Evacuation guidance system and evacuation guidance method

Abstract

To provide an evacuation guidance system that performs evacuation guidance using a robot.SOLUTION: An evacuation guidance system comprises: an evacuation guidance management system that acquires information on a disaster which has occurred on board, acquires passenger position information on the board, formulates an evacuation route, and identifies a passenger to be evacuated and his / her position; and a moving body that executes control to move the own device to the position of the passenger based on the identified passenger and his / her position, and to move the own device along the evacuation route while outputting guidance information to the passenger.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an evacuation guidance system and an evacuation guidance method. [Background technology]

[0002] If a fire, flooding, or the like occurs on board the ship, passengers are urged to evacuate through an onboard announcement system, and the crew guides them to safety. Patent Document 1 discloses a system for supporting evacuation guidance through onboard announcements and the like, and ensuring that passengers evacuate. For example, in the system disclosed in Patent Document 1, information required for guiding passengers to evacuate (e.g., the number and locations of nearby passengers, the direction and location of evacuation, etc.) is transmitted from a management device to mobile terminals carried by crew members, and the crew members guide passengers to evacuation sites based on this information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-109149 A Summary of the Invention [Problem to be solved by the invention]

[0004] By using the evacuation guidance support system disclosed in Patent Document 1, it is possible to guide passengers to safety, but if the disaster situation limits the evacuation guidance provided by crew members or if there is a shortage of crew members, there is a possibility that some passengers will be unable to escape in time.

[0005] The present disclosure provides an evacuation guidance system and an evacuation guidance method that can solve the above problems. [Means for solving the problem]

[0006] The evacuation guidance system disclosed herein includes a management system including a disaster information acquisition unit that acquires information on disasters occurring on board the ship, a personnel deployment information acquisition unit that acquires position information of passengers on board based on information from a sensor that detects people, a route calculation unit that formulates an evacuation route based on the passenger position information from the personnel deployment information acquisition unit and aisle passability information set from the disaster information, and a guided passenger identification unit that identifies passengers who are to be guided to evacuation and their positions from the passenger position information and disaster information acquired by the personnel deployment information acquisition unit, and a mobile body including a control unit that moves the device to the position of the passenger based on the passenger and its position identified by the guided passenger identification unit, and, once the device has moved to the passenger's position, guides the passenger by moving the device along the evacuation route calculated by the route calculation unit. The moving body may further include an input unit that accepts input of information by contact and an output unit, the output unit outputs information requesting input of predetermined information by contact from the input unit when the position of the device itself is within a predetermined range from the position of the passenger, and the control unit may determine that the device itself has moved to the position of the passenger when the predetermined information is input from the input unit. The moving body may further include an input unit that accepts input of information by non-contact, and the control unit may determine that the device itself has moved to the position of the passenger when the predetermined information is input from the input unit by non-contact.

[0007] The evacuation guidance method disclosed herein is an evacuation guidance method executed by an evacuation guidance system that uses a moving body to guide passengers to safety, and includes the steps of acquiring information about a disaster that has occurred on board the ship, acquiring position information of passengers on board the ship based on information from a sensor that detects people, formulating an evacuation route based on aisle passability information set from the passenger position information and the disaster information, identifying passengers who are targets of evacuation guidance and their positions from the passenger position information and the disaster information, moving the moving body to the position of the identified passenger based on the identified passenger and his or her position, and, once the device has moved to the identified passenger's position, guiding the passenger by moving the moving body along the evacuation route. In the step of guiding the passenger, when the position of the moving body comes within a predetermined range from the position of the passenger, information requesting input of predetermined information by contact from an input unit included in the moving body may be output through an output unit included in the moving body, and when the predetermined information is input from the input unit, it may be determined that the moving body has moved to the position of the passenger. Also, in the step of guiding the passenger, when the predetermined information is input in a non-contact manner from an input unit included in the moving body, it may be determined that the moving body has moved to the position of the passenger. Effect of the Invention

[0008] According to the above-described evacuation guidance system and evacuation guidance method, the number of crew members required for evacuation guidance can be reduced. [Brief description of the drawings]

[0009] [Figure 1]FIG. 1 is a first diagram showing an example of an evacuation guidance system according to an embodiment. [Diagram 2] FIG. 2 is a second diagram showing an example of an evacuation guidance system according to an embodiment. [Diagram 3] 11 is a flowchart illustrating an example of an evacuation guidance process according to the embodiment. [Figure 4] 10 is a flowchart illustrating an example of control of a guide robot according to the embodiment. [Diagram 5] 1 is a diagram illustrating an example of a hardware configuration of an evacuation guidance system according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] <Embodiment> Hereinafter, an evacuation guidance system according to an embodiment of the present disclosure will be described with reference to FIGS. (composition) 1 and 2 are a first diagram and a second diagram, respectively, showing an example of an evacuation guidance system according to an embodiment. The evacuation guidance system 100 includes an onboard system 40 mounted on each of one or more ships 1 and a ground monitoring system 50 installed in a ground monitoring station. The ground monitoring system 50 and the onboard system 40 of each ship 1 are communicatively connected via a network. The onboard system 40 is a system that supports evacuation guidance of passengers on the ship 1. The onboard system 40 includes a management system 10 that manages evacuation guidance of passengers, a guide robot 20 used for evacuation guidance of passengers, and a mobile terminal 30 carried by the passenger. The management system 10 analyzes the state of the ship 1 detected by various sensors such as cameras and fire detectors installed in various places on the ship 1, provides passengers and crew with information for guiding them to a safe evacuation site, and uses the guide robot 20 to guide passengers to an evacuation site. The guide robot 20 finds passengers who are late to evacuate and guides them to a safe evacuation site based on instructions from the management system 10. The guide robot 20 can also communicate with the mobile terminal 30 to confirm the locations of passengers who were unable to escape and whether passengers being guided have left the guide robot 20. The ground monitoring system 50 is a system that manages the inboard systems 40 of multiple ships 1. For example, the ground monitoring system 50 acquires data related to evacuation guidance for each ship 1 from the inboard system 40, and if there is an error in the evacuation guidance performed by the inboard system 40, transmits instruction information for improving the error to the inboard system 40. For example, the ground monitoring system 50 can instruct the inboard system 40 on the movement route of the guide robot 20.

