JP2010066072A - Apparatus, program, method and system for measuring position - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus, a program, a method and a system for measuring a position in an information environment consisting of two or more devices, which enable respective devices in the information environment to obtain positional information without using any central processing system which carries out a central control of information of all devices in the information environment, and without conducting a lot of communications. <P>SOLUTION: Relative positional information containing a distance between own device and another device is measured, and positional information representing a coordinate of the other device in a coordinate system to which the other device used for measuring the relative positional information belongs, is received, and then own-device positional information representing a coordinate of the own device in the coordinate system to which the other device belongs, is computed by using the coordinate represented by the received other-device positional information and the distance contained in the measured relative positional information, and the computed own-device positional information is transmitted to the other device. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a position measurement device, a position measurement program, a position measurement method, and a position measurement system.

  There is ubiquitous computing as an information environment that strongly backs up human life through the autonomous cooperation of computers that exist throughout our lives and society. Ubiquitous computing is attracting attention again with the development and penetration of communication technologies such as the downsizing of computers, represented by the evolution of small information terminals centered on mobile phones in recent years, and the explosive spread of the Internet. It is gathering.

  By the way, in an information environment typified by ubiquitous computing, in order for computers to operate in cooperation with each other, it is necessary for each computer to grasp the position of each other. As a position detection technique in which computers detect each other's position, there is a position detection system in which a base station distributes position information to mobile terminals (see Patent Document 1). Specifically, the position detection system described in Patent Document 1 uses a distance between a terminal and a base station measured by the mobile terminal and a distance between a plurality of base stations, and the three-point survey method of the mobile terminal. Position detection is performed, and the position detection result is sent to the mobile terminal.

JP 2005-86579 A

  However, in the position detection system described in Patent Document 1 above, the base station calculates the position information of the mobile terminal using the distance measured by each mobile terminal. There is a problem that a mobile terminal located in the position cannot acquire position information. In addition, since the position detection system described in Patent Document 1 transmits information such as distances measured from all mobile terminals in the communication range to the base station, the calculation amount and communication amount of the base station increase.

  The present invention has been made in view of the above, and in an information environment composed of a plurality of devices, without using a representative terminal such as a base station that centrally manages information of all devices in the information environment, It is an object of the present invention to provide a position measurement device, a position measurement program, a position measurement method, and a position measurement system that allow each device in the information environment to acquire position information without performing communication.

  In order to solve the above-described problems and achieve the object, the invention according to claim 1 is a measuring means for measuring relative position information including a distance between the own apparatus and another apparatus, and measures the relative position information. Using the receiving means for receiving the other device position information indicating the coordinates of the other device in the coordinate system to which the other device belongs, the distance included in the measured relative position information, and the coordinates indicated by the received other device position information. A calculation means for calculating own apparatus position information indicating coordinates of the own apparatus in a coordinate system to which the other apparatus belongs, and a transmission means for transmitting the calculated own apparatus position information to the other apparatus. Features.

i・・・・・・・・相対位置情報を計測した他装置の番号
d_i・・・・・・・・相対位置情報が含む距離
(x_i,y_i)・・・・・・他装置位置情報
(x,y)・・・・・・自装置位置情報
f(x,y)・・・・・・自装置位置情報の評価関数 Further, the invention according to claim 2 is the invention according to claim 1, wherein the calculation means indicates the coordinate indicating the smallest evaluation value based on the evaluation function of the position information of the own device represented by the formula (1). It is characterized by calculating position information.

i: Number of the other device that measured the relative position information
d _i・ ・ ・ ・ ・ ・ ・ ・ Distance included in relative position information
(x _i , y _i ) ... Other device position information
(x, y) ...
f (x, y) ... Equipment position information evaluation function

  The invention according to claim 3 is the invention according to claim 1, wherein the measuring means measures the relative position information further including an inclination angle of the other device in a coordinate system to which the own device belongs, and receives the received information. The means receives the other apparatus position information further indicating an angle that is the direction of the other apparatus in the coordinate system to which the other apparatus belongs, and the calculation means receives the inclination angle included in the measured relative position information and the received angle Using the angle indicated by the other apparatus position information, the own apparatus position information that further indicates an angle that is the direction of the own apparatus in a coordinate system to which the other apparatus belongs is calculated.

i・・・・・・・・・・相対位置情報を計測した他装置の番号
d_i・・・・・・・・・・相対位置情報が含む距離
a_i・・・・・・・・・・相対位置情報が含む傾き角度
(x_i,y_i),dir_i・・・・・他装置位置情報
(x,y)・・・・・・・・自装置位置情報
f(x,y)・・・・・・・・自装置位置情報の評価関数 According to a fourth aspect of the present invention, in the invention according to the third aspect, the calculating means indicates the coordinates and angle at which the evaluation value based on the evaluation function of the device position information shown in the equation (2) is the smallest. The self-device position information is calculated.

i: Number of the other device that measured the relative position information
d _i・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Distance included in relative position information
a _i ..... Angle of inclination included in relative position information
(x _i , y _i ), dir _i ... Other device position information
(x, y) ・ ・ ・ ・ ・ ・ ・ ・ Self-device position information
f (x, y) ・ ・ ・ ・ ・ ・ ・ ・ Evaluation function of own device position information

  The invention according to claim 5 is the invention according to claim 1, wherein the measuring means measures the relative position information further including an angle that is a direction of the other device in the coordinate system to which the device belongs. The calculating means uses the angle included in the measured relative position information and the coordinates indicated by the received other apparatus position information to further indicate the angle that is the direction of the own apparatus in the coordinate system to which the other apparatus belongs. The apparatus position information is calculated.

