JP2014062857A - Position recognition program, position recognition device, and position recognition method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology capable of easily recognizing a relative positional relationship of a plurality of arranged terminals.SOLUTION: A position recognition unit 100 recognizes a relative positional relationship of a plurality of terminals 10 arranged in a place such as a table where vibration is propagated. In a position analysis unit 130 of the position recognition unit 100, a time difference acquisition unit 135 acquires time in which vibration propagates from a terminal 10 where vibration occurs to another terminal 10 between the plurality of terminals 10. The time in which the vibration propagates from the one terminal 10 to the other terminal 10 is proportional to a distance between those terminals 10. By making use of such a proportional relationship, an arrangement order specification unit 136 specifies the arrangement order of those plurality of terminals 10 from the time in which the vibration propagates between the plurality of terminals 10.

Description

  The present invention relates to a position recognition program, a position recognition device, and a position recognition method for recognizing the relative positional relationship of a plurality of terminals.

  There is a scene where it is desired to recognize the relative positional relationship between a plurality of arranged terminals. For example, when it is desired to link screen displays and operations of a plurality of arranged terminals, it is necessary to recognize the order in which the plurality of terminals are arranged. As a technique for recognizing the position of the terminal, a technique using GPS (Global Positioning System), a technique using RSSI (Received signal strength indication) of a wireless local area network (LAN), or an anchor device such as a beacon is used. There is technology.

  Articles with IC tags attached by performing probe communication using radio waves, magnetism, sound, light, etc. between IC (Integrated Circuit) tags, and estimating the positional relationship between IC tags from the attenuation of the probe signal A technique for recognizing the relative positional relationship between is known.

WO2005 / 0669499

  The technology using GPS or the technology using RSSI can recognize the position only with an accuracy of about several tens of centimeters to several meters, and the terminals arranged at intervals of about several centimeters to several tens of centimeters. There is a problem that it is difficult to accurately recognize the position. In addition, there is a problem that the technology using a special device such as an anchor device increases the cost, and the position can be recognized only at a specific place where the special device is installed.

  In one aspect, an object of the present invention is to provide a technique capable of easily recognizing the relative positional relationship between a plurality of arranged terminals.

  In one aspect, the disclosed program causes a computer to function as follows. That is, the program is detected by another terminal placed in the place after the vibration is generated by the terminal placed in the place where the vibration is propagated in the computer in which the program is installed and executed. The time to be acquired is acquired, and the process of specifying the arrangement order of the plurality of terminals placed at the place is executed from the time acquired for a plurality of terminals.

  In one aspect, the relative positional relationship between a plurality of arranged terminals can be easily recognized at a low cost without limiting the location for special positioning or requiring equipment.

It is a figure which shows the structural example of the system which performs position recognition by this Embodiment. It is a figure which shows the example of the external appearance of the terminal by this Embodiment. It is a figure which shows the structural example of the terminal by this Embodiment. It is a figure which shows the example of the address data by this Embodiment. It is a figure which shows the example of the arrangement | positioning map data by this Embodiment. It is a figure which shows the hardware structural example of the computer which implement | achieves the terminal by this Embodiment. It is a figure explaining the example of the reference | standard terminal determination by the present Example 1. FIG. It is a figure explaining the example by which the 2nd terminal by the present Example 1 was set | placed. It is a figure which shows the image of the waveform when the vibration which generate | occur | produced when the terminal by the present Example 1 was put on the table is detected. It is a figure explaining the example by which the 3rd terminal by the present Example 1 was set | placed. It is a figure explaining the example by which the 3rd terminal by the present Example 1 was set | placed. It is a figure explaining the example which specifies the direction of the arrangement order of the terminal by the present Example 1. FIG. It is a figure explaining the example which specifies the direction of the arrangement order of the terminal by the present Example 1. FIG. It is a figure explaining the example which unifies the direction of the display screen of the arranged terminal by the present Example 1. FIG. It is a position recognition process flowchart by the position recognition part of the present Example 1. It is a position recognition object terminal specific process flowchart by the position recognition object specific part of the present Example 1. It is a relative positional relationship analysis process flowchart by the position analysis part of the present Example 1. It is a reference | standard terminal process (1) flowchart by the position analysis part of the terminal which is a reference | standard terminal of Example 1. FIG. It is a non-reference terminal processing (1) flowchart by the position analysis part of terminals other than the reference terminal of the first embodiment. 6 is an arrangement direction specifying process flowchart by an arrangement direction specifying unit according to the first embodiment; It is a screen direction unification process flowchart by the screen direction unification part of the present Example 1. FIG. It is a figure explaining the positioning by the present Example 2. FIG. It is a figure which shows the image of the waveform when the vibration which generate | occur | produced when the terminal by the present Example 2 operated the vibrator | oscillator is detected. It is a relative positional relationship analysis process flowchart by the position analysis part of the second embodiment. It is a reference | standard terminal process (2) flowchart by the position analysis part of the terminal which is a reference | standard terminal of the present Example 2. It is a non-reference terminal processing (2) flowchart by the position analysis part of terminals other than the reference terminal of the second embodiment. It is a figure which shows the structural example of the system which performs position recognition by this Embodiment in the case of including an external server.

  Hereinafter, the present embodiment will be described with reference to the drawings.

  FIG. 1 is a diagram illustrating a configuration example of a system that performs position recognition according to the present embodiment.

  In the system shown in FIG. 1, the terminal 10 is a computer that recognizes a relative positional relationship. The wireless router 20 is a device serving as a wireless LAN access point that realizes communication between the terminals 10. In the present embodiment, the terminals 10 communicate with each other via the wireless router 20. Note that other communication technologies such as Bluetooth (registered trademark) may be used for communication between the terminals 10.

  FIG. 2 is a diagram showing an example of the appearance of the terminal according to the present embodiment.

  In the example of the present embodiment, the terminal 10 is assumed to be a smart terminal such as a smartphone or a tablet terminal as shown in FIG. As shown in FIG. 2, the terminal 10 includes a display 11 on the front surface of the main body. The terminal 10 has a vertical direction, and normally, the screen is displayed on the display 11 so that the direction indicated by the arrow in FIG. Note that the terminal 10 that recognizes the relative positional relationship is not necessarily a smart terminal by the position recognition technique according to the present embodiment. For example, the terminal 10 may be a notebook PC (Personal Computer) or the like.

  FIG. 3 is a diagram illustrating a configuration example of a terminal according to the present embodiment.

  As shown in FIG. 3A, the terminal 10 includes devices such as an acceleration sensor 12, a vibrator (vibrator) 13, a camera 14, and a geomagnetic sensor 15. These devices are devices that are built in as standard on many commercially available smart terminals.

  The terminal 10 includes a position recognition unit 100. The position recognition unit 100 recognizes the relative positional relationship between the terminals 10. The position recognition unit 100 may be realized by, for example, an independent software program, or may be realized as a function of some application. The position recognition processing unit 100 includes a communication control unit 110, a position recognition target specifying unit 120, a position analyzing unit 130, an arrangement direction specifying unit 140, a screen direction unifying unit 150, an address information storage unit 160, and an arrangement map information storage unit 170. .

  The communication control unit 110 controls communication with other terminals 10. The position recognition target specifying unit 120 specifies the target terminal 10 that recognizes the relative positional relationship.

  The position analysis unit 130 specifies the arrangement order of the plurality of terminals 10 placed in a place where vibrations such as a table and a floor are propagated. For example, when the place where the vibration is propagated is a table, the position recognition unit 130 causes the vibration generated by a certain terminal 10 placed on the table to propagate to the other table placed on the same table. Get the time to reach 10. The position recognizing unit 130 specifies the arrangement order indicating the relative positional relationship of the plurality of terminals 10 placed on the table from the time when the vibration between the plurality of terminals 10 propagates.

  The arrangement direction specifying unit 140 specifies in which direction the arrangement order of the plurality of terminals 10 specified by the position analysis unit 130 is arranged. In the processing by the position analysis unit 130, only the arrangement order indicating the adjacency relationship between a plurality of arranged terminals is specified, but it is not specified to which direction the arrangement order indicates the arrangement order. For example, the arrangement order identified by the position analysis unit 130 may indicate the arrangement order arranged in the right direction with respect to the front surface of the terminal 10, or may indicate the arrangement order arranged in the left direction. However, it may indicate the order of arrangement in the upward direction, or may indicate the order of arrangement in the downward direction. The arrangement direction specifying unit 140 specifies a unique arrangement pattern of the plurality of terminals 10 including the arrangement order direction. The arrangement direction specifying unit 140 according to the present embodiment acquires an image captured by each terminal 10 from any two or more terminals 10 among the plurality of terminals 10 whose arrangement order is specified. The direction of the arrangement order of the plurality of terminals 10 is specified from the positional relationship between the overlapping portions of two or more images.