[0011] (Ground Surveillance System) The ground monitoring system 50 includes an input unit 51, a control unit 52, a communication unit 53, and a display unit 54. The input unit 51 is configured using input devices such as a keyboard, a mouse, a touch panel, buttons, etc. The input unit 51 accepts input from a user to the ground monitoring system 50. The input unit 51 outputs the content of the accepted input to the control unit 52. The control unit 52 controls various processes executed in the ground monitoring system 50. For example, the control unit 52 controls the display of the display unit 54, controls communication via the communication unit 53, and the like. The communication unit 53 communicates with the onboard system 40. For example, the communication unit 53 acquires data related to evacuation guidance from the onboard system 40 in real time. The display unit 54 is configured using a display device such as a liquid crystal display. The display unit 54 can display any information based on instructions from the control unit 52. For example, the display unit 54 displays data related to evacuation guidance acquired from the onboard system 40 (e.g., images captured by an onboard camera, etc.). The monitoring station has a monitor. For example, when a disaster or the like occurs on any of the ships 1, the monitor monitors the data displayed on the display unit 54 and inputs instruction information for ensuring the evacuation of passengers to the ground monitoring system 50. The input unit 51 accepts the input of instruction information by the monitor, and the control unit 52 transmits the input instruction information to the inboard system 40 via the communication unit 53.

[0012] (Onboard systems) In the onboard system 40, the management system 10 and the guided robot 20, and the guided robot 20 and the mobile terminal 30 are each communicatively connected to each other via short-range communication means such as UWB (Ultra Wide Band), wireless LAN (local area network), or Bluetooth.

[0013] (Management System) The management system 10 includes a personnel allocation information acquisition unit 11, a route calculation unit 12, an evacuation information management unit 13, an evacuation guidance unit 14, a meeting place management unit 15, a safety management unit 16, a central safety control unit 17, a disaster information input unit 18, a robot control unit 19, a communication unit 191, a camera 101, an RFID 102, a fire alarm 103, an alarm 104, a speaker 105, a digital signage 106, an indicator lamp 107, and a terminal device 108. The personnel allocation information acquisition unit 11 is connected to a plurality of cameras 101 and a plurality of RFID readers 102. The evacuation guidance unit 14 is connected to a plurality of digital signages 106 and a plurality of indicator lamps 107. The meeting place management unit 15 is connected to a plurality of terminal devices 108. A plurality of fire alarms 103, a plurality of alarm devices 104, and a plurality of speakers 105 are connected to the central safety control unit 17.

[0014] The personnel allocation information acquisition unit 11 acquires passenger position information of a predetermined area in the ship 1 based on information from a plurality of cameras 101 installed at various locations in the ship 1. For example, cameras 101 for detecting passengers and crew members are installed in the passages, stairs, elevators, decks, etc. in the ship 1, and the cameras 101 output images captured at each location to the personnel allocation information acquisition unit 11. The personnel allocation information acquisition unit 11 analyzes the images to recognize passengers and crew members at each location in the ship. For example, the personnel allocation information acquisition unit 11 acquires passenger position information by recognizing a movement trajectory and a movement direction from the captured image, and estimates the number of crew members and passengers in each area. The personnel allocation information acquisition unit 11 may also acquire passenger position information by recognizing the faces of passengers and crew members from the captured image to recognize the movement trajectory of each person. The personnel allocation information acquisition unit 11 also acquires passenger position information in the ship based on information from a plurality of RFID readers 102 installed in the ship. Passengers and crew members carry ID cards with RFID tags attached. Meanwhile, RFID readers 102 are provided at various locations within the ship 1. The RFID readers 102 detect the RFID tags of the ID cards, detect that passengers or crew members have passed nearby, and output the identification information of the RFID tags and the location where the RFID readers 102 are provided to the personnel allocation information acquisition unit 11. The personnel allocation information acquisition unit 11 acquires the number of passengers and crew members at various locations and personal information based on the information acquired from the RFID readers 102. In addition, passengers have mobile terminals 30 that can measure location information, and the personnel allocation information acquisition unit 11 may acquire the identification information and location information of the mobile terminals 30 from the mobile terminals 30 carried by the passengers, thereby grasping that the passengers associated with the identification information of the mobile terminals 30 are at the locations indicated by the location information of the mobile terminals 30.

[0015] The disaster information input unit 18 sets aisle passability information based on disaster information including the occurrence of a disaster and its details received from the central safety control unit 17, and outputs this aisle passability information to the evacuation information management unit 13. The disaster information input unit 18 may automatically determine the aisle passability information and input it to the evacuation information management unit 13, or the crew may input it manually.

[0016] The evacuation information management unit 13 outputs the passenger position information from the personnel deployment information acquisition unit 11 and the passage passability information from the disaster information input unit 18 to the route calculation unit 12.

[0017] The route calculation unit 12 determines an evacuation route that allows passengers to evacuate to an evacuation site in the shortest time based on the passenger position information and the passage passability information. Specifically, the route calculation unit 12 calculates the evacuation directions to multiple evacuation sites, the number of passengers expected to evacuate to the multiple evacuation sites, and the expected evacuation completion time when evacuation to the multiple evacuation sites is completed based on the passenger position information and the passage passability information, and outputs this information to the evacuation information management unit 13. In addition, the route calculation unit 12 determines a route for picking up passengers who are unable to evacuate based on the passenger position information and the passage passability information, and determines a route for guiding the passengers to an evacuation site. The route calculation unit 12 outputs information on the determined route and the position information of the location where the passengers who are unable to evacuate are located to the robot control unit 19.

[0018] The evacuation guidance unit 14 changes the evacuation guidance displays (digital signage 106, display lamps 107) provided in the ship's passageways based on the evacuation route output by the evacuation information management unit 13 and approved by the safety management unit 16. For example, the evacuation guidance unit 14 changes the evacuation guidance displays on the digital signage 106 and the display lamps 107 so as to minimize the evacuation time.

[0019] The safety management unit 16 approves (or disapproves) the evacuation routes output by the evacuation information management unit 13 to the evacuation guidance unit 14, and in reality, the approval (or disapproval) is performed by the captain or a crew member equivalent to the safety management officer.

[0020] The assembly place management unit 15 assigns lifeboats to passengers and crew members who have evacuated to multiple evacuation places. The evacuation information management unit 13 acquires evacuation routes, personal information of passengers and crew members (RFID identification numbers acquired through the RFID reader 102, names, sex, ages, and support needs associated with the identification information) from the personnel allocation information acquisition unit 11, and outputs the information to the assembly place management unit 15.

[0021] The terminal device 108 is connected to the assembly place management unit 15, and the crew members at the evacuation site input the passengers who will board the lifeboats from the terminal device 108. The input passenger information is output to the assembly place management unit 15.

[0022] The central safety control unit 17 is connected to a fire alarm 103, an alarm 104, and a speaker 105. When a disaster occurs and a fire breaks out on board the ship, the fire alarm 103 goes off and notifies the central safety control unit 17 of the occurrence of the fire. The central safety control unit 17 recognizes the fire on board the ship, activates the alarm 104, and broadcasts an emergency evacuation announcement over the speaker 105. The central safety control unit 17 also outputs disaster information such as the occurrence, location, and scale of the fire to the disaster information input unit 18. Meanwhile, information such as evacuation routes is input to the central safety control unit 17 from the evacuation information management unit 13.