i・・・・・・・・・・相対位置情報を計測した他装置の番号
d_i・・・・・・・・・・相対位置情報が含む距離
a_i・・・・・・・・・・相対位置情報が含む角度
(x_i,y_i),dir_i・・・・・他装置の位置情報
(x,y),dir・・・・・・自装置の位置情報
r()・・・・・・・・・角度の差を±180度におさめる関数
s()・・・・・・・・・角度評価関数 The invention according to claim 6 is the invention according to claim 5, wherein the calculation means indicates the coordinates and angle at which the evaluation value based on the evaluation function of the position information of the own apparatus shown in Formula (3) is the smallest. The self-device position information is calculated.

i: Number of the other device that measured the relative position information
d _i・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Distance included in relative position information
a _i ... An angle included in the relative position information
(x _i , y _i ), dir _i ... Position information of other devices
(x, y), dir ・ ・ ・ ・ ・ ・ Location information of own device
r () ...... Function to reduce angle difference to ± 180 degrees
s () ... Angle evaluation function

  The invention according to claim 7 is the invention according to any one of claims 1 to 6, based on the self-apparatus position information calculated this time and the stored self-apparatus position information calculated last time. And determining means for determining the current own device position information, wherein the transmitting means transmits the determined own device position information as the calculated own device position information.

  The invention according to claim 8 is the invention according to any one of claims 1 to 7, further comprising a photographing means for photographing an image of the other device to which a marker for measuring the relative position information is attached. The measuring means measures the relative position information according to the shape of the marker included in the photographed image.

  The invention according to claim 9 is the invention according to any one of claims 1 to 8, wherein the receiving means further receives the relative position information measured by the other device, and the calculating means Further, the device position information is calculated using the received relative position information.

  The invention according to claim 10 is the invention according to claim 8, wherein the calculation means further uses the average value of the received relative position information and the measured relative position information to determine the own apparatus position information. It is characterized by calculating.

  According to an eleventh aspect of the present invention, there is provided a computer in a coordinate system to which a measuring unit that measures relative position information including a distance between the own apparatus and another apparatus and the other apparatus that measures the relative position information belongs. In the coordinate system to which the other device belongs, using the receiving unit that receives the other device position information indicating the coordinates of the other device, the distance included in the measured relative position information, and the coordinates indicated by the received other device position information. It is for functioning as a calculation unit that calculates its own device position information indicating the coordinates of its own device, and a transmission unit that transmits the calculated own device position information to the other device.

  According to a twelfth aspect of the present invention, there is provided a measuring step in which the measuring means measures relative position information including a distance between the own apparatus and the other apparatus, and the other apparatus in which the receiving means measures the relative position information. A receiving step for receiving other device position information indicating the coordinates of the other device in the coordinate system to which the information belongs, and a calculation means using the distance included in the measured relative position information and the coordinates indicated by the received other device position information. A calculation step of calculating own device position information indicating the coordinates of the own device in a coordinate system to which the other device belongs, and a transmission step of transmitting the calculated own device position information to the other device. It is characterized by having.

  The invention according to claim 13 is a position measurement system in which devices located within a range in which distance measurement is possible operate in cooperation with each other. Measuring means for measuring relative position information including a distance; receiving means for receiving other apparatus position information indicating coordinates of the other apparatus in a coordinate system to which the other apparatus that has measured the relative position information belongs; and the measured relative Using the distance included in the position information and the coordinates indicated by the received other device position information, calculating means for calculating own device position information indicating the coordinates of the own device in the coordinate system to which the other device belongs, and the calculated own device Transmitting means for transmitting apparatus position information to the other apparatus.

  According to the present invention, since it is possible to acquire the position information of the own apparatus only by acquiring the distance between at least one other apparatus and the position information of the other apparatus, in an information environment including a plurality of apparatuses, There is an effect that each device in the information environment can acquire position information without using a representative terminal that centrally manages information of all devices in the information environment and without performing a large amount of communication. .

  Exemplary embodiments of a position measurement device, a position measurement program, a position measurement method, and a position measurement system according to the present invention will be explained below in detail with reference to the accompanying drawings. In this embodiment, a position measurement system including a personal computer (hereinafter referred to as a PC) to which the position measurement apparatus of the present invention is applied will be described. However, it is not limited to a PC, and an image forming apparatus such as a multifunction machine, a printer, a facsimile machine, a copier, or the like can be used as long as it is installed in an information environment represented by ubiquitous computing in which the apparatuses operate independently in cooperation. The present invention can also be applied to various devices such as mobile phones and personal digital assistants.

(First embodiment)
First, the configuration of the position measurement system according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a configuration of a position measurement system according to the present embodiment.

  A position measurement system 100 according to the present embodiment includes a PC (hereinafter referred to as the own apparatus) 101 and PCs (hereinafter referred to as other apparatuses) 102 to 104 that are separated from the own apparatus 101 by distances d1, d2, and d3, respectively. Configured. Note that the position measurement system 100 according to the present embodiment includes the own device 101 and other devices 1 to 3 (102 to 104) located within the distance measurable range 105 that is a range in which distance measurement is possible from the own device 101. However, any device such as a PC located within the distance measurable range 105 is included in the position measurement system 100. In the following description, the configuration and position measurement processing necessary for the own device 101 to perform position measurement will be described, but the other devices 1 to 3 (102 to 104) also perform the same configuration and position measurement processing. Can do.

  Next, an outline of the own apparatus 101 according to the present embodiment will be described with reference to FIG. FIG. 2 is a schematic diagram showing an overview of the device itself.

  The own apparatus 101 according to the present embodiment includes a lower casing 201 and an upper casing 202.

  The lower housing 201 has a quadrangular prism shape, and markers are attached to its four side surfaces. The markers attached to the four side surfaces include a marker 203 and a two-dimensional code 204 such as a QR code (registered trademark).

  The marker 203 is for measuring relative position information such as a distance and direction between the other devices 1 to 3 (102 to 104). In the present embodiment, the marker 203 is a marker that can be recognized by a VR (Virtual Reality) technology such as AR Toolkit, and is a rectangular black frame.