  The screen direction unifying unit 150 unifies the display screens of the arranged terminals 10 so as to face the same direction. For example, as shown in the example of FIG. 2, the terminals 10 such as smart terminals often have symmetrical shapes in the vertical and horizontal directions, and some terminals are arranged when a plurality of terminals 10 are arranged. 10 may be placed in the opposite direction. At this time, the display screen of the terminal 10 placed in the opposite direction faces in the opposite direction to the other terminals 10. The screen direction unification unit 150 performs control to unify the directions of a plurality of arranged display screens. For example, the screen direction unification unit 150 according to the present embodiment acquires the direction of the display screen of a specific terminal 10 among a plurality of terminals 10 arranged in a place such as a table, and each terminal placed in the same place. An instruction to match the direction of the display screen to the direction of the display screen of the specific terminal is transmitted to 10.

  The address information storage unit 160 is a storage unit that stores address information. The address information is information in which data such as a communication address of each terminal 10 that is a target for recognizing a relative positional relationship is recorded.

  The arrangement map information storage unit 170 is a storage unit that stores arrangement map information. The arrangement map information is information in which data such as the arrangement order of the plurality of terminals 10 that are targets for recognizing the relative positional relationship is recorded.

  FIG. 3B shows a more specific configuration example of the position analysis unit 130. As shown in FIG. 3B, the position analysis unit 130 includes a notification input / output unit 131, a vibrator control unit 132, a vibration detection unit 133, a time difference calculation unit 134, a time difference acquisition unit 135, an arrangement order specifying unit 136, and an arrangement. A map recording unit 137 and an arrangement map input / output unit 138 are provided.

  The notification input / output unit 131 performs a process of sending a notification to another terminal 10 and a process of receiving a notification from another terminal 10 in the process of recognizing the relative positional relationship between the plurality of terminals 10.

  The vibrator control unit 132 vibrates the own terminal 10 by controlling the vibrator 13 to operate.

  The vibration detection unit 133 detects vibration obtained in a specific situation from the vibration waveform obtained by the acceleration sensor 12. The vibration detected by the vibration detection unit 133 is, for example, vibration generated when the terminal 10 is placed on a table or the like, or vibration generated by another terminal 10 propagates through the table or the like to the terminal 10. The vibration that has reached.

  The time difference calculation unit 134 calculates a time difference between the time when the vibration is generated by the other terminal 10 and the time when the own terminal 10 detects the vibration.

  The time difference acquisition unit 135 calculates the time from when a vibration is generated by a certain terminal 10 placed in a place such as a table where vibrations are propagated until the vibration is detected by another terminal 10 placed in the same place. get. For example, the time difference acquisition unit 135 acquires the time difference calculated by the time difference calculation unit 134 as the time from when vibration is generated at one terminal 10 until vibration is detected at another terminal 10. For example, the time difference acquisition unit 135 acquires the time difference included in the notification from the other terminal 10 as the time from when the vibration is generated at one terminal 10 until the vibration is detected at the other terminal 10.

  The arrangement order specifying unit 136 specifies the arrangement order of the plurality of terminals 10 placed in a place where vibrations propagate, such as a table, from the time acquired by the time difference acquisition unit 135 between the plurality of terminals.

  The arrangement map recording unit 137 records the time data acquired by the time difference acquisition unit 135, the arrangement order data specified by the arrangement order specifying unit 136, and the like in the arrangement map information of the arrangement map information storage unit 170. Further, the arrangement map recording unit 137 updates the arrangement map information in the arrangement map information storage unit 170 with the arrangement map information received from the other terminals 10.

  In the process of recognizing the relative positional relationship between the plurality of terminals 10, the arrangement map input / output unit 138 transmits the arrangement map information in the arrangement map information storage unit 170 to another terminal 10, Process to receive map information.

  FIG. 4 is a diagram illustrating an example of address data according to the present embodiment.

  Address data 165 shown in FIG. 4 shows an example of address information stored in the address information storage unit 160. The address data 165 shown in FIG. 4 has information such as a terminal ID and a communication address. The terminal ID is identification information that uniquely identifies the terminal 10 that is a target for recognizing a relative positional relationship. The communication address is address information that identifies the communication partner terminal 10. For example, when performing communication using a wireless LAN, the communication address is an IP (Internet Protocol) address, and when performing communication using Bluetooth, the communication address is a device ID. In the example according to this embodiment, since communication using a wireless LAN is performed, the communication address is an IP address.

  FIG. 5 is a diagram showing an example of arrangement map data according to the present embodiment.

  The arrangement map data 175 shown in FIG. 5 shows an example of arrangement map information stored in the arrangement map information storage unit 170. The arrangement map data 175 shown in FIG. 5 has information such as terminal ID, terminal status, time difference # 1, time difference # 2, arrangement order, and screen orientation. The terminal ID corresponds to the terminal ID of the address data 165.

  The terminal status indicates a status such as whether or not the processing for recognizing the positional relationship has already been executed for the terminal 10. In the following, the process of recognizing the positional relationship of the terminal 10 is also called positioning. In the terminal status, “0” indicates that the corresponding terminal 10 is a reference terminal. In the example of position recognition according to the present embodiment, the positional relationship of the other terminals 10 is specified centering on the terminal 10 that is the reference terminal. Note that the terminal 10 serving as the reference terminal is handled as a terminal 10 that has been positioned. In the terminal status, “1” indicates that the corresponding terminal 10 is the end terminal. The end terminal is the terminal 10 in which the arrangement order is the end among the terminals 10 that have already been positioned. When the terminals 10 are arranged in a line, the terminals 10 at both ends thereof are the endmost. However, in the example of the present embodiment, only the terminals 10 whose arrangement order to be described later is the plus side among the terminals 10 at both ends. Is the farthest terminal. In the terminal status, “2” indicates that the corresponding terminal 10 has already been positioned. Although there is no example in the arrangement map data 175 of FIG. 5, “−1” indicates that the corresponding terminal 10 is an unpositioned terminal 10 or a positioning terminal 10 in the terminal situation.

  The time difference # 1 indicates the time until the vibration generated by the corresponding terminal 10 is detected by the terminal 10 that has become the reference terminal. The time difference # 2 indicates the time until the vibration generated by the corresponding terminal 10 is detected by the terminal 10 that is the end terminal at the time of positioning of the corresponding terminal 10.

  The arrangement order indicates the relative position of the corresponding terminal. In the arrangement order, “0” indicates the arrangement order of the terminals 10 serving as the reference terminals. The order of + and-indicates that the terminals 10 are arranged on the opposite sides with respect to the terminal 10 serving as the reference terminal. On each of the + side and the − side, the terminal 10 whose arrangement order value is closer to 0 is closer to the terminal 10 that is relatively the reference terminal.

  The screen orientation indicates the orientation in which the upper direction of the display 11 of the terminal 10 is directed. Here, the screen orientation indicates a counterclockwise angle when the north direction is set to 0 degrees.

  FIG. 6 is a diagram illustrating a hardware configuration example of a computer that realizes a terminal according to the present embodiment.

  A computer 1 that implements the terminal 10 according to the present embodiment shown in FIG. 3 includes, for example, a CPU (Central Processing Unit) 2, a memory that serves as a main memory 3, a storage device 4, a communication device 5, and a medium reading / writing device 6 , Input device 7, output device 8 and the like. The storage device 4 is an external storage device such as an HDD (Hard Disk Drive) or an auxiliary storage device. The communication device 5 is a device that performs communication such as a wireless LAN. The medium reading / writing device 6 is, for example, a CD-R (Compact Disc Recordable) drive or a DVD-R (Digital Versatile Disc Recordable) drive. The input device 7 is an input device such as a keyboard / mouse. The output device 8 is a display device such as a display, for example.

  The terminal 10 and each functional unit included in the terminal 10 illustrated in FIG. 3 can be realized by hardware such as the CPU 2 and the memory 3 included in the computer 1 and a software program. A program that can be executed by the computer 1 is stored in the storage device 4, read into the memory 3 at the time of execution, and executed by the CPU 2.

  The computer 1 can also read a program directly from a portable recording medium and execute processing according to the program. The computer 1 can also sequentially execute processing according to the received program every time the program is transferred from the server computer. Further, this program can be recorded on a recording medium readable by the computer 1.

  Hereinafter, the position recognition technique of the terminal 10 according to the present embodiment will be described using a more specific example.