[0023] The robot control unit 19 controls the guide robot 20 based on route information for picking up passengers who were unable to escape and guidance information indicating a route for guiding the passengers to an evacuation site, acquired from the route calculation unit 12. For example, the robot control unit 19 calculates position information (waypoints) of the route the guide robot 20 will take, and transmits the waypoints to the guide robot 20 via the communication unit 191. Alternatively, the robot control unit 19 transmits position information of a destination (a location where passengers who were unable to escape are present, an evacuation site) to which the guide robot 20 will be moved to the guide robot 20 via the communication unit 191.

[0024] In addition, the robot control unit 19 acquires route information and destination location information of the guide robot 20 from the ground monitoring system 50 via the communication unit 191, calculates location information (waypoints) of the route that the guide robot 20 will pass through, and transmits the location information to the guide robot via the communication unit 191.

[0025] The communication unit 191 communicates with the ground monitoring system 50, the guide robot 20, and the mobile terminal 30. For example, the communication unit 191 acquires information on the route along which the guide robot 20 moves from the robot control unit 19, and passenger position information and passageway passability information from the evacuation information management unit 13, and transmits them to the ground monitoring system 50. At the ground monitoring station, a monitor checks the route of the guide robot 20 transmitted from the inboard system 40 against the passenger position information and passageway passability information, and if the route is not appropriate, inputs a corrected route to the ground monitoring system 50. The ground monitoring system 50 transmits the input corrected route to the inboard system 40 (management system 10). The communication unit 191 outputs the corrected route to the robot control unit 19. The robot control unit 19 recalculates the waypoints of the guide robot 20 based on the corrected route, and transmits the corrected waypoints to the guide robot 20 via the communication unit 191. Furthermore, the communication unit 191 acquires the location information of the mobile terminal 30 from the mobile terminal 30, and outputs the acquired location information to the personnel allocation information acquisition unit 11.

[0026] (Guided Robot) The guided robot 20 is an unmanned mobile body, such as an airborne robot 20a or a grounded robot 20b, whose movement can be controlled by remote operation or automatic control. The inboard system 40 is equipped with one or more guided robots 20. The guided robot 20 is equipped with a positioning sensor 21, a camera 22, a microphone 23, a thermosensor 24, an input reception unit 25, a control unit 26, a drive unit 27, a memory unit 28, a display unit 29, an audio output unit 291, and a communication unit 292. The positioning sensor 21 measures the position information of the guided robot 20. The positioning sensor 21 is a receiver of a satellite positioning system such as a GPS (Global Positioning System) receiver. The camera 22 captures the surroundings of the guide robot 20. The microphone 23 picks up sounds around the guide robot 20. The thermosensor 24 is a human sensor that detects people around the guide robot 20 or an infrared camera (thermography camera). The input reception unit 25 is configured using input devices such as a touch panel, buttons, etc. The input reception unit 25 receives input from passengers and crew members. The input unit 25 outputs the received input content to the control unit 26.

[0027] The control unit 26 controls the operation of the guide robot 20. For example, the operation modes of the guide robot 20 include a "search mode" and an "evacuation guidance mode." In the search mode, the control unit 26 controls the driving unit 27 to move the guide robot 20 to the position of the passenger to be evacuated, and in the evacuation guidance mode, the control unit 26 moves the guide robot 20 to guide the passenger to an evacuation site. The control unit 26 also controls display on the display unit 29, controls output of audio information to the audio output unit 291, controls communication by the communication unit 292, analyzes whether a person is captured in the image captured by the camera 22, analyzes whether a human voice is included in the sound collected by the microphone 23, analyzes information detected by the thermosensor 24, and so on. The driving unit 27 is a movement mechanism of the guided robot 20 that includes a propeller (flying type), tires (ground contact type), and the like. The storage unit 28 is configured using storage devices such as HDD, flash memory, etc., and stores information such as destination position information, waypoints, etc. Note that a waypoint means point information (position information) on a route, and for example, the guide robot 20 can be moved along a desired route by providing each waypoint on the route to the guide robot 20 and instructing the guide robot 20 to follow the waypoints.

[0028] The display unit 29 is configured using a display device such as a liquid crystal display, etc. On the display unit 29, messages to passengers to be guided to evacuate are displayed. The audio output unit 291 is configured using a speaker, and outputs, by voice, messages to be guiding passengers to evacuate, and the like. The communication unit 292 communicates with the management system 10 and the mobile terminal 30. For example, the communication unit 292 acquires waypoint information from the management system 10. For example, the communication unit 292 acquires location information of the mobile terminal 30 from the mobile terminal 30.

[0029] (Mobile devices) The mobile terminal 30 is a smartphone 30a or a tag device 30b used for the purpose of preventing loss. For example, the mobile terminal 30 is linked to the guide robot 20 in advance so that the guide robot 20 can recognize the position information of the mobile terminal 30, and the position information of the mobile terminal 30 is transmitted to the guide robot 20. The mobile terminal 30 is lent to a passenger when boarding the ship, and at that time, the identification information of the mobile terminal 30 is linked to the personal information of the passenger and registered in the management system 10. Information linking the identification information of the mobile terminal 30 with the personal information of the passenger is transmitted to the guide robot 20 in advance and registered in the storage unit 28. The mobile terminal 30 may be integrated with the above-mentioned ID card with an RFID tag. The mobile terminal 30 includes a positioning sensor 31, a control unit 32, and a communication unit 33. The positioning sensor 31 measures the position information of the mobile terminal 30. The positioning sensor 31 is, for example, a GPS receiver. The control unit 32 transmits the position information of the mobile terminal 30 measured by the positioning sensor 31 to the guide robot 20 and the management system 10 via the communication unit 33 . The communication unit 33 communicates with the management system 10 and the guided robot 20 .

[0030] (operation) Next, the operation of the evacuation guidance system 100 will be described. FIG. 3 is a flowchart illustrating an example of an evacuation guidance process according to the embodiment. The evacuation guidance method for the ship 1 in this embodiment involves formulating an evacuation route based on passenger position information and disaster information, guiding passengers by changing evacuation guidance signs installed in the ship's corridors based on the evacuation route, and in addition, for passengers who are concerned about being delayed in evacuation, having the guidance robot 20 guide the passengers to safety.

