collected.

[0106] When the terminal device 30 receives a user input of a display request (YES in S01), the terminal device 30 transmits the received display request to the server 10 in S02.

[0107] In S11, when the server 10 receives a display request from the terminal device 30 (YES in S11), the server 10 transmits a data request to the server 20 in S12.

[0108] In S21, the server 20 determines whether or not a data request has been received from the server 10. When a data request has been received (YES in S21), the server 20 acquires data including movement data indicating the movement trajectory of the moving object and a map image (hereinafter, referred to as "movement data, etc.") from the HDD 24. Then, the server 20 transmits the movement data, etc. to the server 10 (S23).

[0109] The server 20 acquires from the HDD 24 a map image corresponding to an area in the facility specified by the user (for example, in the example of FIG. 11, a map image of the east side area on the third floor of the facility). The server 20 also acquires from the HDD 24 movement data for the area specified by the user. At that time, the server 20 acquires from the HDD 24 movement data representing the movement start position and movement end position specified by the user. Furthermore, if the user specifies a day of the week and a time period, the server 20 acquires from the HDD 24 movement data collected during the specified day of the week and time period.

[0110] After transmitting the data request in S12, the server 10 waits to receive movement data, etc. from the server 20. In S13, the server 10 determines whether movement data, etc. have been received from the server 20. If movement data, etc. have been received (YES in S13), the server 10 executes a movement trajectory image generation process (see FIG. 13) in S14 to generate a movement trajectory image.

[0111] In this way, the server 10 generates a movement trajectory image relating to the movement trajectory of a moving object (such as the shoppers 4 and 5, the mobile robot 40, etc.) based on the movement data indicating the movement trajectory of the moving object stored in the HDD 24. Note that it is also possible to acquire only the movement trajectory of a person from the HDD 24. In this case, the server 10 generates a movement trajectory image relating to the movement trajectory of a person based on the movement trajectory data indicating the movement trajectory of a person stored in the HDD 24.

[0112] In S15, the server 10 generates a movement trajectory map (for example, the image displayed in FIG. 11) by superimposing the movement trajectory image on a map image of the facility. In S16, the server 10 transmits (outputs) the generated movement trajectory map to the terminal device 30 (the display 35 of the terminal device 30).

[0113] After transmitting a display request to the server 10 in S02, the terminal device 30 waits to receive a movement trajectory map from the server 10. In S03, the terminal device 30 determines whether or not the movement trajectory map has been received from the server 10. If the movement trajectory map has been received (YES in S03), the terminal device 30 displays the received movement trajectory map on the display 35 in S04.

[0114] The terminal device 30 displays, for example, a movement trajectory map as shown in Fig. 11 or 12 on the display 35. The server 10 may be an integrated device with the terminal device 30. In this case, the server 10 displays the movement trajectory map directly on the display.

[0115] Fig. 13 is a flowchart of the movement trajectory image generation process. When the movement trajectory image generation process starts, the server 10 extracts the maximum stop time and the minimum stop time of the moving object in the acquired movement data in S31. In the example of Figs. 4 and 5 shown in this embodiment, the maximum stop time = 31 seconds and the minimum stop time = 1 second are extracted.

[0116] The server 10 classifies the downtimes of the moving object into a predetermined number of groups (three in this embodiment) based on the minimum downtime and the maximum downtime. Specifically, in S32, the server 10 classifies the downtimes of the moving object into groups 1 to 3.

[0117] In the examples of FIGS. 4 and 5, group 1 is a group in which the stopping time of a moving object is equal to or longer than the minimum stopping time (1 second) and shorter than time A (11 seconds). group 2 is a group in which the stopping time of a moving object is equal to or longer than time A (11 seconds) and shorter than time B (21 seconds). group 3 is a group in which the stopping time of a moving object is shorter than time B (21 seconds) and shorter than the maximum stopping time (31 seconds). Here, the relationship is minimum stopping time (1 second)<time A (11 seconds)<time B (21 seconds)<maximum stopping time (31 seconds).

[0118] In S33, the server 10 generates a still image according to the group to which the stop time belongs. In the above example, the still image includes stop marks M1 to M3. The server 10 makes the size of the still image different for each classified group.