  The two-dimensional code 204 is located in the inner area of the marker 203. The two-dimensional code 204 indicates the network address for the other devices 1 to 3 (102 to 104) to access the own device 101 and the four side surfaces of the lower housing 201. It represents the side number for identification. The side number is a number from 1 to 4 clockwise from the reference surface.

  For example, when the own device 101 has a network address “10.0.0.1”, a two-dimensional code representing a character string “10.0.0.1.3” is displayed on the side surface of the side number 3 of the own device 101. Affixed.

  The upper housing 202 includes a camera 205. The camera 205 rotates 360 degrees while holding the optical axis horizontally by a built-in motor, and takes an image of the surrounding landscape. In the present embodiment, the camera 205 captures an image of the marker 203 and the two-dimensional code 204 attached to the lower housing of the other apparatus 1 (102).

  In the present embodiment, an image of the surrounding landscape is taken by rotating the camera 205 by 360 degrees using a built-in motor, but the present invention is not limited to this. For example, a fish-eye camera, an omnidirectional camera with a parabolic mirror, a plurality of cameras may be juxtaposed, or an image of the surrounding landscape may be taken with a single fixed camera if a blind spot may exist.

  Next, the hardware configuration of the device 101 according to the present embodiment will be described with reference to FIG. FIG. 3 is a block diagram showing a hardware configuration of the own apparatus according to the present embodiment.

  The own apparatus 101 according to the present embodiment includes a camera 205, a motor 301, a network interface (network IF) 302, and a controller 303. Since the camera 205 has been described above, a description thereof is omitted here.

  The motor 301 is built in the upper housing 202 and rotates the camera 205 360 degrees while keeping the optical axis of the camera 205 horizontal.

  The network IF 302 enables wireless communication with the other devices 1 to 3 (102 to 104). Specifically, the network IF 302 has a known wireless network interface such as IEEE801.11b, and IP communication is performed using this network interface.

  The controller 303 includes a CPU (Central Processing Unit) 303a, a RAM (Random Access Memory) 303b, and a ROM (Read Only Memory) 303c.

  The RAM 303b includes various necessary parameters, a work area area for overall control of the own device 101, and the like.

  The ROM 303c implements the storage medium of the present invention, and stores various programs and various data executed by the OS (Operating System) and the CPU 303a.

  As the storage medium, not only the ROM 303c but also various types of media such as semiconductor memories such as various optical disks such as CD-ROM and DVD, various magnetic disks such as various magneto-optical disks and flexible disks can be used. Alternatively, the program may be downloaded from a network such as the Internet via the network IF 302 and installed in a storage device such as an HDD (Hard Disk Drive) (not shown). In this case, the storage device storing the program in the server on the transmission side is also a storage medium of the present invention. Note that the program may operate on a predetermined OS, and in that case, the OS may take over the execution of some of the various processes described later, It may be included as a part of a group of program files constituting the OS or the like.

  The CPU 303a controls various processes in subsystems such as the camera 205, the motor 301, and the network IF 302 included in the own apparatus 101 according to the ROM 303c in which various control programs are stored.

  Next, among the functions that the various programs stored in the ROM 303c execute by the CPU 303a, characteristic functions for realizing a series of processing related to position measurement will be described with reference to FIGS. FIG. 4 is a block diagram showing a functional configuration of the own apparatus. FIG. 5 is a flowchart showing a procedure of position measurement processing in the own apparatus. In the following description, a process in which the own apparatus 101 performs position measurement in relation to the other apparatus 1 (102) will be described, but it is assumed that position measurement is performed in the same manner as other apparatuses.

  As shown in FIG. 4, the CPU 303a implements a measurement unit 401, a communication unit 402, a position calculation unit 403, and a control unit 404 by following a program stored in the ROM 303c.

  The measurement unit 401 measures relative position information indicating a distance from the other device 1 (102) (step S501).

  In the present embodiment, the measurement unit 401 controls the camera 205 and the motor 301 to capture a 360-degree landscape image around the device 101. For example, when the camera 205 has an angle of view of 60 degrees in the horizontal direction, the measurement unit 401 captures 12 landscape images while controlling the motor 301 to rotate the camera 205 by 30 degrees. Then, the measurement unit 401 stores the photographed image in the RAM 303b in association with the photographing angle at the time of photographing.

  Next, the measurement unit 401 searches the marker 203 and the two-dimensional code 204 in each image stored in the RAM 303b and measures relative position information. FIG. 6A is an explanatory diagram of relative position information measured by the measurement unit. As shown in FIG. 6A, the measurement unit 401 detects the marker 203 attached to the other device 1 (102) included in each image stored in the RAM 303b, using the VR technology that is well-known image recognition software. To do.

  Then, the measuring unit 401 determines, based on the detected shape of the marker 203, the distance between the own device 101 and the other device 1 (102), the direction of the other device 1 (102) in the coordinate system to which the own device 101 belongs (the own device). 101 is an angle formed by the optical axis of the camera 204 of the camera 204 and the optical center (or the center of the marker 203) that is the position of the other device 1 (102) and the tilt angle (the surface on which the marker 203 of the other device 1 (102) is attached. The relative position information including the angle between the vertical line and the camera optical axis of the camera 204 of the device 101 is measured. It is assumed that the measured relative position information is stored in the RAM 303b by the control unit 404 described later.

  The measuring unit 401 corrects the measured inclination angle of the other apparatus 1 (102) to the inclination angle of the other apparatus in the coordinate system to which the own apparatus 101 belongs, using the side number acquired from the two-dimensional code. To do. Alternatively, the measuring unit 401 uses the imaging angle (camera optical axis angle) stored in the RAM 303b in association with the image and the measured tilt angle of the other apparatus 1 (102) in the coordinate system to which the own apparatus 101 belongs. You may correct | amend to the inclination angle of. Here, the movement of the optical center due to the rotation of the camera 205 is ignored.