[0031] First, the central safety control unit 17 judges whether a fire has occurred on board the ship based on the activation of the fire alarm 103 or reports from crew members or passengers (step S11). If a fire has not occurred (step S11; No), the process of the flowchart in FIG. 3 is terminated. If a fire has occurred (step S11; Yes), the central safety control unit 17 activates the alarm 104, broadcasts emergency evacuation guidance through the speaker 105, and inputs disaster information of the fire to the disaster information input unit 18 (step S12). The disaster information includes information on the location of the fire (the installation location of the fire alarm 103 that detected the fire or the location reported by the crew), its scale, and the time of occurrence. The disaster information input unit 18 acquires this disaster information and sets passage passability information. For example, the disaster information input unit 18 sets the passage including the location of the fire to be unpassable, and sets the other passages to be passable. The disaster information input unit 18 outputs the disaster information and the passage passability information to the evacuation information management unit 13 (step S13). When the evacuation information management unit 13 acquires the disaster information from the disaster information input unit 18, it outputs a command to the personnel allocation information acquisition unit 11, and the personnel allocation information acquisition unit 11 acquires passenger position information in a predetermined area on the ship based on information from the multiple cameras 101 and the RFID reader 102. For example, the personnel allocation information acquisition unit 11 processes the image acquired by the camera 101 and estimates the number of crew members and passengers in each area. At this time, the personnel allocation information acquisition unit 11 may recognize the names of the crew members by collating with facial image data of the crew members and the like registered in advance. In addition, the personnel allocation information acquisition unit 11 grasps the number and names of the crew members and passengers in each area based on a signal received from the RFID reader 102 installed at the entrance and exit of each area. In addition to these, the staffing information acquisition unit 11 may acquire location information from the mobile terminal 30 to grasp the location of passengers and grasp personal information linked to the mobile terminal 30. Note that the headcount estimation may be performed using all of these methods, or may be performed using any one or two of these methods depending on, for example, the disaster situation.

[0032] Next, the evacuation information management unit 13 outputs the passenger position information from the personnel allocation information acquisition unit 11 and the passage passability information from the disaster information input unit 18 to the route calculation unit 12. The route calculation unit 12 calculates an evacuation route, etc. based on the passenger position information and the passage passability information (step S14). This evacuation route is an evacuation route that allows a large number of passengers to safely evacuate to an evacuation site in the shortest time, and calculates the guided evacuation direction, the number of passengers expected to evacuate to the evacuation site, the expected evacuation completion time when evacuation to the evacuation site is completed, and the expected evacuation completion time until evacuation to the evacuation site is completed. In addition, the route calculation unit 12 identifies passengers who are likely to be late in escaping, and calculates the evacuation route for each identified passenger and the route to pick up the passenger. For example, the route calculation unit 12 identifies passengers who are located away from a large number of passengers, passengers near the disaster occurrence site, elderly people, physically disabled people, etc. as being likely to be late in escaping. For each passenger, the route calculation unit 12 calculates a route to pick up the passenger by connecting passable passages from the storage position of the guide robot 20 to the position where the target passenger is located, based on the passenger position information and passage passability information of the passenger, and calculates an evacuation route by connecting passable passages from the position where the passenger is located to the nearest evacuation site. The route calculation unit 12 outputs the calculated evacuation routes for multiple passengers to the evacuation information management unit 13, and outputs route information for passengers who are likely to be late in escaping, as well as the identification information and personal information of the passengers, to the robot control unit 19. In the description of this flowchart, the evacuation guidance by the guide robot 20 targets passengers who are concerned about being delayed in escaping, but the present invention is not limited to this, and the guide robot 20 can be used to guide a large number of passengers to evacuation. In this case, the route that the guide robot 20 takes to pick up the passengers and the guidance route that the guide robot 20 takes to guide the passengers to the evacuation site are calculated based on the location where the large number of passengers to be evacuated are located and their evacuation site.

[0033] Next, the evacuation information management unit 13 outputs the route calculated by the route calculation unit 12 to the evacuation guidance unit 14. At this time, the safety management unit 16 approves or disapproves the evacuation route (step S15). Specifically, if the captain or the safety manager does not approve (step S15; No), the route calculation unit 12 recalculates the evacuation route, etc. On the other hand, if the captain, etc. approves (step S15; Yes), the approved evacuation route is determined as the evacuation route (step S16). The captain may also decide to approve or disapprove the route to pick up passengers and the guidance route. The evacuation guidance unit 14 changes the display of the digital signage 106 and the display lamps 107 installed in various places on the ship based on the evacuation route (guided evacuation direction to the evacuation site) output by the evacuation information management unit 13, and displays to guide passengers in the vicinity to the evacuation site (step S17). At this time, a supporting crew member is also deployed.

[0034] On the other hand, the robot control unit 19 selects one (or one group) of passengers with high priority from among passengers who may be late in escaping, and calculates control information for the guide robot 20 based on information on a route to pick up the passenger (target person) and a guide route to an evacuation site. For example, the robot control unit 19 calculates a waypoint from the storage location of the guide robot 20 to the location where the target person is. Similarly, the robot control unit 19 calculates a waypoint from the location where the target person is to the evacuation site. The robot control unit 19 transmits and sets the control information (waypoint) calculated for passengers who may be late in escaping, and the identification information and personal information of the target person, etc., to the guide robot 20 via the communication unit 191 (step S18). Passengers with high priority are, for example, passengers who are in a place where no digital signage 106 or the like is installed nearby, passengers who are in a place where the crew cannot pick them up due to a lack of personnel or danger, elderly people, physically disabled people, passengers whose evacuation is actually delayed, etc.

[0035] When steps S17 and S18 are completed, evacuation of passengers begins. Many passengers begin evacuating to evacuation sites due to the displays on the digital signage 106 and the indicator lamps 107, the onboard announcements, and the guidance of the crew (step S19). Even after evacuation begins, the disaster information input unit 18 continues to acquire the latest disaster information and update the passageway passability information, and the personnel deployment information acquisition unit 11 acquires the latest passenger position information. This information is output to the evacuation information management unit 13.

[0036] (Evacuation guidance by guide robots) On the other hand, the guide robot 20 performs evacuation guidance for passengers who are concerned about being late to escape based on the setting of step S18 (step S20). Here, the control of the guide robot 20 will be described with reference to FIG. 4. First, the control unit 26 of the guide robot 20 acquires the control information set in step S18 through the communication unit 292 (step S31). Next, the control unit 26 sets the operation mode to the "search mode" and searches for the target person while controlling the drive unit 27 (step S32). Based on the position information of the guide robot 20 measured by the positioning sensor 21, the control unit 26 moves the device itself (the guide robot 20) so as to trace the waypoint from the storage place to the location where the passenger is located, and moves to the location where the target person is located. During this time, information such as the image captured by the camera 22 and the voice collected by the microphone 23 is transmitted to the management system 10 using the communication unit 292. In addition, the position information of the mobile terminal 30 carried by the target person is transmitted to the management system 10 using the communication unit 33. These pieces of information are transmitted from the management system 10 to the ground monitoring system 50 in real time. In addition, images taken by cameras 101 installed in various places in the ship and information detected by RFID readers 102 are also transmitted in real time from the management system 10 to the ground monitoring system 50. In the ground monitoring system 50, a monitor monitors images taken by the cameras 22, 101, etc., grasps the situation in the wide area of ​​the ship and the situation around the guided robot 20, and judges whether the route calculated in advance is appropriate. For example, if the disaster situation changes or the target person moves, the monitor sets a new route to pick up the target person in the ground monitoring system 50. The ground monitoring system 50 transmits information on the newly set route to the management system 10. In the management system 10, the robot control unit 19 acquires this route information through the communication unit 191, calculates waypoints, and transmits them to the guided robot 20. The guided robot 20 moves to the location where the target person is based on the corrected route information.