[0119] Specifically, the server 10 generates a stop mark M3 when the stop time of the moving object is classified into group 1. The server 10 generates a stop mark M2 when the stop time of the moving object is classified into group 2. The server 10 generates a stop mark M1 when the stop time of the moving object is classified into group 3. The sizes of the stop images have the relationship stop mark M3<stop mark M2<stop mark M1. In this way, the size of the stop image differs depending on the stop time of the moving object.

[0120] Here, the movement trajectory image includes a still image, a speed image, and a position image. The still image is an image showing the stop time of the moving object at the position where it stopped. The speed image is an image showing the moving speed of the moving object. The position image is an image showing the position of the moving object for each predetermined time (for example, 1 second).

[0121] In S34, the server 10 generates position images for each predetermined time (for example, every second). For example, in the example shown in Fig. 7, a mark M4 is generated on the movement trajectory C0 as a time stamp every second. This makes it possible to grasp the speed at which the moving object moved on the movement trajectory C0.

[0122] The position image may be an image showing the moving direction of the moving object. In this case, in the example shown in Fig. 8, a mark M5 showing the moving direction is generated on the moving trajectory C0 as a time stamp every second. This allows the user to understand the speed at which the moving object moved on the moving trajectory C0 and intuitively understand the moving direction of the moving object.

[0123] In S35, if the moving object stops for a specific time (for example, 1 second) or more, the server 10 generates a still image instead of the position image. For example, in the example of Fig. 7, a stop occurs at the midpoint of the movement trajectory C0 for 11 seconds or more and less than 21 seconds. In this case, a stop mark M2, which is a still image, is displayed at the position where the stop occurred instead of the mark M4, which is a position image. The still image is an image that does not show the moving direction of the moving object.

[0124] Here, the speed image is an image of lines showing the movement trajectory of the moving object. In S36, the server 10 generates the speed image by changing the color of the speed image according to the average movement speed of the moving object. Specifically, as shown in Fig. 9 and Fig. 10, the movement trajectory is displayed in different colors such as C1 to C5 according to the average movement speed.

[0125] The server 10 may change the type of lines of the speed image according to the average moving speed of the moving object. In this case, as shown in Fig. 11, the moving trajectory is displayed with different line types according to the average moving speed, like lines D1 to D5.

[0126] In S37, the server 10 generates a movement trajectory image from the generated position images (marks M4, M5, etc.), stop images (stop marks M1-M3, etc.), and speed images (movement trajectories of colors C1-C5, and movement trajectories of lines D1-D5), and ends the movement trajectory image generation process. As a result, movement trajectories A1-A3 and B1-B3 can be displayed in the example of Fig. 10, and movement trajectories A1-A3 and B1-B3 can be displayed in the example of Fig. 11.

[0127] [Note] The above-described embodiment is a specific example of the following supplementary notes.

[0128] (Appendix 1) A movement trajectory display system for displaying a movement trajectory of a moving object moving within a facility, comprising: A control unit that executes a process of displaying a movement trajectory of the moving object; A storage unit for storing data indicating a movement trajectory of the moving object, The control unit is generating a movement trajectory image relating to a movement trajectory of the moving object based on the data; generating a movement trajectory map by superimposing the movement trajectory image on a map of the facility; outputting the movement trajectory map to a display unit that displays an image; the movement trajectory image includes a still image indicating a stop time at a position where the moving object stops, and a speed image indicating a moving speed of the moving object, A movement trajectory display system, wherein the size of the still image varies depending on the stopping time of the moving object.

[0129] In this way, the stopping time of the moving object can be grasped from the image corresponding to the stopping time at the position where the moving object stopped, and the stopping speed can be grasped from the speed image indicating the moving speed of the moving object, so that both the stopping time and the stopping speed of the moving object can be intuitively grasped. As a result, the moving state of the moving object can be intuitively grasped in the display of the moving trajectory of the moving object moving within the facility.

[0130] (Appendix 2) The control unit is extracting a maximum stop time and a minimum stop time from among the stop times of the moving body; classifying the stop times of the moving object into a predetermined number of groups based on the minimum stop times and the maximum stop times; The movement trajectory display system according to claim 1, wherein the size of the still image is made different for each of the classified groups.

[0131] In this way, by classifying the stopping time of a moving object into a predetermined number of groups with different still images based on the maximum stopping time and the minimum stopping time, the stopping time of a moving object can be grasped more intuitively.