[Example 1]
In the first embodiment, the time until the vibration generated when the positioning target terminal 10 is placed on the table propagating the vibration is detected by the other terminal 10 already placed on the table is obtained. The relative positional relationship between the target terminal 10 and another terminal 10 is specified. In the first embodiment, it is assumed that the user places a plurality of terminals 10 in a random order so as to be aligned in a horizontal line on the table.

  The user activates an application including a program for realizing the position recognition unit 100 for all the terminals 10 for which the positional relationship is to be recognized. Below, the object which recognizes a positional relationship is also called a position recognition object. Thereafter, the user operates any one of the terminals 10 to be position-recognized, and causes the terminal 10 to execute processing for specifying all the terminals 10 to be position-recognized. For example, the terminal 10 operated by the user specifies the position recognition target terminal 10 according to the UPnP (Universal Plug and Play) protocol.

  In the terminal 10 operated by the user, the position recognition target specifying unit 120 transmits a search signal for the terminal 10 as the position recognition target. The search signal includes a service identifier for identifying an application that performs a common service. The applications started up at each location recognition target terminal 10 hold a common service identifier, and the location recognition target terminal 10 that has received the search signal including the service identifier transmits the search signal to the terminal 10 that has transmitted the search signal. Returns a response.

  The position recognition target specifying unit 120 of the terminal 10 operated by the user determines that the terminal 10 that has returned the response is the terminal 10 to be position recognized, and records the IP address of the terminal 10 in the address data 165. After receiving responses for all the position recognition target terminals 10, the terminal 10 operated by the user transmits the completed address data 165 to each position recognition target terminal 10. The same address data is shared by all the terminals 10 to be recognized. As a result, communication between the terminals 10 to be recognized is possible.

  Next, the user determines the terminal 10 to be the reference terminal from the terminals 10 to be recognized. Although the reference terminal may be designated by a user operation, it is assumed here that the terminal 10 first placed in the table in which the terminals 10 to be recognized are arranged automatically becomes the reference terminal.

  FIG. 7 is a diagram illustrating an example of determining a reference terminal according to the first embodiment.

  The user places the terminal 10a to be a reference terminal on the table 30 that propagates vibration ((1) in FIG. 7). At this time, vibration is generated by placing the terminal 10a on the table 30 ((2) in FIG. 7). The position analysis unit 130 of the terminal 10a placed on the table 30 detects vibration generated by placing the terminal 10a from the vibration waveform obtained by the acceleration sensor 12 ((3) in FIG. 7).

  The terminal 10a placed first confirms that the reference terminal has not yet been determined when the vibration generated by the terminal 10a is detected, and determines that the terminal 10a is the reference terminal. Here, the terminal 10a placed first records in the arrangement map data 175 that the own terminal 10a has become the reference terminal. The terminal 10a that has become the reference terminal transmits the arrangement map data 175 to notify the other terminals 10 that it has become the reference terminal.

  FIG. 8 is a diagram illustrating an example in which a second terminal according to the first embodiment is placed.

  In FIG. 8, the terminal 10a is a reference terminal already placed on the table 30. The terminal 10b is the terminal 10 placed on the table 30 second.

  The user places the terminal 10b on the table 30 that propagates vibration ((1) in FIG. 8). At this time, vibration is generated by placing the terminal 10b on the table 30 ((2) in FIG. 8). The position analysis unit 130 of the terminal 10b placed on the table 30 detects vibration generated by placing the terminal 10b from the vibration waveform obtained by the acceleration sensor 12 ((3) in FIG. 8). The terminal 10b transmits a place event notification to the terminal 10a which is the reference terminal ((4) in FIG. 8). The placement event notification is a notification that informs another terminal 10 that the terminal 10b is placed on the table 30. The position analysis unit 130 of the terminal 10a acquires the time when the place event notification is received from the terminal 10b. The place event notification is sent to the terminal 10a in approximately 0 hours. That is, the reception time of the place event notification is almost the time when the vibration is generated by the terminal 10b.

  The vibration generated by the terminal 10b propagates through the table 30 ((5) in FIG. 8). The speed at which the vibration propagates is about several mm / μs although it depends on the material of the place where the vibration is propagated. The vibration generated by the terminal 10b reaches the terminal 10a in a sufficiently long time compared to the transmission / reception of the place event notification. The position analysis unit 130 of the terminal 10a detects vibration generated by placing the terminal 10b transmitted through the table 30 from the vibration waveform obtained by the acceleration sensor 12 ((6) in FIG. 8). The terminal 10a acquires the time when the vibration generated by the terminal 10b is detected.

  The position analysis unit 130 of the terminal 10a calculates a time difference between the time when the place event notification is received and the time when vibration is detected. The calculated time difference is the time for vibration to propagate from the terminal 10b to the terminal 10a. The time for vibration to propagate from the terminal 10b to the terminal 10a is proportional to the distance between the terminal 10b and the terminal 10a. Since the position analysis unit 130 of the terminal 10a itself is a reference terminal, the time difference # 1 is recorded in the record of the terminal 10b in the arrangement map data 175.

  FIG. 9 is a diagram illustrating an image of a waveform when vibration generated by the terminal according to the first embodiment being placed on the table is detected.

  When vibration generated by placing the terminal 10 on the table 30 is detected, it is considered that a vibration waveform having a large amplitude is instantaneously obtained by the acceleration sensor 12, as shown in FIG. . For example, as shown in FIG. 9, the position analysis unit 130 of the terminal 10 detects that the target vibration is detected when the acceleration amplitude obtained by the acceleration sensor 12 exceeds a preset filter amplitude. to decide. As the filter amplitude, a value that is considered appropriate for the detection of the target vibration is set in advance. At this time, the position analysis unit 130 of the terminal 10 acquires, for example, the time when the peak of the wave that first exceeds the filter amplitude is detected as the time when the vibration is detected.

  It should be noted that any desired design can be made for the detection judgment of the target vibration and the detection time to be acquired. For example, it is possible to design such as determining the detection of the target vibration based on a series of acceleration amplitude shape characteristics, and acquiring the time when the wave having the maximum acceleration amplitude was obtained as the time when the vibration was detected.

  10 and 11 are diagrams illustrating an example in which the third terminal according to the first embodiment is placed.

  10 and 11, the terminal 10 a is a reference terminal first placed on the table 30. The terminal 10b is the terminal 10 placed on the table 30 second. The terminal 10c is the terminal 10 placed on the table 30 third.

  FIG. 10A shows the arrangement order of the two terminals 10 arranged in a state where the two terminals 10 are arranged on the table 30. In the first embodiment, as shown in FIG. 10A, the arrangement order “0” is set to the terminal 10a which is the reference terminal. Further, in the first embodiment, as shown in FIG. 10A, the arrangement order on the + side is set to the terminal 10b recognized second. Here, the arrangement order “+1” is set in the terminal 10b. In this situation, it is assumed that the third terminal 10c is placed on the table 30.

  FIG. 10B shows a relative position where the third terminal 10c may be placed. As shown in FIG. 10B, the position where the third terminal 10c is placed is one of the three positions shown in (1) to (3) of FIG. (1) in FIG. 10B is a position on the opposite side to the terminal 10b when viewed from the terminal 10a. (2) in FIG. 10B is a position between the terminal 10a and the terminal 10b on the same side as the terminal 10b when viewed from the terminal 10a. (3) in FIG. 10B is a position farther than the terminal 10b on the same side as the terminal 10b when viewed from the terminal 10a.

  When the terminal 10c is placed, the time when the vibration propagates from the terminal 10c to the terminal 10a and the time when the vibration propagates from the terminal 10c to the terminal 10b can be obtained by the same procedure as described in FIG. . In the state where only two terminals 10 are placed, the terminal 10b is the end terminal. The time that the vibration propagates from the terminal 10c to the terminal 10a is the time difference # 1 for the terminal 10c, and the time that the vibration propagates from the terminal 10c to the terminal 10b is the time difference # 2 for the terminal 10c. The position analysis unit 130 of the terminal 10a serving as the reference terminal acquires the time differences # 1 and # 2 and records them in the record of the terminal 10c in the arrangement map data 175. The position analysis unit 130 of the terminal 10a serving as the reference terminal obtains the position where the terminal 10c is placed from the time differences # 1 and # 2 regarding the terminal 10c and the time difference # 1 regarding the terminal 10b serving as the terminal terminal.

In the following description, ΔT _{ba is} the time during which vibration propagates from the terminal 10b to the terminal 10a, ΔT _{ca is} the time when vibration propagates from the terminal 10c to the terminal 10a, and ΔT _cb is the time when vibration is propagated from the terminal 10c to the terminal 10b. To do. That is, ΔT _ba is the time difference # 1 for the terminal 10b, ΔT _ca is the time difference # 1 for the terminal 10c, and ΔT _cb is the time difference # 2 for the terminal 10c.