[0037] Furthermore, until the guide robot 20 arrives at the location where the target person is, the control unit 26 may display messages such as "An evacuation guidance robot is passing" or "We are going to pick up people who have difficulty evacuating" on the display unit 29, or output messages of the same content as audio information from the audio output unit 291. This makes it possible to publicize the passage of the guide robot 20, and to facilitate the passage of the guide robot 20 moving in the opposite direction to the evacuation direction of many evacuees. It is also possible to prevent many evacuees from being attracted to the direction of the movement of the guide robot 20.

[0038] When the guide robot 20 approaches the location where the target person is, the control unit 26 may move the guide robot 20 so that the guide robot 20 approaches the mobile terminal 30 based on the position information of the mobile terminal 30 carried by the target person transmitted from the mobile terminal 30 and the position information of the guide robot 20 measured by the positioning sensor 21. At this time, the control unit 26 may display a message such as "We've come to pick up Mr. XX" on the display unit 29, or output a message of the same content as audio information from the audio output unit 291. The control unit 26 may also make an effort to make the background color of the display unit 29 a special color so that the target person can notice it. This makes it possible to inform the target person of the presence of the guide robot 20.

[0039] In addition, in preparation for a case where the target person arrives at a place where the guide robot 20 cannot be seen (for example, the next room) even if the distance between the guide robot 20 and the mobile terminal 30 is within a predetermined range, if it is not possible to determine that the guide robot 20 has reached the target person's location within a predetermined time using the methods (2) to (6) described below, the control of the guide robot 20 may be switched from automatic control by the control unit 26 to manual operation by a ground observer. The ground observer uses the ground monitoring system 50 to guide the guide robot 20 to the target person's location based on the map information on the ship and the location information of the guide robot 20 and the mobile terminal 30. In this way, the guide robot 20 moves to a position where the target person can see the guide robot 20.

[0040] Next, the control unit 26 judges whether the guide robot 20 has reached the target person's position (step S33). (1) For example, the control unit 26 may judge that the guide robot 20 has reached the target person's position when the position information of the guide robot 20 and the position information of the mobile terminal 30 match or approach a range where they can be considered to match. (2) Also, for example, when the difference between the position information of the guide robot 20 and the position information of the mobile terminal 30 falls within a predetermined range, the control unit 26 may display information such as "Please touch the button" (when a button is installed) or "Please touch the screen" (when the display unit 29 is a touch panel type) on the display unit 29, or output audio information of the same content from the audio output unit 291, and may judge that the guide robot 20 has reached the target person's position when it detects a touch on the button or screen. (3) For example, when the difference between the position information of the guide robot 20 and the position information of the mobile terminal 30 falls within a predetermined range, the control unit 26 may output voice information such as "Mr. XX, please respond" or "Please wave your hand" from the voice output unit 291, and may determine that the guide robot 20 has reached the position of the target person if the voice of the target person is acquired through the microphone 23 or the state of waving is captured by the camera 22. Alternatively, the control unit 26 may determine that the target person has been reached if a person is captured by analyzing an image captured by the camera 22 without calling out to the target person, or if the voice information captured by the microphone 23 includes a human voice. (4) For example, the control unit 26 may transmit the image captured by the camera 22 or the voice information captured by the microphone 23 to the management system 10 using the communication unit 292, and the management system 10 may transfer the information to the ground monitoring system 50. Then, a ground monitor checks the image and voice information output by the monitoring system 50 and inputs the confirmation to the ground monitoring system 50. The ground monitoring system 50 transmits the information that has been confirmed by the observer to the management system 10. Then, when the control unit 26 acquires the information that has been confirmed by the observer from the management system 10, the control unit 26 may determine that the device itself has reached the position of the target person.(5) For example, when the difference between the position information of the guide robot 20 and the position information of the mobile terminal 30 falls within a predetermined range, the control unit 26 may determine that the guide robot 20 has reached the position of the target person if the thermography detected by the infrared camera (thermosensor 24) determines that the target is a person, or if audio information such as "Wave your hand" is output from the audio output unit 291 and human movement is confirmed by thermography. (6) The control unit 26 may perform these (2) to (5) in order and determine that the guide robot 20 has reached the position of the target person if any one of the conditions is satisfied.

[0041] People who are late in evacuating may be in some kind of trouble, and may not be able to speak or see the displays on the display unit 29 due to the smoke and heat that fills the ship. By preparing multiple methods for identifying the target person, such as contact, conversation, and gestures, as described above in (2) to (6), it is possible to reliably identify the target person.

[0042] When it is determined that the guide robot 20 has not reached the target person's location (step S33; No), the control unit 26 continues searching for the target person (step S32). When it is determined that the guide robot 20 has reached the target person's location (step S33; Yes), the control unit 26 switches the operation mode of the guide robot 20 from the "search mode" to the "evacuation guidance mode" (step S34). When the operation mode is switched to the "evacuation guidance mode", the guide robot 20 guides the target person to an evacuation site (step S35). Based on the control information acquired in step S31, the control unit 26 moves the guide robot 20 so as to follow the waypoint to the evacuation site. The control unit 26 may display the background color of the display unit 29 in a conspicuous color or output predetermined audio information from the audio output unit 291 at regular intervals so that the target person does not lose sight of the guide robot 20 during evacuation guidance. During evacuation guidance, the control unit 26 monitors the position information measured by the positioning sensor 21 and the position information of the mobile terminal 30, and moves while adjusting the moving speed so that the difference between the two is within a predetermined range. When the difference between the position information of the guide robot 20 and the position information of the mobile terminal 30 falls outside the range, the control unit 26 may output audio information such as "Do not move away from the robot" from the audio output unit 291. Alternatively, the control unit 26 may notify the ground monitoring system 50 through the management system 10 that the target person has moved away. A ground monitor may input instruction information to the ground monitoring system 50 to guide the guide robot 20 to the target person's position based on the images captured by the cameras 22, 101 and the position information of the mobile terminal 30. When such instruction information is input, the control unit 26 acquires the instruction information through the management system 10 and moves to the target person's position. Alternatively, during evacuation guidance, when a predetermined time has elapsed since the difference between the position information of the guide robot 20 and the position information of the mobile terminal 30 goes out of range, the control unit 26 may switch the operation mode back to the "search mode" and search for the target person, for example by retracing the guidance route that has been traveled so far.