[0132] (Appendix 3) The control unit classifies stop times of the moving object into a first group, a second group, and a third group, the first group is a group in which a stop time of the moving object is equal to or longer than the minimum stop time and shorter than a first stop time, the second group is a group in which a stop time of the moving object is equal to or longer than the first stop time and shorter than a second stop time, the third group is a group in which a stop time of the moving object is equal to or longer than the second stop time and equal to or shorter than the maximum stop time, the first stop time is longer than the minimum stop time; the second stop time is longer than the first stop time and shorter than the maximum stop time; The still images include a first still image, a second still image, and a third still image, The control unit is generating the first still image when the stop time of the moving object is classified into the first group; generating a second still image that is larger than the first still image when the stop time of the moving object is classified into the second group; The movement trajectory display system according to claim 2, further comprising: a third still image that is larger than the second still image when the stop time of the moving object is classified into the third group.

[0133] In this way, the stop time from the minimum to the maximum stop time is classified into three groups, and the longer the stop time, the larger the still image is. By displaying the still image in three stages based on the actual stop time, without complex classification of still images, the user can more intuitively grasp the stop time of a moving object.

[0134] (Appendix 4) the movement trajectory image further includes a position image indicating a position of the moving object at each predetermined time; The movement trajectory display system according to any one of Supplementary Note 1 to Supplementary Note 3, wherein the control unit displays the still image instead of the position image when the moving object stops for a specific period of time or longer.

[0135] By displaying a position image showing the position of the moving body at each specified time, the change in the speed of the moving body can be intuitively grasped, and by displaying a stop image instead of the position image when a stop lasts for a specific period of time or longer, the occurrence of a temporary stop can be intuitively grasped.

[0136] (Appendix 5) the position image is an image showing a moving direction of the moving object, 5. The movement trajectory display system according to claim 4, wherein the still image is an image that does not indicate the direction of movement of the moving object.

[0137] This makes it easier to intuitively grasp the moving direction of the moving body, and since an image that does not show the moving direction of the moving body is displayed during a temporary stop when the orientation of the moving body can change, the moving direction is not displayed inaccurately.

[0138] (Appendix 6) the velocity image is an image of a line indicating a movement trajectory of the moving object, 6. The movement trajectory display system according to any one of Supplementary Note 1 to Supplementary Note 5, wherein the control unit changes a color of the speed image depending on an average movement speed of the moving object.

[0139] In this way, the color of the image of the line showing the movement trajectory of the moving object is made different depending on the average movement speed of the moving object, making it easy to intuitively grasp the average speed of the moving object (the time required for the moving object to reach the destination).

[0140] (Appendix 7) the velocity image is an image of a line indicating a movement trajectory of the moving object, 6. The movement trajectory display system according to any one of appendix 1 to appendix 5, wherein the control unit changes the type of lines of the velocity image depending on an average movement velocity of the moving object.

[0141] In this way, the type of line showing the movement trajectory of a moving object is made different depending on the average movement speed of the moving object, making it easy to intuitively grasp the average speed of the moving object (the time required for the moving object to reach the destination).

[0142] (Appendix 8) The moving object includes a person who uses the facility, The control unit generates the movement trajectory image relating to the movement trajectory of the person based on movement trajectory data indicating the movement trajectory of the person stored in the memory unit.

[0143] In this way, the movement of people within a facility can be intuitively grasped by displaying the flow lines of people.

[0144] (Appendix 9) A movement trajectory display method for displaying a movement trajectory of a moving object moving within a facility, comprising: storing data indicating a movement trajectory of the moving object; generating a movement trajectory image relating to a movement trajectory of the moving object based on the data; generating a movement trajectory map by overlaying the movement trajectory image on a map of the facility; outputting the movement trajectory map to a display unit that displays an image; the movement trajectory image includes a still image indicating a stop time at a position where the moving object stops, and a speed image indicating a moving speed of the moving object, A movement trajectory display method, wherein the size of the still image varies depending on the stopping time of the moving object.

[0145] In this way, the movement state of a moving object can be intuitively grasped when the movement trajectory of the moving object moving within a facility is displayed.