FIG. 11A shows the position of the terminal 10c when ΔT _ba is longer than ΔT _ca and ΔT _cb . As shown in FIG. 11A, when ΔT _ca <ΔT _ba and ΔT _cb <ΔT _ba , the positioning target terminal 10c is located between the terminal 10a and the terminal 10b. At this time, the arrangement order of the terminals 10c is the arrangement order on the + side. Since ΔT _ca <ΔT _ba , the arrangement order closer to the reference terminal than the terminal 10b is set in the terminal 10c from the proportional relationship between the time during which vibration propagates between the terminals 10 and the distance between the terminals 10. In the first embodiment, the position analysis unit 130 of the terminal 10a serving as the reference terminal sets “+1” as the arrangement order of the terminal 10c and sets the arrangement order of the terminal 10b to “+2” as illustrated in FIG. Change to "". Thereafter, the terminal 10b remains the terminal 10b.

FIG. 11B shows the position of the terminal 10c when ΔT _ca is longer than ΔT _ba and ΔT _cb . As shown in FIG. 11B, when ΔT _ba <ΔT _ca and ΔT _cb <ΔT _ca , the positioning target terminal 10c is located on the same side as the terminal 10b and far from the terminal 10b when viewed from the terminal 10a. It is in. At this time, the arrangement order of the terminals 10c is the arrangement order on the + side. Since ΔT _ba <ΔT _ca , the arrangement order farther from the reference terminal than the terminal 10b is set in the terminal 10c from the proportional relationship between the time during which vibration propagates between the terminals 10 and the distance between the terminals 10. In the first embodiment, the position analysis unit 130 of the terminal 10a serving as the reference terminal sets “+2” as the arrangement order of the terminals 10c as illustrated in FIG. 11B. The subsequent endmost terminal is changed to the terminal 10c.

FIG. 11C shows the position of the terminal 10c when ΔT _cb is longer than ΔT _ba and ΔT _ca. As shown in FIG. 11C, when ΔT _ba <ΔT _cb and ΔT _ca <ΔT _cb , the positioning target terminal 10c is at a position opposite to the terminal 10b when viewed from the terminal 10a. At this time, the arrangement order of the terminals 10c is the arrangement order on the negative side. In the first embodiment, the position analysis unit 130 of the terminal 10a that is the reference terminal sets “−1” as the arrangement order of the terminals 10c as illustrated in FIG. Thereafter, the terminal 10b remains the terminal 10b.

  The terminal 10 placed on the table 30 after the fourth unit is also relative to the other terminals 10 in the same procedure as the case of the terminal 10c placed using the third unit described with reference to FIGS. The positional relationship can be obtained. For each terminal 10, the value of the time difference # 1 indicating the time during which vibration is propagated to the reference terminal for each terminal 10 as long as it is known whether the terminal 10 is on the + side or the − side as viewed from the terminal 10a that is the reference terminal. Therefore, it is possible to determine how close each terminal 10 is to the reference terminal, and thus the arrangement order of all the terminals 10 can be specified.

  In this way, the arrangement order of the plurality of terminals 10 can be specified using the time during which vibration between the terminals 10 propagates. In the first embodiment, the position analysis unit 130 of the terminal 10a serving as the reference terminal sends the arrangement map data 175 to the other terminals 10, so that the arrangement order of the specified terminals 10 is determined for all position recognition targets. Shared by the terminal 10.

  In the positioning of the fourth and subsequent terminals 10, the terminal 10 that detects vibrations by the positioning target terminal 10 other than the reference terminal is not necessarily the most terminal. For example, vibration detection may always be performed by the terminal 10 placed second regardless of whether it is the extreme end, or vibration detection may be performed by three or more terminals 10.

  When all the position recognition target terminals 10 are placed on the table 30, the arrangement order of all the position recognition target terminals 10 arranged in the table 30 is specified. However, as described above, at this stage, only the arrangement order indicating the adjacency relationship between the plurality of arranged terminals is specified, and up to which direction the arrangement order indicates the arrangement order. Not specified. For example, in the first embodiment, it is assumed that a plurality of terminals 10 are arranged in a horizontal straight line on the table 30. Therefore, the arrangement order obtained by the position analysis unit 130 is two mirror image patterns in the left-right direction, that is, Either a pattern representing the arrangement of the terminals 10 from left to right or a pattern representing the arrangement of the terminals 10 from right to left.

  FIG. 12 and FIG. 13 are diagrams illustrating an example of specifying the terminal arrangement direction according to the first embodiment.

  FIG. 12 shows a state in which all the position recognition target terminals 10 are arranged in the table 30. In FIG. 12, a terminal 10x and a terminal 10y are terminals 10 arranged on a table 30 and terminals 10 placed at both ends. The terminal 10x is the terminal 10 whose arrangement order value is minimized at the stage of processing by the position analysis unit 130, and the terminal 10y is the terminal whose arrangement order value is maximized at the process stage of the position analysis unit 130. 10. In the first embodiment, the terminal 10x having the smallest arrangement order value may be the terminal 10a serving as the reference terminal.

  The terminal 10x and the terminal 10y each take a picture with the built-in camera 14, and acquire an image. Here, an image obtained by the camera 14 of the terminal 10x is an image X, and an image obtained by the camera 14 of the terminal 10y is an image Y. The terminal 10x and the terminal 10y send the captured image to the terminal 10a that is the reference terminal.

  When receiving the image X and the image Y, the arrangement direction specifying unit 140 of the terminal 10a which is the reference terminal specifies a portion where the two images overlap, that is, a portion where the same scenery is reflected in the two images. There are various well-known techniques for extracting the same object shown in the images from a plurality of images. For example, the arrangement direction specifying unit 140 of the terminal 10a serving as the reference terminal extracts a plurality of feature points such as edges from the image X and the image Y, respectively, and matches the extracted feature points between the two images. Identify overlapping parts of images. When there is a possibility that the terminal 10x and the terminal 10y are placed in the opposite directions in the vertical direction, for example, in the identification of the overlapping portion of the images, one image may be rotated 180 degrees, for example. . The arrangement direction specifying unit 140 of the terminal 10a specifies the direction of the arrangement order of the terminals 10 placed on the table 30 from the positional relationship between the overlapping portions of the two images.

  FIG. 13A shows an example in which there is an overlapping portion of both images on the right side of the image X and the left side of the image Y. In FIG. 13A, a hatched portion is an overlapping portion of the image X and the image Y, that is, a portion where the same scenery is reflected in two images. In this case, as shown in FIG. 13B, the arrangement order of the terminals 10 arranged in a horizontal row on the table 30 is an arrangement order in which the terminal 10x is the left end and the terminal 10y is the right end.

  FIG. 13C shows an example in which there is an overlapping portion of both images on the right side of the image Y and the left side of the image X. In FIG. 13C, the hatched portion is an overlapping portion of the image X and the image Y, that is, a portion where the same scenery is shown in two images. In this case, as shown in FIG. 13D, the arrangement order of the terminals 10 arranged in a horizontal row on the table 30 is an arrangement order in which the terminal 10y is the left end and the terminal 10x is the right end.

  In the first embodiment, the arrangement direction specifying unit 140 of the terminal 10a that is the reference terminal updates the data of the items in the arrangement order in the arrangement map data 175 according to the specification result of the arrangement order direction. For example, the arrangement direction specifying unit 140 of the terminal 10a updates the data of the arrangement order item in the arrangement map data 175 if the arrangement direction of the specified terminals 10 is as shown in FIG. Absent. In addition, for example, the arrangement direction specifying unit 140 of the terminal 10a may be arranged such that the arrangement order of each record in the arrangement map data 175 is +, if the specified arrangement direction of the terminals 10 is as shown in FIG. Update to reverse the sign of-. When the arrangement map data 175 is updated in this way, the arrangement order of the updated arrangement map data 175 becomes an arrangement order indicating that the terminal 10 is placed on the right side as the value increases.

  As described above, the direction of the arrangement order of the terminals 10 can be specified using the image taken by the camera built in the terminal 10. Note that in the process of specifying the direction in which the terminals 10 are arranged, the terminal 10 that acquires an image by photographing with the camera 14 may be a terminal other than the terminals 10 that are both ends in the arrangement order. Further, there may be three or more terminals 10 that acquire images with the camera 14. In addition, if the direction of the arrangement order of the terminals 10 is not limited to the horizontal direction, there is a possibility that overlap occurs not only in the left and right parts but also in the upper and lower parts of the image. It is possible to specify the direction of 10 arrangement orders.