[0043] During the guidance to the evacuation site, the images captured by the camera 22, the voices captured by the microphone 23, the position information of the guide robot 20, and the position information of the mobile terminal 30 are transmitted to the management system 10 and transferred to the ground monitoring system 50 in real time. In the ground monitoring system 50, a monitor monitors the images captured by the camera 22, etc., and checks whether the guidance route is appropriate, whether the target person is near the guide robot 20, and checks the target person's facial expression and fatigue level. For example, when a different guidance route (e.g., an easier route / a shorter route) is determined to be appropriate depending on the change in the disaster situation or the target person's condition, the monitor sets a new appropriate guidance route and transmits the new guidance route to the management system 10 through the ground monitoring system 50. In the management system 10, the robot control unit 19 acquires the new guidance route through the communication unit 191, calculates control information, and transmits it to the guide robot 20. In addition, when the monitor determines that assistance is required for the target person, the monitor may instruct the crew of the ship 1 to go to the assistance, or may talk to the target person using the voice output unit 291 and the microphone 23 of the guide robot 20 via the ground monitoring system 50 and the management system 10 to encourage and guide the target person. In this way, the guide robot 20 guides the target person to the evacuation site. When the position information of the guide robot 20 and the position information of the mobile terminal 30 carried by the target person both reach the evacuation site, the control unit 26 determines that the guidance of the target person is completed (step S36). While the guidance of the target person is not completed (step S36; No), the control unit 26 continues to guide the target person, and when the guidance is completed (step S36; Yes), the control unit 26 executes the process described with reference to FIG. 4 for the next target person. For example, the robot control unit 19 selects a passenger with the next highest priority from among the passengers identified as passengers who are likely to be late in escaping, and repeats the process from step S31. Furthermore, when evacuation actually starts, there is a possibility that passengers who are actually unable to escape will occur in addition to those initially (step S14) identified as passengers who are likely to be unable to escape. The route calculation unit 12 acquires the latest passenger position information updated by the personnel allocation information acquisition unit 11 from the evacuation information management unit 13, identifies passengers who are unable to escape, and calculates a route to pick up the passengers and a route to guide them to the evacuation site.The robot control unit 19 may cause the guide robot 20 to perform evacuation guidance for the newly identified passengers who are actually unable to escape.

[0044] When passengers and crew members arrive at the evacuation site, the management system 10 checks the number of personnel (step S21). Specifically, an RFID reader 102 installed at the entrance / exit of the evacuation site detects the RFID tags of ID cards carried by passengers, etc., thereby recognizing passengers who have completed evacuation, and outputs the information to the personnel allocation information acquisition unit 11. Alternatively, the personnel allocation information acquisition unit 11 may recognize passengers who have completed evacuation based on the identification information and position information of the mobile terminal 30. The personnel allocation information acquisition unit 11 tallies the number of passengers and crew members who have evacuated to the evacuation site.

[0045] Each evacuation site is equipped with life jackets for the number of passengers and crew members expected to evacuate. The crew members distribute the life jackets to the evacuated passengers (step S22). The assembly site management unit 15 allocates lifeboats to the passengers and crew members who have evacuated to the multiple evacuation sites (step S23). The crew members make the allocation by inputting the passengers who will board the lifeboats using the terminal device 108. The assembly site management unit 15 counts the passengers input from the terminal device 108, and when the number of passengers reaches the capacity of the lifeboat, it designates another lifeboat and allocates the lifeboat in the same manner.

[0046] Once the allocation of lifeboats has been completed, the crew members guide passengers onto the allocated lifeboats (step S24). The management system 10 then judges whether or not rescue of all passengers has been completed (step S25). For example, if the allocation of lifeboats has been completed for all passengers and crew members, it is judged that rescue of all passengers has been completed. If it is judged that rescue of all passengers has not been completed (step S25; No), the processing from step S20 onwards is repeated. This allows the guide robot 20 to continue guiding evacuation of passengers who were unable to escape in time. On the other hand, if it is judged that rescue of all passengers has been completed (step S25; Yes), the processing is completed.

[0047] (effect) As described above, according to this embodiment, passengers can be guided to evacuate using the guide robot 20. This allows the number of crew members required for evacuation guidance to be reduced, and search and evacuation support can be performed even in places where people cannot enter due to the effects of fires, etc. In addition, when searching for passengers who are unable to escape, the crew members need to search against the evacuation direction, but by using a mobile robot (especially a flying robot), the influence of reverse currents is eliminated, and evacuation guidance by the guide robot 20 can be performed without impeding smooth evacuation of passengers. In addition, in recent years, unmanned and labor-saving ship operations are also required. In evacuation guidance performed at the time of a disaster, if the actions of the crew members are restricted or there is a shortage of crew members due to the disaster situation, there is a possibility that some passengers will be unable to escape in time, but this tendency is even more pronounced in the case of ships to which unmanned and labor-saving have been applied. Even in such cases, according to this embodiment, reliable evacuation guidance can be achieved by using the guide robot 20. In other words, the guide robot 20 can contribute to unmanned and labor-saving ships. In addition, the ground monitoring system 50 can monitor and manage evacuation guidance on multiple ships, which can contribute to unmanned ships and reduced manpower requirements.

[0048] FIG. 5 is a diagram illustrating an example of a hardware configuration of the evacuation guidance system according to the embodiment. The computer 900 includes a CPU 901 , a main memory device 902 , an auxiliary memory device 903 , an input / output interface 904 , and a communication interface 905 . The personnel allocation information acquisition unit 11, the route calculation unit 12, the evacuation information management unit 13, the evacuation guidance unit 14, the assembly place management unit 15, the safety management unit 16, the central safety control unit 17, the disaster information input unit 18, the robot control unit 19, the terminal device 108, the control unit 26 of the guide robot 20, the mobile terminal 30, and the ground monitoring system 50 of the above-mentioned management system 10 are implemented in a computer 900. The above-mentioned functions are stored in the auxiliary storage device 903 in the form of a program. The CPU 901 reads the program from the auxiliary storage device 903 and expands it in the main storage device 902, and executes the above-mentioned processing according to the program. The CPU 901 also secures a storage area in the main storage device 902 according to the program. The CPU 901 also secures a storage area in the auxiliary storage device 903 for storing data being processed according to the program.