  In addition, the measurement unit 401 detects the two-dimensional code 204 located in the inner area of the detected marker 203. Note that the detection of the two-dimensional code 204 is also performed using the VR technology, which is well-known image recognition software, in the same manner as the detection of the marker 203. As a result of the detection of the two-dimensional code 204, the measuring unit 401 acquires the network address and the side number of the other device 1 (102).

  Next, the position calculation unit 403 receives the information in the coordinate system to which the other apparatus 1 (102) indicated by the position information (hereinafter referred to as other apparatus position information) of the other apparatus 1 (102) received by the communication unit 402 described later belongs. Using the coordinates of the other apparatus 1 (102) and the distance included in the relative position information measured by the measuring unit 401 stored in the RAM 303b, the position information of the own apparatus indicating the coordinates of the own apparatus 101 (hereinafter, the own apparatus position). Information) is calculated (step S502).

  Note that when the relative position information of the other apparatus cannot be measured by the measurement unit 401 and the relative position information is not stored in the RAM 303b, or the other apparatus position information is received from the other apparatus that has measured the relative position information. In the event that the position calculation unit 403 fails, the position calculation unit 403 outputs a unique value (for example, (x, y) = (0, 0)) as its own apparatus position information. The calculated device position information is stored in the RAM 303b by the control unit 404 described later.

i・・・・・・・相対位置情報を計測した他装置の番号
d_i・・・・・・・相対位置情報が含む距離
(x_i,y_i)・・・・・他装置位置情報
(x,y)・・・・・自装置位置情報
f(x,y)・・・・・自装置位置情報の評価関数（自装置位置情報が示す座標と他装置位置情報が示す座標との間の距離と、計測部４０１により計測した相対位置情報が含む距離と、の誤差を表す関数） In the present embodiment, the position calculation unit 403 is an expression using a known nonlinear optimization method (for example, simplex method, steepest descent method, etc.), and the evaluation function of the own apparatus position information shown in Expression (1) Thus, an error (evaluation value) between the distance between the coordinate indicated by the own device position information and the coordinate indicated by the other device position information in the coordinate system to which the other device 1 (102) belongs and the distance included in the relative position information is obtained. Self-device position information indicating the smallest coordinate is calculated.

i ... Number of the other device that measured the relative position information
d _i .... Distance included in relative position information
(x _i , y _i ) ・ ・ ・ ・ ・ Other device position information
(x, y): Local device location information
f (x, y)... Evaluation function of own device position information (distance between coordinates indicated by own device position information and coordinates indicated by other device position information, and relative position information measured by measuring unit 401. A function that represents the error between

  Note that the relative position information measured by the measurement unit 401 includes an inclination angle, and the other device position information received by the communication unit 402 described later is the other device 1 (102) in the coordinate system to which the other device 1 (102) belongs. When the angle is a direction, the position calculation unit 403 uses the tilt angle included in the relative position information and the angle indicated by the other device position information to determine the angle that is the direction of the own device in the coordinate system to which the other device belongs. Further, the own device position information is calculated.

i・・・・・・・・・・相対位置情報を計測した他装置の番号
d_i・・・・・・・・・・相対位置情報が含む距離
a_i・・・・・・・・・・相対位置情報が含む傾き角度
(x_i,y_i),dir_i・・・・・他装置位置情報
(x,y)・・・・・・・・自装置位置情報
f(x,y)・・・・・・・・自装置位置情報の評価関数
なお、式（２）において、右辺の第一項は、自装置１０１の座標と他装置１（１０２）の座標との間の距離と、計測部４０１により計測した相対位置情報が含む距離と、の誤差を表す項である。また、右辺の第二項は、他装置１（１０２）が属する座標系における自装置１０１の方向である角度に相対位置情報が含む傾き角度を加算した角度と、他装置位置情報が示す角度と、の誤差を表す項である。式（２）は、距離に加えて角度を評価する項が含まれているため、距離を評価する項しか持たない場合に発生する鏡像関係の配置での評価値を上げ、正しい方を選択することができる。 In the present embodiment, the position calculation unit 403 is an expression using a known nonlinear optimization method (for example, simplex method, steepest descent method, etc.), and an evaluation function for own apparatus position information shown in Expression (2) The device position information indicating the coordinates and angle at which the evaluation value is the smallest is calculated.

i: Number of the other device that measured the relative position information
d _i・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Distance included in relative position information
a _i ..... Angle of inclination included in relative position information
(x _i , y _i ), dir _i ... Other device position information
(x, y) ・ ・ ・ ・ ・ ・ ・ ・ Self-device position information
f (x, y)... Evaluation function of own device position information In the equation (2), the first term on the right side is the coordinates of the own device 101 and the coordinates of the other device 1 (102). And a distance included in the relative position information measured by the measurement unit 401. The second term on the right side includes an angle obtained by adding a tilt angle included in the relative position information to an angle that is the direction of the own apparatus 101 in the coordinate system to which the other apparatus 1 (102) belongs, and an angle indicated by the other apparatus position information. This is a term representing the error of. Since the expression (2) includes a term that evaluates an angle in addition to a distance, the evaluation value is raised in a mirror image-related arrangement that occurs only when there is a term that evaluates a distance, and the correct one is selected. be able to.

  Here, the mirror image relationship will be described with reference to FIG. 6B. FIG. 6B is an explanatory diagram illustrating an example of a mirror image relationship. As shown in FIG. 6B, the mirror image relationship is that the own device 101 is located between the other device 1 (102) and the other device 2 (103), and the other device 1 (102) and the other device 2 (103). This means a case where it is considered that the own apparatus 101 is located at point A or point B when the distances from both are d. When this mirror image relationship occurs, it is impossible to correctly select whether the position of the apparatus 101 is the point A or the point B in the equation (1) having only a term for evaluating the distance. On the other hand, since the expression (2) includes a term for evaluating the angle in addition to the distance as described above, the correct position information of the own apparatus 101 can be calculated even when a mirror image relationship occurs. it can.

  The control unit 404 stores the own device position information calculated by the position calculation unit 403 in the RAM 303b.