  FIG. 14 is a diagram illustrating an example of unifying the display screen directions of the arranged terminals according to the first embodiment.

  As described above, the terminals 10 such as smart terminals often have symmetrical shapes in the up-down direction and the left-right direction, and when arranging a plurality of terminals 10, some of the terminals 10 are reversed. There is a possibility of leaving. At this time, the display screen of the terminal 10 placed in the opposite direction faces in the opposite direction to the other terminals 10.

  FIG. 14A shows an example of a case where only the terminal 10b is placed upside down in a situation where four terminals 10a to 10d are arranged. As shown in FIG. 14A, only the terminal 10b is placed in the upside down direction, so that only the terminal 10b is in the reverse direction. In the first embodiment, the direction of the display screen of each terminal 10 is assumed to be the upward direction of the display 11 shown in FIG.

  For example, the screen direction unification unit 150 of the terminal 10a that is the reference terminal acquires information on the direction by the geomagnetic sensor 15, and specifies the direction in which the upper direction of the display 11 of the terminal 10a is directed. The direction in which the upper direction of the specified display 11 is directed becomes the direction of the display screen of the terminal 10a. Hereinafter, the direction in which the upper direction of the display 11 faces is also referred to as a screen direction. The screen direction unification unit 150 of the terminal 10 a sends a screen direction adjustment instruction notification to the other terminals 10. The screen direction adjustment instruction notification is an instruction notification for adjusting the direction of the display screen of each terminal 10 to the direction of the display screen of a specific terminal. The screen direction adjustment instruction notification includes the screen orientation of the terminal 10a as the direction of the display screen of the terminal 10a.

  When the screen direction unifying unit 150 of each terminal 10b to 10d receives a screen direction adjustment instruction notification from the terminal 10a which is the reference terminal, the direction information is acquired by the geomagnetic sensor 15 and the screen direction of the own terminal 10 is specified. The screen direction unifying unit 150 of each terminal 10b to 10d compares the screen orientation of the terminal 10a that is the reference terminal with the screen orientation of the own terminal 10, and the direction of the display screen of the own terminal 10 is the terminal 10a that is the reference terminal. It is determined whether the display screen is in the reverse direction. The screen direction unifying unit 150 of each terminal 10b to 10d displays the display screen of the own terminal 10 when the direction of the display screen of the own terminal 10 is determined to be opposite to the direction of the display screen of the terminal 10a that is the reference terminal. An adjustment is made to rotate the direction of 180 degrees.

  In the example shown in FIG. 14A, only the terminal 10b has the display screen in the opposite direction to the terminal 10a that is the reference terminal. The screen direction unification unit 150 of the terminal 10b performs an adjustment to rotate the display screen direction of the terminal 10b by 180 degrees. Thereby, as shown in FIG. 14B, the directions of the display screens of all the terminals 10a to 10d arranged are automatically unified.

  Note that the direction of the display screen to be unified is not necessarily matched with the reference terminal, and any design such as matching with the terminal 10 selected by the user is possible.

  Hereinafter, the flow of processing by the position recognition unit 100 according to the first embodiment will be described with reference to the flowcharts of FIGS.

  FIG. 15 is a flowchart of position recognition processing by the position recognition unit of the first embodiment.

  In the position recognition unit 100 of the terminal 10, the position recognition target specifying unit 120 executes a position recognition target terminal specifying process (step S10). The position recognition target terminal specifying process is a process of specifying the target terminal 10 that recognizes the relative positional relationship. Details of the position recognition target terminal specifying process will be described later.

  The position analysis unit 130 executes relative position relationship analysis processing (step S11). The relative positional relationship analysis process is a process of analyzing the relative positional relationship of the plurality of terminals 10 arranged and specifying the arrangement order. Details of the relative positional relationship analysis processing will be described later.

  The arrangement direction specifying unit 140 executes an arrangement direction specifying process (step S12). The arrangement direction specifying process is a process for specifying the direction of the arrangement order of the plurality of terminals 10 specified in the relative positional relationship analysis process in step S11. Details of the arrangement direction specifying process will be described later.

  The screen direction unification unit 150 performs screen direction unification processing (step S13). The screen direction unification process is a process for unifying the display screen directions of a plurality of arranged terminals 10. Details of the screen direction unification processing will be described later.

  FIG. 16 is a position recognition target terminal specifying process flowchart by the position recognition target specifying unit of the first embodiment.

  The flow of the position recognition target terminal specifying process by the terminal 10 operated by the user to specify the position recognition target terminal 10 will be described with reference to FIG. Here, an example of processing for specifying the terminal 10 that is the position recognition target based on the UPnP protocol is assumed.

  The position recognition target specifying unit 120 in the position recognition unit 100 of the terminal 10 operated by the user transmits a search signal for the position recognition target terminal 10 including the service identifier (step S20). The other terminal 10 that has received the search signal returns a response to the terminal that has transmitted the search signal when the other terminal 10 holds the service identifier included in the search signal. These processes are performed by, for example, UPnP M-Search.

  The position recognition target specifying unit 120 of the terminal 10 operated by the user determines whether it is time-out (step S21). If not timed out (NO in step S21), the position recognition target specifying unit 120 determines whether a response from another terminal 10 has been received (step S22). If a response from another terminal 10 has not been received (NO in step S22), the position recognition target specifying unit 120 returns to the process in step S21.

  When receiving a response from another terminal 10 (YES in step S22), the position recognition target specifying unit 120 acquires the IP address of the responding terminal 10 from the received response (step S23). The position recognition target specifying unit 120 records the acquired IP address in the address data 165 (step S24). The position recognition target specifying unit 120 secures a communication path with the responding terminal 10 (step S25). The position recognition target specifying unit 120 returns to the process of step S21 and waits for a response from another terminal 10.

  If it is time-out in step S21 (YES in step S21), the position recognition target specifying unit 120 transmits the address data 165 to all the position recognition target terminals 10 (step S26). The position recognition target terminal 10 is a terminal 10 whose IP address is recorded in the address data 165. As a result, the address data 165 is shared by all the position recognition target terminals 10.

  FIG. 17 is a flowchart of a relative positional relationship analysis process performed by the position analysis unit according to the first embodiment.

  In the position analysis unit 130 of the terminal 10, the vibration detection unit 133 starts detecting the vibration that occurs when the terminal 10 is placed on the table 30 (step S30). The arrangement map input / output unit 138 determines whether or not the arrangement map data 175 has been received from another terminal 10 (step S31). Further, the vibration detection unit 133 determines whether vibration generated when the terminal 10 is placed on the table 30 is detected (step S32).

  When the vibration detection unit 133 detects vibration that occurs when the terminal 10 is placed on the table 30 (YES in step S32), the position analysis unit 130 determines that the terminal 10 is the reference terminal. At this time, the arrangement map recording unit 137 sets in the terminal status of the arrangement map data 175 that the own terminal 10 is the reference terminal (step S33). The arrangement map input / output unit 138 transmits the arrangement map data 175 to all other terminals 10 (step S34). The terminal 10 that has become the reference terminal sends the arrangement map data 175 to notify the other terminals 10 that the own terminal 10 is the reference terminal. The position analysis unit 130 executes the reference terminal process (1) (step S35). The reference terminal process (1) is a relative positional relationship analysis process by the terminal 10 that has become the reference terminal in the first embodiment. Details of the reference terminal process (1) will be described later.

  When the arrangement map input / output unit 138 receives the arrangement map data 175 from another terminal 10 (YES in step S31), the position analysis unit 130 determines that the own terminal 10 is a terminal 10 other than the reference terminal. At this time, the arrangement map recording unit 137 updates the arrangement map data 175 stored in the arrangement map information storage unit 170 with the received arrangement map data 175 (step S36). The position analysis unit 130 executes the reference non-terminal terminal process (1) (step S37). The non-reference terminal processing (1) is a relative positional relationship analysis process by the terminals 10 other than the reference terminal in the first embodiment. Details of the non-reference terminal processing (1) will be described later.

  FIG. 18 is a flowchart of the reference terminal process (1) by the position analysis unit of the terminal which is the reference terminal of the first embodiment.

  In the position analysis unit 130 of the terminal 10 that is the reference terminal, the vibration detection unit 133 starts detecting vibration that occurs when another terminal 10 is placed on the table 30 (step S40). The notification input / output unit 131 determines whether an event notification is received from another terminal 10 (step S41).

  When the notification input / output unit 131 receives a placement event notification (YES in step S41), the time difference calculation unit 134 acquires the reception time of the placement event notification using the clock function of the terminal 10 itself (step S42). At this time, the terminal 10 that has sent the place event notification becomes the positioning target terminal 10.