[0049] In addition, a program for realizing all or part of the functions of the management system 10, the guided robot 20, the mobile terminal 30, and the ground monitoring system 50 may be recorded in a computer-readable recording medium, and the program recorded in the recording medium may be read into the computer system and executed to perform processing by each functional unit. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. In addition, if a WWW system is used, the term "computer system" also includes a homepage providing environment (or display environment). In addition, the term "computer-readable recording medium" refers to a portable medium such as a CD, DVD, or USB, and a storage device such as a hard disk built into the computer system. In addition, if the program is distributed to the computer 900 through a communication line, the computer 900 that receives the program may deploy the program in the main storage device 902 and execute the above processing. In addition, the above program may be for realizing part of the above-mentioned functions, and may further be capable of realizing the above-mentioned functions in combination with a program already recorded in the computer system.

[0050] As described above, several embodiments according to the present disclosure have been described, but all of these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents as described in the claims, as well as in the scope and gist of the invention. For example, although the monitoring by the observer is performed by the ground monitoring system 50, a system having the same function may be constructed in a plurality of ships 1, and the guide robot may be monitored in the ship 1. In addition, in the flowchart of FIG. 3, the processing of steps S18 and S20 is performed for passengers who may be delayed in escaping, and for a small number of passengers (for example, one at a time). However, for example, when there are no passengers who are concerned about being delayed in escaping, or immediately after the occurrence of a disaster, the guide robot 20 may be directed to a hall, lounge, dining room, or the like where many passengers gather, and evacuation guidance may be performed for a large number of passengers. Alternatively, the guide robot 20 may be installed in advance near a high-class cabin according to the class of the cabin, and the guide robot 20 may start evacuation guidance for the surrounding passengers as soon as a disaster occurs. Conversely, the crew may handle evacuation guidance for high-class cabins, and the guide robot 20 may guide evacuation for the other cabins.

[0051] <Additional Notes> The evacuation guidance system and the evacuation guidance method described in each embodiment can be understood, for example, as follows.

[0052] (1) An evacuation guidance system (40, 100) according to a first aspect includes a management system (10) including a disaster information acquisition unit (18) that acquires information on a disaster occurring on board the ship, a personnel deployment information acquisition unit (11) that acquires position information of passengers on board the ship based on information from a sensor that detects people, a route calculation unit (12) that formulates an evacuation route based on the passenger position information from the personnel deployment information acquisition unit and aisle passability information set from the disaster information, and a guided passenger identification unit (12, 19) that identifies passengers who are targets of evacuation guidance and their positions from the passenger position information and the disaster information acquired by the personnel deployment information acquisition unit, and a control unit (26) that moves the device to the position of the passenger based on the passenger and its position identified by the guided passenger identification unit, and, once the device has moved to the passenger's position, guides the passenger by moving the device along the evacuation route (guidance route) calculated by the route calculation unit. This allows passengers to be guided to safety by the mobile vehicle, reducing the number of crew members required for evacuation. In other words, even unmanned or manned ships can use the mobile vehicle to guide passengers to safety.

[0053] (2) An evacuation guidance system (40, 100) according to a second aspect is the evacuation guidance system of (1), wherein the moving body (20) is provided with an input unit (input receiving unit 25) that receives information input by contact, and an output unit (display unit 29, audio output unit 291), and when the position of the device itself is within a predetermined range from the position of the passenger, the output unit outputs information requesting that specified information be input by contact from the input unit, and when the specified information is input from the input unit, the control unit determines that the device itself has moved to the position of the passenger. This allows passengers who are to be evacuated to be identified and then guided to an evacuation site.

[0054] (3) An evacuation guidance system (40, 100) according to a third aspect is an evacuation guidance system according to (1) to (2), wherein the moving body (20) is provided with an input unit (camera 22, microphone 23, thermosensor 24) that accepts contactless input of information, and the control unit determines that the device has moved to the position of the passenger when contactless information is input from the input unit. This allows passengers who need to evacuate to be identified and then guided to an evacuation site. In addition, passengers can be identified through non-contact input, so passenger identification can be done without placing a burden on passengers who are unable to evacuate in time.

[0055] (4) The evacuation guidance system 100 according to a fourth aspect is the evacuation guidance system 100 of (3), in which the non-contact input is input of voice information uttered by the passenger or input by gestures of the passenger. By confirming passengers by inputting voice information, passengers can be confirmed even in situations where it is not possible to contact the moving object. By confirming passengers by inputting gestures, passengers can be confirmed even in situations where it is not possible to speak.

[0056] (5) The evacuation guidance system 100 according to a fifth aspect is the evacuation guidance system 100 of (1) to (4), wherein the control unit (26) moves while monitoring the positional relationship between the passenger and the device, and adjusts the moving speed so that the position of the passenger is kept within a predetermined range from the device. This allows passengers who need evacuation guidance to be guided to evacuation shelters without losing sight of them.

[0057] (6) The evacuation guidance system 100 according to a sixth aspect is the evacuation guidance system 100 of (1) to (5), wherein the control unit (26) moves while monitoring the positional relationship between the passenger and the device itself, and issues an alarm when the position of the passenger deviates from a predetermined range. If a passenger becomes separated from the aircraft during guidance, an alarm is issued to the passenger and a ground monitoring station, thereby preventing the passenger from being lost.

[0058] (7) The evacuation guidance system 100 according to a seventh aspect is the evacuation guidance system 100 of (5) to (6), wherein when the passenger's position deviates outside the range, the control unit (26) moves in the reverse direction along the evacuation route to search for the passenger based on the passenger's position information. This allows the system to search for passengers again and resume evacuation guidance even if passengers are lost during evacuation guidance.

[0059] (8) The evacuation guidance system 100 according to an eighth aspect is the evacuation guidance system 100 of (1) to (7), further comprising a mobile terminal (30) carried by the passenger and capable of measuring position information of the device itself, and the control unit (26) moves the device itself to the position of the passenger by moving the device so that the position information of the moving body approaches the position information of the mobile terminal based on the position information of the moving body (20) and the position information of the mobile terminal carried by the identified passenger. This allows passengers to be guided to evacuate to be picked up in accordance with their latest actual positions (even if the passengers may move, for example).

[0060] (9) The evacuation guidance system 100 according to a ninth aspect is the evacuation guidance system 100 of (1) to (8), further comprising a monitoring terminal (ground monitoring system 50) provided on the ground, the management system (10) being provided on board the ship, the monitoring terminal instructing the management system on information regarding the movement route of the moving body, the management system acquiring the information regarding the movement route, and the control unit (26) moving the device itself based on the information regarding the movement route acquired by the management system. This makes it possible to control the operation of the moving object from a monitoring terminal installed on the ground.