  In addition, when the self-device position information calculated last time is stored in the RAM 303b, the control unit 404 stores the self-device position information calculated this time and the RAM 303b each time the self-device position information is calculated by the position calculation unit 403. Based on the stored self-device position information calculated last time, the current self-device position information is determined (step S503). Then, the control unit 404 stores the determined own apparatus position information in the RAM 303b as the own apparatus position information calculated this time.

  In the present embodiment, the control unit 404 has own device position information indicating the coordinates of the midpoint of the line segment connecting the coordinates indicated by the own device position information calculated this time and the coordinates indicated by the own device position information calculated last time. Is determined as the current device position information. When the position calculation unit 403 calculates the own apparatus position information indicating the angle, the control unit 404 calculates the angle indicated by the own apparatus position information calculated this time, the angle indicated by the own apparatus position information calculated last time, Own device position information indicating the average value of the current device position information is determined.

  Thereby, in the relationship between the position measurement process of the own apparatus 101 and the position measurement process of the other apparatus 1 (102), the position information of each apparatus calculated by each apparatus can be prevented from falling into an oscillation state. . Here, the oscillation state of the position information will be described with reference to FIG. FIG. 7 is an explanatory diagram of a scene in which position information of each device falls into an oscillation state.

  As shown in FIG. 7A, it is assumed that the two devices A and B are arranged 1 m apart. Here, when the two devices A and B start the processing shown in steps S501 and S502 described above at the same time, the position calculation unit 403 of each device does not have the position information, and the position calculation unit 403 of each device is shown in FIG. As shown, position information ((x, y) = (0, 0)) is calculated as the initial position. Next, when the position information ((x, y) = (0, 0)) calculated by the devices A and B is notified to each other, the position calculation unit 403 of each device notifies as shown in FIG. Position information ((x, y) = (− 1,0) or (1,0)) 1 m away from the measured position information ((x, y) = (0,0)) measured by the measurement unit 401 Calculate When the position information calculated by the devices A and B is notified again, the position calculation unit 403 of each device returns the notified position information ((x, y) = (− 1,0) or (1,0 )), The position information ((x, y) = (0, 0)) measured 1 m away is calculated again. Thereafter, the calculation of the position information shown in FIG. 7B and the position information shown in FIG. 7C is repeated, and the position information of each device falls into an oscillation state.

  Therefore, in the present embodiment, the control unit 404 does not directly determine the own device position information calculated by the position calculation unit 403 as the current own device position information. The occurrence of the oscillation state described above is prevented by determining the current device position information based on the device position information. When the own device position information is not stored in the RAM 303b, the control unit 404 determines the own device position information calculated this time as the current own device position information.

  Furthermore, in the present embodiment, the control unit 404 has a predetermined difference between the current device position information determined by the above processing and the previous device position information calculated (or determined) stored in the RAM 303b. When the distance is less than or equal to the value (for example, when the distance between the coordinate indicated by the determined current device position information and the coordinate indicated by the previously calculated device position information is 1 cm or less) (step S504: Yes) Therefore, it is determined that the own device position information has converged, and no new own device position information is stored in the RAM 303b. Here, the predetermined value is appropriately set according to the use and size of the device, and is unnecessary by updating the own device position information when the own device position information with desired accuracy is obtained. Suppress communication.

  On the other hand, the control unit 404 determines that the difference between the current device position information determined by the above-described processing and the previous device position information calculated (or determined) stored in the RAM 303b is not less than a predetermined value (step S504: No), the determined current device position information is stored in the RAM 303b as the calculated device position information. Then, by repeating the storage of the own device position information, highly accurate own device position information can be acquired.

  Using the network address measured by the other device 401, the communication unit 402 transmits (notifies) its own device location information stored in the RAM 303b to the other device 1 (102) (step S505).

  Further, the communication unit 402 waits for reception of other device position information or the like after transmission of the own device position information to the other device 1 (102) or when it is determined that the own device position information has converged (step S506). In a state where the own device position information has converged, the own device 101 holds the own device position information that matches the own device position information calculated using the other device position information and the measured relative position information. it is conceivable that. Further, in a state where the position information of a plurality of devices has converged, all adjacent devices match each other's position information calculated using the other device position information and the measured relative position information. It can be expected that position information is retained. Therefore, when it is determined that the own device position information has converged, the communication unit 402 does not transmit the own device position information to the other device 1 (102).

  Here, the communication process with the other apparatus 1 (102) by the communication part 402 concerning this Embodiment is demonstrated. In the present embodiment, the communication unit 402 always waits for communication from the other devices 1 to 3 (102 to 104) via the network IF 302 and executes processing according to the received data. In the present embodiment, the communication unit 402 establishes communication with a predetermined port (for example, No. 8000) of the other devices 1 to 3 (102 to 104) by using the TCP protocol, and is a single line text including a command and a plurality of parameters. Data is transmitted to and received from other devices 1 to 3 (102 to 104), and processing is distributed according to the content of the first command included in the text data.

  The communication unit 402 receives text data including only a command [QUERY] that inquires about own device position information in the coordinate system to which the own device 101 belongs from the other device 1 (102). When this text data is received, the communication unit 402 transmits the text data including the command [POS] and the parameters [x coordinate] [y coordinate] [angle] for notifying the own device position information stored in the RAM 303b to the other device. 1 (102). Note that if the own device position information is not stored in the RAM 303b, the communication unit 402 transmits [POS NONE] to the other device 1 (102).

  In addition, the communication unit 402 uses only the network address detected from the two-dimensional code 204 by the measurement unit 401 and uses only the command [QUERY] for inquiring other device position information in the coordinate system to which the other device 1 (102) belongs. Send. Then, the communication unit 402 receives text data including a command [POS] for notifying other device position information and parameters [x coordinate] [y coordinate] [angle] from the other device 1 (102). Further, the communication unit 402 notifies the control unit 404 of text data including the command [POS] and the parameters [x coordinate] [y coordinate] [angle] received from the other device 1 (102), and transmits the position information of the own device. Request calculation.