  The vibration detection unit 133 determines whether vibration generated when another terminal 10 is placed on the table 30 is detected (step S43). When the vibration detection unit 133 detects vibration generated when another terminal 10 is placed on the table 30 (YES in step S43), the time difference calculation unit 134 uses the clock function of the terminal 10 to detect the vibration detection time. Is acquired (step S44). The time difference calculation unit 134 calculates a time difference between the reception time of the place event notification and the vibration detection time (step S45). The time difference acquisition unit 135 acquires the time difference calculated here as time difference # 1. The arrangement map recording unit 137 records the time difference # 1 in the record of the positioning target terminal 10 in the arrangement map data 175 (step S46).

  The notification input / output unit 131 determines whether a time difference notification has been received from another terminal 10 (step S47). When the time difference notification is received from the notification input / output unit 131 (YES in step S47), the time difference acquisition unit 135 extracts the time difference # 2 from the received time difference notification, and the arrangement map recording unit 137 displays the extracted time difference # 2. , It is recorded in the record of the positioning target terminal 10 in the arrangement map data 175 (step S48).

  The time difference acquisition unit 135 determines whether all necessary time differences have been obtained (step S49). The position analysis unit 130 repeats the processes in steps S43 to S49 until all necessary time differences are obtained (NO in step S49). The required time difference is only the time difference # 1 when the positioning target terminal 10 is the second terminal 10 and the time difference # 1 when the positioning target terminal 10 is the third or subsequent terminal 10. And time difference # 2.

  When all necessary time differences are obtained (YES in step S49), the arrangement order specifying unit 136 specifies the arrangement order of the plurality of terminals 10 placed in the table 30 including the positioning target terminals 10 (step S49). S50). The process in step S50 is the process described with reference to FIGS. 10 and 11, for example. The arrangement map recording unit 137 records the specified arrangement order in the arrangement map data 175 (step S51). At this time, the arrangement map recording unit 137 updates the terminal status of the positioning target terminal 10 to the positioning completed, and updates the terminal status of the corresponding terminal 10 when the extreme terminal changes. The arrangement map input / output unit 138 transmits the arrangement map data 175 to all terminals 10 that have been measured (step S52). As a result, the latest position recognition result is shared among all the terminals 10 that have already been positioned.

  The position analysis unit 130 determines whether or not the positioning has been completed for all the terminals 10 that are position recognition targets (step S53). If the positioning has not been completed for all the position recognition target terminals 10 (NO in step S53), the position analysis unit 130 returns to the process of step S40 and moves to the process of the next positioning target terminal 10. . If the positioning has been completed for all the position recognition target terminals 10 (YES in step S53), the position analysis unit 130 ends the process.

  FIG. 19 is a non-reference terminal processing (1) flowchart by the position analysis unit of terminals other than the reference terminal of the first embodiment.

  In the position analysis unit 130 of the terminal 10 other than the reference terminal, the vibration detection unit 133 determines whether the vibration generated when the terminal 10 is placed on the table 30 is detected (step S60). When the vibration detection unit 133 detects vibration that occurs when the terminal 10 is placed on the table 30 (YES in step S60), the notification input / output unit 131 broadcasts a placement event notification (step S61). .

  The arrangement map input / output unit 138 determines whether or not the latest arrangement map data 175 has been received from the reference terminal at that time (step S62). When the arrangement map input / output unit 138 receives the arrangement map data 175 (YES in step S62), the arrangement map recording unit 137 receives the arrangement map data 175 and the arrangement map data stored in the arrangement map information storage unit 170. 175 is updated (step S63).

  The position analysis unit 130 determines whether or not the positioning has been completed for all the position recognition target terminals 10 (step S64). If the positioning has been completed for all the position recognition target terminals 10 (YES in step S64), the position analysis unit 130 ends the process.

  If positioning has not been completed for all the terminals 10 that are position recognition targets (NO in step S64), the position analysis unit 130 determines whether the terminal 10 is the end terminal (step S65). If the own terminal 10 is not the terminal terminal (NO in step S65), the arrangement map input / output unit 138 returns to the process of step S62 and waits for reception of the next arrangement map data 175.

  If the own terminal 10 is the end terminal (YES in step S65), the vibration detection unit 133 starts detecting vibration that occurs when another terminal 10 is placed on the table 30 (step S66). The notification input / output unit 131 determines whether a place event notification is received from another terminal 10 (step S67).

  When the notification input / output unit 131 receives a placement event notification (YES in step S67), the time difference calculation unit 134 acquires the reception time of the placement event notification using the clock function of the terminal 10 itself (step S68).

  The vibration detection unit 133 determines whether vibration generated when another terminal 10 is placed on the table 30 is detected (step S69). When the vibration detection unit 133 detects vibration generated when another terminal 10 is placed on the table 30 (YES in step S69), the time difference calculation unit 134 uses the clock function of the terminal 10 to detect the vibration detection time. Is acquired (step S70). The time difference calculation unit 134 calculates a time difference between the reception time of the place event notification and the vibration detection time (step S71). The time difference acquisition unit 135 acquires the time difference calculated here as time difference # 2. The notification input / output unit 131 transmits a time difference notification including the time difference # 2 to the reference terminal (step S72). The arrangement map input / output unit 138 returns to the process of step S62 and waits for reception of the next arrangement map data 175.

  FIG. 20 is a flowchart illustrating the arrangement direction specifying process performed by the arrangement direction specifying unit according to the first embodiment.

  In the position recognition unit 100 of the terminal 10, the arrangement direction specifying unit 140 determines whether or not the own terminal 10 is a reference terminal (step S80). Whether the own terminal 10 is the reference terminal or not can be confirmed by the arrangement map data 175.

  If the own terminal 10 is a reference terminal (YES in step S80), the arrangement direction specifying unit 140 transmits a shooting start event notification requesting image shooting to the terminals 10 whose arrangement order is at both ends (step S81). ).

  The arrangement direction specifying unit 140 determines whether images have been received from the terminals 10 at both ends (step S82). In addition, when the own terminal 10 which is a reference terminal is one of the terminals 10 at both ends, the camera 14 incorporated in the own terminal 10 performs shooting to acquire an image. When images are received from the terminals 10 at both ends (YES in step S82), the arrangement direction specifying unit 140 extracts feature points such as edges for each image (step S83). The arrangement direction specifying unit 140 performs matching of the feature points extracted between the two images, and extracts an overlapping portion between the two images (step S84).

  The arrangement direction specifying unit 140 determines whether or not the overlapping part in the image obtained from the terminal 10 having the maximum arrangement order among the terminals 10 at both ends is the left part of the image (step S85). . If the overlapping portion of the images obtained from the terminal 10 having the largest arrangement order value is not on the left side (NO in step S85), that is, if it is on the right side, the arrangement direction specifying unit 140 determines the arrangement order of the arrangement map data 175. Update in reverse order (step S86). The arrangement direction specifying unit 140 transmits the latest arrangement map data 175 to all the other terminals 10 (step S87), and ends the process.

  In step S80, if the own terminal 10 is not the reference terminal (NO in step S80), the arrangement direction specifying unit 140 determines whether the own terminal 10 is one of the terminals 10 at both ends (step S88). If the own terminal 10 is neither of the terminals 10 at both ends (NO in step S88), the arrangement direction specifying unit 140 proceeds to the process of step S92.

  If the own terminal 10 is one of the terminals 10 at both ends (YES in step S88), the arrangement direction specifying unit 140 determines whether a shooting start event notification has been received (step S89). When the shooting start event notification is received (YES in step S89), the arrangement direction specifying unit 140 acquires a shot image from the camera 14 built in the terminal 10 (step S90). The arrangement direction specifying unit 140 transmits the acquired image to the reference terminal (step S91).

  The arrangement direction specifying unit 140 determines whether or not the latest arrangement map data 175 has been received from the reference terminal (step S92). When the arrangement map data 175 is received (YES in step S92), the arrangement direction specifying unit 140 updates the arrangement map data 175 stored in the arrangement map information storage unit 170 with the received arrangement map data 175 (step S93). ), The process is terminated.

  FIG. 21 is a flowchart of the screen direction unification process performed by the screen direction unification unit according to the first embodiment.

  In the position recognition unit 100 of the terminal 10, the screen direction unification unit 150 determines whether the terminal 10 is a reference terminal (step S100). Whether the own terminal 10 is the reference terminal or not can be confirmed by the arrangement map data 175.