[0061] (10) An evacuation guidance method according to a tenth aspect is an evacuation guidance method executed by an evacuation guidance system that uses a moving body to guide passengers to safety, and includes the steps of: acquiring information about a disaster that has occurred on board the ship; acquiring position information of passengers on board the ship based on information from a sensor that detects people; formulating an evacuation route based on aisle passability information set from the passenger position information and the disaster information; identifying passengers who are targets of evacuation guidance and their positions from the passenger position information and the disaster information; moving the moving body to the position of the identified passenger based on the identified passenger and its position; and, when the device has moved to the identified passenger's position, guiding the passenger by moving the moving body along the evacuation route. [Explanation of symbols]

[0062] 10 management system, 11 personnel allocation information acquisition unit, 12 route calculation unit, 13 evacuation information management unit, 14 evacuation guidance unit, 15 assembly place management unit, 16 safety management unit, 17 central safety control unit, 18 disaster information input unit, 100 evacuation guidance system, 101 camera, 102 RFID reader, 103 fire alarm, 104 alarm, 105 speaker, 106 digital signage, 107 display lamp, 108 terminal device, 20 guidance robot, 21 positioning sensor, 22 camera, 23 microphone , 24...thermosensor, 25...input reception section, 26...control section, 27...drive section, 28...storage section, 29...display section, 291...audio output section, 292...communication section, 30...portable terminal, 31...positioning sensor, 32...control section, 33...communication section, 40...inboard system, 50...ground monitoring system, 51...input section, 52...control section, 53...communication section, 54...display section, 900...computer, 901...CPU, 902...main memory device, 903...auxiliary memory device, 904...input / output interface, 905...communication interface

Claims

1. a disaster information acquisition unit for acquiring information on disasters occurring on board the ship; a personnel allocation information acquisition unit that acquires passenger position information on the ship based on information from a sensor that detects people; a route calculation unit that determines an evacuation route based on the passenger position information from the personnel allocation information acquisition unit and passage passability information set from the disaster information; a guidance target passenger identification unit that identifies passengers who are targets of evacuation guidance and their locations based on the passenger location information and the disaster information acquired by the personnel allocation information acquisition unit; A management system comprising: a control unit that moves the device to a position of the passenger identified by the guidance target passenger identification unit and the position of the passenger, and when the device moves to the position of the passenger, moves the device along the evacuation route calculated by the route calculation unit, thereby guiding the passenger; an input unit that accepts information input by touch; and an output unit; A moving body comprising: Including, the output unit outputs information requesting the user to input predetermined information by touch from the input unit when the position of the device itself is within a predetermined range from the position of the passenger; When the predetermined information is input from the input unit, the control unit determines that the device has moved to a position of the passenger. Evacuation guidance system.

2. a disaster information acquisition unit for acquiring information on disasters occurring on board the ship; a personnel allocation information acquisition unit that acquires passenger position information on the ship based on information from a sensor that detects people; a route calculation unit that determines an evacuation route based on the passenger position information from the personnel allocation information acquisition unit and passage passability information set from the disaster information; a guidance target passenger identification unit that identifies passengers who are targets of evacuation guidance and their locations based on the passenger location information and the disaster information acquired by the personnel allocation information acquisition unit; A management system comprising: a control unit that moves the device to a position of the passenger identified by the guidance target passenger identification unit and the position of the passenger, and when the device moves to the position of the passenger, moves the device along the evacuation route calculated by the route calculation unit, thereby guiding the passenger; an input unit that accepts contactless input of information; A moving body comprising: Including, When predetermined information is inputted from the input unit in a non-contact manner, the control unit determines that the device has moved to a position of the passenger. Evacuation guidance system.

3. The non-contact input is an input of voice information uttered by the passenger or an input of a gesture by the passenger. The evacuation guidance system according to claim 2 .

4. the control unit moves while monitoring a positional relationship between the passenger and the vehicle and adjusts a moving speed so that the passenger's position is kept within a predetermined range from the vehicle. The evacuation guidance system according to any one of claims 1 to 3.

5. The control unit moves while monitoring a positional relationship between the passenger and the device, and issues an alarm when the position of the passenger deviates from a predetermined range. The evacuation guidance system according to any one of claims 1 to 4.

6. When the position of the passenger deviates from the range, the control unit moves in a reverse direction along the evacuation route to search for the passenger based on position information of the passenger. The evacuation guidance system according to claim 4 or 5.

7. A portable terminal carried by the passenger and capable of measuring the location information of the portable terminal, the control unit moves the mobile device to the location of the passenger by moving the mobile device so that the location information of the mobile device approaches the location information of the mobile device based on the location information of the mobile device and the location information of the mobile device carried by the identified passenger; The evacuation guidance system according to any one of claims 1 to 6.

8. Further comprising a monitoring terminal provided on the ground, The management system is installed on board the ship, The monitoring terminal transmits information on a moving route of the moving object to the management system, The management system acquires information on the travel route, the control unit moves the device based on the information of the movement route acquired by the management system. The evacuation guidance system according to any one of claims 1 to 7.

9. An evacuation guidance method executed by an evacuation guidance system that uses a moving object to guide passengers to safety, comprising: Obtaining information on a disaster occurring on board the ship; acquiring position information of passengers on board the ship based on information from a sensor that detects people; formulating an evacuation route based on passage passability information set based on the passenger position information and the disaster information; Identifying the passengers who are targets of evacuation guidance and their positions based on the passenger position information and the disaster information; moving the vehicle to a position of the passenger based on the identified passenger and its position; a step of moving the moving body to the identified position of the passenger, and guiding the passenger by moving the moving body along the evacuation route; having In the step of guiding the passenger, when the position of the moving body comes within a predetermined range from the position of the passenger, information requesting input of predetermined information by touch from an input unit equipped in the moving body is outputted through an output unit equipped in the moving body, and when the predetermined information is inputted from the input unit, it is determined that the moving body has moved to the position of the passenger. Evacuation guidance method.

10. An evacuation guidance method executed by an evacuation guidance system that uses a moving object to guide passengers to safety, comprising: Obtaining information on a disaster occurring on board the ship; acquiring position information of passengers on board the ship based on information from a sensor that detects people; formulating an evacuation route based on passage passability information set based on the passenger position information and the disaster information; Identifying the passengers who are targets of evacuation guidance and their positions based on the passenger position information and the disaster information; moving the vehicle to a position of the passenger based on the identified passenger and its position; a step of moving the moving body to the identified position of the passenger, and guiding the passenger by moving the moving body along the evacuation route; having In the step of guiding the passenger, when predetermined information is inputted in a non-contact manner from an input unit included in the moving object, it is determined that the moving object has moved to a position of the passenger. Evacuation guidance method.

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