  Further, the communication unit 402 receives text data including a command [DATA] for notifying relative position information measured by the other apparatus 1 (102) and parameters [distance] [angle] [tilt angle]. Note that the relative position information indicated by the text data received from the other apparatus 1 (102) is stored in the RAM 303b.

The parameter [angle] [inclination angle] included in the relative position information received from the other apparatus 1 (102) is the relative position information measured by the other apparatus 1 (102). It is assumed that the data is stored in the RAM 303b after being converted into a format viewed from the device 101.
Angle after conversion = r ([angle] + 180-[tilt angle])
Tilt angle after conversion =-[Tilt angle]

  Furthermore, when the communication unit 402 receives text data including a command [DATA] for notifying relative position information from the other device 1 (102) and parameters [distance] [angle] [tilt angle], the communication unit 402 causes the measurement unit 401 to When the measured relative position information is stored in the RAM 303b, each parameter [distance] [angle] [inclination angle] included in the text data received from the other apparatus 1 (102) and the relative measured by the measurement unit 401 are used. Text data including position information (distance, angle, inclination angle) and command [AVEDATA] for notifying an average value and parameters [distance] [angle] [inclination angle] are transmitted to the other apparatus 1 (102). At that time, the relative position information measured by the measuring unit 401 stored in the RAM 303b is updated with the relative position information which is text data including the command [AVEDATA] and the parameters [distance] [angle] [tilt angle]. Shall.

  The position calculation unit 403 includes each parameter [distance] [angle] [tilt angle] included in the text data received from the other device 1 (102), and relative position information (distance, angle, The position information of the device 101 may be calculated using an average value of the tilt angle. For example, the average value of each parameter [distance] included in the text data received from the other apparatus 1 (102) and the relative position information (distance) measured by the measurement unit 401 is different from the position indicated by the other apparatus position information. The own device position information indicating the determined position is calculated. Thereby, the measurement accuracy of relative position information can be improved.

  As described above, according to the position measurement system 100 according to the present embodiment, the relative position information including the distance to at least one other apparatus is measured, and only the other apparatus position information is acquired from the other apparatus. Since the position information of the own apparatus in the coordinate system to which the other apparatus belongs can be acquired, the central position in which the information of all the apparatuses in the position measurement system 100 is centrally managed in the position measurement system 100 composed of a plurality of apparatuses. Each device can acquire position information in the position measurement system 100 without using a processing device and without performing a large amount of communication.

(Second Embodiment)
The position measurement system according to the present embodiment measures relative position information between the own apparatus and the other apparatus based on a difference in arrival times of ultrasonic waves and infrared rays oscillated from the own apparatus to the other apparatus. Note that the configuration of the position measurement system and the devices included in the position measurement system are substantially the same as those in the first embodiment, and therefore only the processes that differ from the first embodiment will be described.

  First, the outline of the own apparatus according to the present embodiment will be described with reference to FIG. FIG. 8 is a schematic diagram showing an overview of the device itself. In the following description, the configuration and position measurement processing necessary for the device itself to perform position measurement will be described, but the other devices 1 to 3 (102 to 104) may perform the same configuration and position measurement processing. It shall be possible.

  The device 800 according to the present embodiment includes a lower housing 801 and an upper housing 802 as in the first embodiment.

  The lower housing 801 has a quadrangular prism shape, and includes an ultrasonic receiver 803, an infrared transmitter 804, and an infrared receiver 805 on four side surfaces thereof.

  The upper housing 802 includes an ultrasonic transmitter 806. The ultrasonic transmitter 806 is a polymer piezoelectric film formed into a cylindrical shape, and is an element capable of transmitting in all directions (360 degrees in the horizontal direction). In this embodiment, since the ultrasonic transmitter 806 can transmit ultrasonic waves in all directions, a motor is not incorporated in the upper housing 802.

  In addition, the device 800 according to the present embodiment is provided with a geomagnetic sensor (not shown) for measuring the direction by geomagnetism inside the housing.

  The hardware configuration of own device 800 according to the present embodiment is the same as the hardware configuration of own device 101 according to the first embodiment, except that it does not have a camera and a motor. Omitted.

  Next, among the functions that the various programs stored in the ROM 303c cause the CPU 303a to execute, characteristic functions for realizing a series of processing related to position measurement will be described with reference to FIG. FIG. 9 is a block diagram illustrating a functional configuration of the own device. In addition, since the procedure of the position measurement process in the own apparatus is the same as that in the first embodiment, description thereof is omitted here. In the following description, a process in which the own device 800 performs position measurement in relation to the other device 1 (102) will be described, but it is assumed that position measurement is performed in the same manner as other devices.

  As illustrated in FIG. 9, the CPU 303a implements a measurement unit 901, a communication unit 402, a position calculation unit 902, and a control unit 404 by following a program stored in the ROM 303c.

  In the present embodiment, measurement unit 901 receives infrared and ultrasonic waves transmitted from infrared transmitter 804 and ultrasonic transmitter 806 of other apparatus 1 (102) by infrared receiver 805 and ultrasonic receiver 803. Then, the relative position information including the distance to the other apparatus 1 (102) is measured based on the difference in arrival time. The measurement unit 901 considers that the speed of light is infinite, approximates the time difference from receiving infrared rays to receiving ultrasonic waves to the propagation time of ultrasonic waves, and multiplying the propagation time by the propagation velocity of ultrasonic waves. Then, the relative position information including the distance between the own device 800 and the other device 1 (102) is measured.