  If the own terminal 10 is the reference terminal (YES in step S100), the screen direction unifying unit 150 acquires the screen orientation θ of the own terminal 10 from the value of the geomagnetic sensor 15 built in the own terminal 10 (step S101). . The screen direction unifying unit 150 transmits a screen direction adjustment instruction notification including the screen orientation θ of the terminal 10 to all other terminals 10 (step S102).

  The screen direction unifying unit 150 determines whether an adjustment result notification including the screen orientation θ ′ of the terminal 10 has been received from another terminal 10 (step S103). When the adjustment result notification is received from another terminal 10 (YES in step S103), the screen direction unifying unit 150 records the screen orientation θ ′ included in the received adjustment result notification in the record of the corresponding terminal 10 in the arrangement map data 175. (Step S104).

  The screen direction unification unit 150 determines whether the adjustment result notification has been received from all the other terminals 10 (step S105). If the adjustment result notification has not been received from all the other terminals 10 (NO in step S105), the screen direction unification unit 150 returns to the process of step S103 and waits for reception of the next adjustment result notification. If the adjustment result notification has been received from all the other terminals 10 (YES in step S105), the screen direction unifying unit 150 transmits the latest arrangement map data 175 to all the other terminals 10 (step S106). ), The process is terminated.

  If the terminal 10 is not the reference terminal in step S100 (NO in step S100), the screen direction unifying unit 150 determines whether a screen direction adjustment instruction notification including the screen orientation θ of the reference terminal has been received from the reference terminal. (Step S107). When the screen direction adjustment instruction notification is received (YES in step S107), the screen direction unification unit 150 acquires the screen orientation θ ′ of the terminal itself (step S108).

  The screen direction unification unit 150 determines whether the angle difference between θ ′ and θ is greater than 90 degrees (step S109). If the angle difference between θ ′ and θ is greater than 90 degrees (YES in step S109), the screen direction unifying unit 150 rotates the screen display of the terminal 10 by 180 degrees (step S110). The screen direction unifying unit 150 transmits an adjustment result notification including the screen orientation θ ′ of the terminal 10 to the reference terminal (step S111).

  The screen direction unification unit 150 determines whether or not the latest arrangement map data 175 has been received from the reference terminal (step S112). When the arrangement map data 175 is received (YES in step S112), the screen direction unification unit 150 updates the arrangement map data 175 stored in the arrangement map information storage unit 170 with the received arrangement map data 175 (step S113). ), The process is terminated.

[Example 2]
In the second embodiment, the time until the vibration generated by the vibrator 13 included in the positioning target terminal 10 placed on the vibration propagation table is detected by another terminal 10 placed on the same table. And the relative positional relationship between the terminal 10 to be positioned and the other terminal 10 is specified.

  The second embodiment is different from the first embodiment only in the positioning procedure and processing, and other procedures and processing are the same as those in the first embodiment. In the following, the second embodiment will be described only for parts different from the first embodiment.

  FIG. 22 is a diagram for explaining positioning according to the second embodiment.

  As shown in FIG. 22A, in the second embodiment, positioning is started in a state where the terminals 10 that are position recognition targets are arranged in the table 30. At this time, the user selects the terminal 10 to be the reference terminal from the terminals 10 in the arranged table 30.

  FIG. 22B shows an example of obtaining the time until the vibration generated by the positioning target terminal 10b propagates to the terminal 10a as the reference terminal according to the second embodiment. The terminal 10a, which is the reference terminal, transmits a positioning start event notification to the positioning target terminal 10b ((1) in FIG. 22B). The positioning start event notification is a notification in which the reference terminal instructs the positioning target terminal 10 or the positioning target terminal 10 to start positioning. The position analysis unit 130 of the terminal 10a acquires the time when the positioning start event notification is transmitted to the terminal 10b.

  The positioning target terminal 10b that has received the positioning start event notification operates the vibrator 13 built in the terminal 10b ((2) of FIG. 22B) to generate vibration (FIG. 22B). (3)). The positioning start event notification is notified to the terminal 10b in approximately 0 hours. That is, the transmission time of the positioning start event notification is almost the time when the vibration is generated by the terminal 10b.

  The vibration generated by the terminal 10b propagates through the table 30 ((4) in FIG. 22B). The position analysis unit 130 of the terminal 10a detects vibration generated when the terminal 10b operates the vibrator 13 transmitted through the table 30 from the vibration waveform obtained by the acceleration sensor 12 (FIG. 22B). (5)). The terminal 10a acquires the time when the vibration generated by the terminal 10b is detected.

  The position analysis unit 130 of the terminal 10a calculates a time difference between the time when the positioning start event notification is transmitted and the time when the vibration is detected. The calculated time difference is the time for vibration to propagate from the terminal 10b to the terminal 10a. The time for vibration to propagate from the terminal 10b to the terminal 10a is proportional to the distance between the terminal 10b and the terminal 10a. Since the position analysis unit 130 of the terminal 10a itself is a reference terminal, the time difference # 1 is recorded in the record of the terminal 10b in the arrangement map data 175.

  FIG. 23 is a diagram illustrating an image of a waveform when vibration generated by operating the vibrator by the terminal according to the second embodiment is detected.

  When the vibration generated by the terminal 10 operating the vibrator 13 is detected, it is considered that a vibration waveform having a constant amplitude is obtained by the acceleration sensor 12 as shown in FIG. For example, as shown in FIG. 23, the position analysis unit 130 of the terminal 10 detects that the target vibration is detected when the acceleration amplitude obtained by the acceleration sensor 12 exceeds a preset filter amplitude. to decide. As the filter amplitude, a value that is considered appropriate for the detection of the target vibration is set in advance. At this time, the position analysis unit 130 of the terminal 10 acquires, for example, the time when the peak of the wave that first exceeds the filter amplitude is detected as the time when the vibration is detected.

  It should be noted that any desired design can be made for the detection judgment of the target vibration and the detection time to be acquired. For example, it is possible to design such as determining the detection of the target vibration based on a series of acceleration amplitude shape characteristics, and acquiring the time when the wave having the maximum acceleration amplitude was obtained as the time when the vibration was detected.

  FIG. 24 is a flowchart of a relative positional relationship analysis process performed by the position analysis unit according to the second embodiment.

  The position analysis unit 130 of the terminal 10 inquires of the user whether the terminal 10 is the reference terminal (step S120). The position analysis unit 130 of the terminal 10 determines whether or not the user has received designation for setting the terminal 10 as the reference terminal (step S121). Also, the arrangement map input / output unit 138 determines whether or not the arrangement map data 175 has been received from another terminal 10 (step S125).

  When the user receives an instruction to set the own terminal 10 as the reference terminal (YES in step S121), the position analysis unit 130 determines that the own terminal 10 is the reference terminal. At this time, the arrangement map recording unit 137 sets in the terminal status of the arrangement map data 175 that the own terminal 10 is the reference terminal (step S122). The arrangement map input / output unit 138 transmits the arrangement map data 175 to all other terminals 10 (step S123). The terminal 10 that has become the reference terminal sends the arrangement map data 175 to notify the other terminals 10 that the own terminal 10 is the reference terminal. The position analysis unit 130 executes reference terminal processing (2) (step S124). The reference terminal process (2) is a relative positional relationship analysis process by the terminal 10 that has become the reference terminal in the second embodiment. Details of the reference terminal process (2) will be described later.

  When the arrangement map input / output unit 138 receives the arrangement map data 175 from another terminal 10 (YES in step S125), the position analysis unit 130 determines that the own terminal 10 is a terminal 10 other than the reference terminal. At this time, the arrangement map recording unit 137 updates the arrangement map data 175 stored in the arrangement map information storage unit 170 with the received arrangement map data 175 (step S126). The position analysis unit 130 executes the reference non-terminal terminal process (2) (step S127). The reference terminal outside terminal process (2) is a relative positional relationship analysis process by the terminals 10 other than the reference terminal in the second embodiment. Details of the non-reference terminal processing (2) will be described later.

  FIG. 25 is a flowchart of the reference terminal process (2) by the position analysis unit of the terminal which is the reference terminal of the second embodiment.

  The position analysis unit 130 of the terminal 10 that is the reference terminal selects one positioning target terminal 10 from the unpositioned terminals 10 (step S130). The notification input / output unit 131 transmits a positioning start event notification to the positioning target terminal 10 and the farthest terminal (step S131). The time difference calculation unit 134 acquires the transmission time of the positioning start event notification by using the clock function of the own terminal 10 (step S132). The vibration detection unit 133 starts detection of vibration that occurs when another terminal 10 operates the vibrator 13 (step S133).