[0146] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The technical scope of the present disclosure is defined by the claims, not by the description of the embodiments described above, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0147] 1,4,5 Shopper, 3 Facility manager, 10,20 Server, 11,21,31 Processor, 15,25,36 Communication IF, 16,26,37 Data bus, 22,32 ROM, 23,33 RAM, 30 Terminal device, 34 Input section, 35 Display, 40 Mobile robot, 42,62,72 Wireless communication device, 45 Ceiling, 60 Shopping cart, 70 Camera, 81~89,87a,89a Route map, 91~94 Screen, 100 Movement trajectory display system, NW Communication network.

Claims

1. A movement trajectory display system for displaying a movement trajectory of a moving object moving within a facility, comprising: A control unit that executes a process of displaying a movement trajectory of the moving object; A storage unit for storing data indicating a movement trajectory of the moving object, The control unit is generating a movement trajectory image relating to a movement trajectory of the moving object based on the data; generating a movement trajectory map by superimposing the movement trajectory image on a map of the facility; outputting the movement trajectory map to a display unit that displays an image; the movement trajectory image includes a still image indicating a stop time at a position where the moving object stops, and a speed image which is a line image indicating a movement speed of the moving object, the size of the still image varies depending on a stopping time of the moving object; The control unit changes the color of the speed image depending on an average moving speed of the moving object.

2. A movement trajectory display system for displaying a movement trajectory of a moving object moving within a facility, comprising: A control unit that executes a process of displaying a movement trajectory of the moving object; A storage unit for storing data indicating a movement trajectory of the moving object, The control unit is generating a movement trajectory image relating to a movement trajectory of the moving object based on the data; generating a movement trajectory map by superimposing the movement trajectory image on a map of the facility; outputting the movement trajectory map to a display unit that displays an image; the movement trajectory image includes a still image indicating a stop time at a position where the moving object stops, and a speed image which is a line image indicating a movement speed of the moving object, the size of the still image varies depending on a stopping time of the moving object; The control unit changes the type of lines in the velocity image depending on an average moving speed of the moving object.

3. The control unit is extracting a maximum stop time and a minimum stop time from among the stop times of the moving body; classifying the stop times of the moving object into a predetermined number of groups based on the minimum stop times and the maximum stop times; 3. The movement trajectory display system according to claim 1, wherein the still images are differentiated in size for each of the classified groups.

4. The control unit classifies stop times of the moving object into a first group, a second group, and a third group; the first group is a group in which a stop time of the moving object is equal to or longer than the minimum stop time and shorter than a first stop time, the second group is a group in which a stop time of the moving object is equal to or longer than the first stop time and shorter than a second stop time, the third group is a group in which a stop time of the moving object is equal to or longer than the second stop time and equal to or shorter than the maximum stop time, the first stop time is longer than the minimum stop time; the second stop time is longer than the first stop time and shorter than the maximum stop time; the still images include a first still image, a second still image, and a third still image; The control unit is generating the first still image when the stop time of the moving object is classified into the first group; generating a second still image that is larger than the first still image when the stop time of the moving object is classified into the second group; The movement trajectory display system according to claim 3 , wherein the third still image, which is larger than the second still image, is generated before the stop time of the moving object is classified into the third group.

5. the movement trajectory image further includes a position image indicating a position of the moving object at each predetermined time; 3. The movement trajectory display system according to claim 1, wherein the control unit displays the still image instead of the position image when the moving object is stopped for a specific period of time or longer.

6. the position image is an image showing a moving direction of the moving object, The movement trajectory display system according to claim 5 , wherein the still image is an image that does not indicate a moving direction of the moving object.

7. The moving object includes a person who uses the facility, The movement trajectory display system according to claim 1 or 2, wherein the control unit generates the movement trajectory image relating to a movement line of the person based on movement line data indicating a movement line of the person stored in the storage unit.

8. A movement trajectory display method executed by a computer for displaying a movement trajectory of a moving object moving within a facility, comprising: storing data indicating a movement trajectory of the moving object; generating a movement trajectory image relating to a movement trajectory of the moving object based on the data; generating a movement trajectory map by overlaying the movement trajectory image on a map of the facility; outputting the movement trajectory map to a display unit that displays an image; the movement trajectory image includes a still image indicating a stop time at a position where the moving object stops, and a speed image which is a line image indicating a movement speed of the moving object, the size of the still image varies depending on a stopping time of the moving object; The movement trajectory display method further comprises a step of changing a color of the velocity image depending on an average movement velocity of the moving object.

Images