  The measuring unit 901 transmits infrared rays and ultrasonic waves from the infrared transmitter 804 and the ultrasonic transmitter 806 of the own device 800 to the other device 1 (102). The measuring unit 901 of the other device 1 (102) measures relative position information indicating the distance between the other device 1 (102) and the own device 800 in the same manner as the measuring unit 901 of the own device 800 described above. When the measurement unit 901 transmits infrared rays from the infrared transmitter 804 to measure relative position information, the amplitude of the infrared rays is modulated and a signal indicating the network address of the own device 800 is sent to the other device 1 (102). Shall be notified. In addition, the measurement unit 901 acquires the network address of the other apparatus 1 (102) from the signal indicated by the infrared ray received by the infrared receiver 805.

  In addition, the measuring unit 901 determines which surface of the lower housing 801 has the maximum infrared (or ultrasonic) reception intensity of the infrared receiver 805 (or ultrasonic receiver 803), so Relative position information that further includes an angle that is the direction of the other apparatus 1 (102) in the coordinate system to which it belongs is measured. Alternatively, the measurement unit 901 has the reception intensity of the infrared receiver 805 (or the ultrasonic receiver 803) having the maximum reception intensity and the second infrared receiver 805 (or the ultrasonic receiver 803) having the second reception intensity. The relative position information including the angle may be measured based on the ratio.

  In the present embodiment, it is assumed that the measurement unit 901 does not measure the tilt angle of the other device 1 (102). However, it is also possible to measure the inclination angle of the other device 1 (102) by measuring 2 × 2 = 4 distances using two sets of infrared receivers 805 and ultrasonic receivers 803.

  Furthermore, in this Embodiment, the measurement part 901 measures the azimuth | direction information of the own apparatus 800 using the geomagnetic sensor which is not shown in figure.

  The position calculation unit 902 uses the angle included in the relative position information measured by the other device 901 and the coordinates indicated by the other device position information received by the communication unit 402, in the coordinate system to which the other device 1 (102) belongs. Self-device position information that further indicates an angle that is a direction is calculated.

i・・・・・・・・・相対位置情報を計測した他装置の番号
d_i・・・・・・・・・相対位置情報が含む距離
a_i・・・・・・・・・相対位置情報が含む角度
(x_i,y_i)・・・・・・・他装置位置情報
(x,y),dir・・・・・自装置位置情報
r()・・・・・・・・角度の差を±180度におさめる関数
s()・・・・・・・・角度評価関数
なお、式（３）において、右辺の第一項は、自装置１０１の座標と他装置１（１０２）の座標との間の距離と、計測部４０１により計測した相対位置情報が示す距離と、の誤差を表す項である。また、右辺の第二項は、他装置１(１０２)が属する座標系における自装置１０１の座標と受信した他装置位置情報が示す座標とがなす辺の傾きと、他装置１（１０２）が属する座標系における自装置１０１の方向（角度）に相対位置情報が示す角度を加算した角度と、の誤差を表す項である。本実施の形態において、右辺の第二項は、鏡像関係を解決するための評価関数であるが、計測部４０１による角度の計測精度は低いため、右辺の第二項の重みを０．１と小さくしている。また、角度の誤差が小さい場合（例えば、±４５度以下）には、重みをさらに小さくしてもよい。 In the present embodiment, the position calculation unit 902 is an equation using a known nonlinear optimization method (for example, simplex method, steepest descent method, etc.), and the evaluation function of the own device position information shown in equation (3) The device position information indicating the coordinates and angle at which the evaluation value is the smallest is calculated. In this embodiment, the angle measured by the measurement method applied to the measurement unit 901 is used. However, the angle measured by the measurement method applied to the measurement unit 401 according to the first embodiment is used. The device position information can also be calculated.

i ······· the number of the other device that measured the relative position information
d _i ... Distance included in relative position information
a _i・ ・ ・ ・ ・ ・ ・ ・ Angle included in relative position information
(x _i , y _i ) ... Other device position information
(x, y), dir ... Local device location information
r () ・ ・ ・ ・ ・ ・ ・ ・ Function to reduce angle difference to ± 180 degrees
s ()... Angle evaluation function In equation (3), the first term on the right side is the distance between the coordinates of the own device 101 and the coordinates of the other device 1 (102), This is a term representing an error between the distance indicated by the relative position information measured by the measurement unit 401. The second term on the right side is the inclination of the side formed by the coordinates of the own device 101 in the coordinate system to which the other device 1 (102) belongs and the coordinates indicated by the received other device position information, and the other device 1 (102) This is a term representing an error between an angle obtained by adding an angle indicated by relative position information to a direction (angle) of the own apparatus 101 in the coordinate system to which the apparatus belongs. In the present embodiment, the second term on the right side is an evaluation function for solving the mirror image relationship, but since the measurement accuracy of the angle by the measuring unit 401 is low, the weight of the second term on the right side is 0.1. It is small. Further, when the angle error is small (for example, ± 45 degrees or less), the weight may be further reduced.

  As described above, according to the position measurement system 100 according to the present embodiment, by calculating the position information of the own apparatus using the angle included in the relative position information, only the distance indicated by the relative position information is used. Since it is possible to prevent the occurrence of a mirror image relationship when the position information is calculated, it is possible to calculate the own apparatus position information with higher accuracy.

  In the first embodiment and the second embodiment, the relative position information is measured using an image captured by a camera, infrared rays, and ultrasonic waves. May be measured. For example, a mechanical coupler such as a train is provided, a physical contact is detected by a micro switch provided around the coupler, and the angle of the coupler is measured by a rotary encoder. Relative ground information may be measured. In the first embodiment and the second embodiment, the wireless LAN is used as the communication means. However, when the devices are in physical contact with each other, in order to reduce the cost of communication between the devices, Wired communication means such as RS232C serial communication or Ethernet communication may be used.