  The vibration detection unit 133 determines whether the vibration generated when the other terminal 10 operates the vibrator 13 is detected (step S134). When the vibration detection unit 133 detects vibration generated when another terminal 10 operates the vibrator 13 (YES in step S134), the time difference calculation unit 134 uses the clock function of the terminal 10 to detect the vibration detection time. Is acquired (step S135). The time difference calculation unit 134 calculates the time difference between the transmission time of the positioning start event notification and the vibration detection time (step S136). The time difference acquisition unit 135 acquires the time difference calculated here as time difference # 1. The arrangement map recording unit 137 records the time difference # 1 in the record of the positioning target terminal 10 in the arrangement map data 175 (step S137).

  The notification input / output unit 131 determines whether a time difference notification has been received from another terminal 10 (step S138). When the time difference notification is received from the notification input / output unit 131 (YES in step S138), the time difference acquisition unit 135 extracts the time difference # 2 from the received time difference notification, and the arrangement map recording unit 137 displays the extracted time difference # 2. , It is recorded in the record of the positioning target terminal 10 in the arrangement map data 175 (step S139).

  The time difference acquisition unit 135 determines whether all necessary time differences have been obtained (step S140). The position analysis unit 130 repeats the processes in steps S134 to S140 until all necessary time differences are obtained (NO in step S140). The required time difference is only the time difference # 1 when the current positioning target terminal 10 is the first positioning target terminal 10, and the current positioning target terminal 10 is the second or subsequent positioning target terminal 10. In this case, time difference # 1 and time difference # 2.

  When all the necessary time differences are obtained (YES in step S140), the arrangement order specifying unit 136 specifies the arrangement order of the terminals 10 that have already been positioned, including the terminal 10 that is the positioning target (step S141). The process of step S141 is the process demonstrated using FIG. 10 and FIG. 11, for example. The arrangement map recording unit 137 records the specified arrangement order in the arrangement map data 175 (step S142). At this time, the arrangement map recording unit 137 updates the terminal status of the positioning target terminal 10 to the positioning completed, and updates the terminal status of the corresponding terminal 10 when the extreme terminal changes. The arrangement map input / output unit 138 transmits the arrangement map data 175 to all the terminals 10 that have been measured (step S143). As a result, the latest position recognition result is shared among all the terminals 10 that have already been positioned.

  The position analysis unit 130 determines whether or not the positioning has been completed for all the position recognition target terminals 10 (step S144). If the positioning has not yet been completed for all the position recognition target terminals 10 (NO in step S144), the position analysis unit 130 returns to the process of step S130 and proceeds to the process of the next positioning target terminal 10. . If the positioning has been completed for all the position recognition target terminals 10 (YES in step S144), the position analysis unit 130 ends the process.

  FIG. 26 is a non-reference terminal processing (2) flowchart by the position analysis unit of terminals other than the reference terminal of the second embodiment.

  In the position analysis unit 130 of the terminal 10 other than the reference terminal, the notification input / output unit 131 determines whether a positioning start event notification has been received from the reference terminal (step S150). When the positioning start event notification is received (YES in step S150), the vibrator control unit 132 vibrates the vibrator 13 built in the terminal 10 (step S151).

  The arrangement map input / output unit 138 determines whether or not the latest arrangement map data 175 has been received from the reference terminal at that time (step S152). When the arrangement map input / output unit 138 receives the arrangement map data 175 (YES in step S152), the arrangement map recording unit 137 receives the arrangement map data 175 and the arrangement map data stored in the arrangement map information storage unit 170. 175 is updated (step S153).

  The position analysis unit 130 determines whether or not the positioning has been completed for all the terminals 10 that are position recognition targets (step S154). If the positioning has been completed for all the position recognition target terminals 10 (YES in step S154), the position analysis unit 130 ends the process.

  If positioning has not been completed for all the terminals 10 that are position recognition targets (NO in step S154), the position analysis unit 130 determines whether the terminal 10 is the end terminal (step S155). If the own terminal 10 is not the end terminal (NO in step S155), the arrangement map input / output unit 138 returns to the process of step S152 and waits for reception of the next arrangement map data 175.

  If the own terminal 10 is the end terminal (YES in step S155), the notification input / output unit 131 determines whether a positioning start event notification is received from the reference terminal (step S156). When the positioning start event notification is received (YES in step S156), the time difference calculation unit 134 acquires the reception time of the positioning start event notification using the clock function of the own terminal 10 (step S157).

  The vibration detection unit 133 starts detection of vibration generated when another terminal 10 operates the vibrator 13 (step S158). The vibration detection unit 133 determines whether vibration generated when another terminal 10 operates the vibrator 13 is detected (step S159). When the vibration detection unit 133 detects vibration that occurs when another terminal 10 operates the vibrator 13 (YES in step S159), the time difference calculation unit 134 uses the clock function of the terminal 10 to detect the vibration detection time. Is acquired (step S160). The time difference calculation unit 134 calculates the time difference between the reception time of the positioning start event notification and the vibration detection time (step S161). The time difference acquisition unit 135 acquires the time difference calculated here as time difference # 2. The notification input / output unit 131 transmits a time difference notification including the time difference # 2 to the reference terminal (step S162). The arrangement map input / output unit 138 returns to the process of step S152 and waits for reception of the next arrangement map data 175.

  Although the present embodiment has been described above, the present invention can naturally be modified in various ways within the scope of the gist thereof.

  For example, in the present embodiment, the terminal 10 serving as the reference terminal performs processing such as specifying the arrangement order of the plurality of terminals 10, specifying the direction of the arrangement order, and unifying the display screen direction. These functions may be performed by, for example, an external server.

  FIG. 27 is a diagram illustrating a configuration example of a system that performs position recognition according to the present embodiment when an external server is included.

  In the system shown in FIG. 27, each terminal 10 can communicate with the server 40 via the wireless router 20. The server 40 includes a part of the function of the position recognition unit 100 shown in FIG.

  For example, the server 40 acquires information about the time when vibration propagated between the terminals 10 such as the time difference # 1 and the time difference # 2 from each terminal 10 and performs a process of specifying the arrangement order of the terminals 10. In addition, for example, the server 40 acquires an image captured by the camera 14 included in each terminal 10 from the plurality of terminals 10 and performs a process of specifying the direction of the arrangement order of the terminals 10. Further, for example, the server 40 performs a process of instructing each terminal 10 to unify the direction of the display screen.

  As described above, by performing a part of the position recognition processing according to the present embodiment using the external server 40 or the like, the burden on the terminal 10 can be reduced.

DESCRIPTION OF SYMBOLS 10 Terminal 11 Display 12 Acceleration sensor 13 Vibrator 14 Camera 15 Geomagnetic sensor 100 Position recognition part 110 Communication control part 120 Position recognition object specific | specification part 130 Position analysis part 131 Notification input / output part 132 Transducer control part 133 Vibration detection part 134 Time difference calculation Section 135 Time difference acquisition section 136 Arrangement order identification section 137 Arrangement map recording section 138 Arrangement map input / output section 140 Arrangement direction identification section 150 Screen direction unification section 160 Address information storage section 170 Arrangement map information storage section 20 Wireless router

Claims (7)

Computer
Obtain the time from when vibration is generated by a terminal placed in a place where vibration is propagated until the vibration is detected by another terminal placed in the place,
A position recognition program for executing a process of specifying an arrangement order of a plurality of terminals placed in the place from the time acquired for a plurality of terminals. The position recognition program according to claim 1, wherein the vibration generated by the terminal is a vibration generated when the terminal is placed at the place. The position recognition program according to claim 1, wherein the vibration generated by the terminal is vibration generated by a vibrator provided in the terminal. In addition to the computer,
Obtaining an image captured by each terminal from any two or more of the plurality of terminals with the specified order;
The position recognition program according to any one of claims 1 to 3, for executing a process of specifying the direction of the arrangement order based on a positional relationship between overlapping portions of two or more acquired images. In addition to the computer,
Get the direction of the display screen of a specific terminal placed in the place,
5. The method according to claim 1, wherein an instruction is sent to each terminal placed in the place to send an instruction to adjust a display screen direction to a display screen direction of the specific terminal. The position recognition program described. A time difference acquisition unit for acquiring a time from when vibration is generated by a terminal placed in a place where vibration is propagated until the vibration is detected by another terminal placed in the place;
A position recognition device, comprising: an arrangement order identifying unit that identifies an arrangement order of a plurality of terminals placed at the place from the time acquired between a plurality of terminals. Computer
Obtain the time from when vibration is generated by a terminal placed in a place where vibration is propagated until the vibration is detected by another terminal placed in the place,
The position recognition method characterized by performing the process which specifies the arrangement | sequence order of the some terminal placed in the said place from the said time acquired about several terminals.

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