It is a block diagram which shows the structure of the position measurement system concerning 1st Embodiment. It is the schematic which shows the external appearance of an own apparatus. It is a block diagram which shows the hardware constitutions of the own apparatus concerning 1st Embodiment. It is a block diagram which shows the function structure of an own apparatus. It is a flowchart which shows the procedure of the position measurement process in an own apparatus. It is explanatory drawing of the relative position information measured by a measurement part. It is explanatory drawing which shows an example of a mirror image relationship. It is explanatory drawing of the scene where the positional information on each apparatus falls into an oscillation state. It is the schematic which shows the external appearance of an own apparatus. It is a block diagram which shows the function structure of an own apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Position measuring system 101,800 Own apparatus 102-104 Other apparatus 201,801 Lower housing | casing 202,802 Upper housing | casing 203 Marker 204 Two-dimensional code 205 Camera 301 Motor 302 Network IF
303 controller 303a CPU
303b RAM
303c ROM
401,901 Measurement unit 402 Communication unit 403,902 Position calculation unit 404 Control unit 803 Ultrasonic receiver 804 Infrared transmitter 805 Infrared receiver 806 Ultrasonic transmitter

Claims (13)

A measuring means for measuring relative position information including a distance between the own device and another device;
Receiving means for receiving other device position information indicating the coordinates of the other device in the coordinate system to which the other device that measured the relative position information belongs;
Calculating means for calculating own device position information indicating the coordinates of the own device in a coordinate system to which the other device belongs, using the distance included in the measured relative position information and the coordinates indicated by the received other device position information;
Transmitting means for transmitting the calculated device position information to the other device;
A position measuring device comprising: 2. The position measurement according to claim 1, wherein the calculation unit calculates the position information of the own apparatus indicating coordinates at which an evaluation value based on an evaluation function of the position information of the own apparatus represented by Formula (1) is the smallest. apparatus.

i: Number of the other device that measured the relative position information
d _i・ ・ ・ ・ ・ ・ ・ ・ Distance included in relative position information
(x _i , y _i ) ... Other device position information
(x, y) ...
f (x, y) ... Equipment position information evaluation function The measuring means measures the relative position information further including an inclination angle of the other device in the coordinate system to which the device belongs;
The receiving means receives the other device position information further indicating an angle that is a direction of the other device in a coordinate system to which the other device belongs;
The calculation means further uses the tilt angle included in the measured relative position information and the angle indicated by the received other apparatus position information to further indicate the angle that is the direction of the own apparatus in the coordinate system to which the other apparatus belongs 2. The position measuring device according to claim 1, wherein the position measuring device calculates own device position information. The said calculation means calculates the said own apparatus position information which shows the coordinate and angle which the evaluation value by the evaluation function of the said own apparatus position information shown in Formula (2) becomes the smallest. Position measuring device.

i: Number of the other device that measured the relative position information
d _i・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Distance included in relative position information
a _i ..... Angle of inclination included in relative position information
(x _i , y _i ), dir _i ... Other device position information
(x, y) ・ ・ ・ ・ ・ ・ ・ ・ Self-device position information
f (x, y) ・ ・ ・ ・ ・ ・ ・ ・ Evaluation function of own device position information The measuring means measures the relative position information further including an angle that is a direction of the other device in a coordinate system to which the device belongs.
The calculating means uses the angle included in the measured relative position information and the coordinates indicated by the received other apparatus position information to further indicate the angle that is the direction of the own apparatus in the coordinate system to which the other apparatus belongs. The position measuring device according to claim 1, wherein device position information is calculated. The said calculation means calculates the said own apparatus position information which shows the coordinate and angle which the evaluation value by the evaluation function of the said own apparatus position information shown in Formula (3) becomes the smallest. Position measuring device.

i: Number of the other device that measured the relative position information
d _i・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Distance included in relative position information
a _i ... An angle included in the relative position information
(x _i , y _i ), dir _i ... Position information of other devices
(x, y), dir ・ ・ ・ ・ ・ ・ Location information of own device
r () ...... Function to reduce angle difference to ± 180 degrees
s () ... Angle evaluation function A determination means for determining the current own device position information based on the own device position information calculated this time and the stored previous device position information calculated last time;
The position measuring device according to claim 1, wherein the transmission unit transmits the determined own device position information as the calculated own device position information. An image capturing unit that captures an image of the other device to which a marker for measuring the relative position information is attached;
The position measurement apparatus according to claim 1, wherein the measurement unit measures the relative position information according to a shape of the marker included in a captured image. The receiving means further receives the relative position information measured by the other device,
The position measuring device according to claim 1, wherein the calculating unit further calculates the device position information using the received relative position information.   9. The position measuring device according to claim 8, wherein the calculating means further calculates the device position information using an average value of the received relative position information and the measured relative position information. Computer
A measuring means for measuring relative position information including a distance between the own device and another device;
Receiving means for receiving other device position information indicating the coordinates of the other device in the coordinate system to which the other device that measured the relative position information belongs;
Calculating means for calculating own device position information indicating the coordinates of the own device in a coordinate system to which the other device belongs, using the distance included in the measured relative position information and the coordinates indicated by the received other device position information;
Transmitting means for transmitting the calculated device position information to the other device;
Position measurement program to function as A measuring step in which the measuring means measures relative position information including a distance between the own device and another device;
A receiving step for receiving other device position information indicating coordinates of the other device in a coordinate system to which the other device to which the relative position information is measured belongs;
The calculation means calculates own apparatus position information indicating the coordinates of the own apparatus in the coordinate system to which the other apparatus belongs, using the distance included in the measured relative position information and the coordinates indicated by the received other apparatus position information. Calculation process;
A transmitting step for transmitting the calculated device position information to the other device;
A position measurement method characterized by comprising: A position measurement system in which devices located within a range capable of measuring distances operate in cooperation with each other,
Each device is
A measuring means for measuring relative position information including a distance between the own device and another device;
Receiving means for receiving other device position information indicating the coordinates of the other device in the coordinate system to which the other device that measured the relative position information belongs;
Calculating means for calculating own device position information indicating the coordinates of the own device in a coordinate system to which the other device belongs, using the distance included in the measured relative position information and the coordinates indicated by the received other device position information;
Transmitting means for transmitting the calculated device position information to the other device;
A position measurement system characterized by comprising:

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