JP5386713B2 - POSITION DETECTION SYSTEM AND POSITION DETECTION SHEET USED FOR THE SAME - Google Patents

Description

  According to the present invention, a plurality of wireless ID tags such as RFID are arranged on a structure such as a floor surface, a wall surface, and a pillar surface, and ID data from the wireless ID tag is acquired by a reading unit mounted on the moving body. The present invention relates to a position detection system for detecting a position and a position detection sheet used for the position detection system.

  In general, methods for recognizing the position of an indoor object or a moving body such as a person include recognition by a camera, a method using infrared rays, a method using a magnetic sensor, and the like. The camera installation method involves analyzing the image captured by the camera and recognizing the position of the target moving object, and the complicated installation, such as camera installation, requires a space suitable for installation. There are many problems, such as the need for analysis and restrictions on cost and measurement location. Although the method using infrared rays can measure the position with very high accuracy, it requires an environment where the infrared rays are not shielded, and there is a problem that there are many restrictions on installation locations. Although the method using the magnetic sensor can measure the position with very high accuracy, it requires an environment in which the magnetism is not disturbed, and has a problem that it can measure only in a relatively narrow range.

  In contrast to these methods, a non-contact type position measurement system using RFID has been proposed as an excellent method independent of the installation location. In the case of a position recognition system using an active type RFID, it is necessary to maintain the power source of the RFID, and there is a problem that requires a lot of construction time and cost to install the RFID. In addition, there is a problem that time and cost burden required for mapping for integrating the installed RFID and the position information are large.

  As for the power source of the RFID, a position recognition system using an electromagnetic induction type RFID has been proposed as described in Patent Documents 1 to 4. In this case, since the reach distance of the radio wave is short, it is extremely per unit area. A large number of RFIDs are required, and this construction time and cost as well as the time and cost required for mapping the RFID location information and ID must be considered.

  Patent Document 5 proposes a method for arranging an RFID on a sheet, and Patent Document 6 proposes a method for arranging an RFID on a textile. However, both are aimed at production process management of sheets and textiles or product logistics management, and it is difficult to arrange a large number of RFIDs in a certain plane and use them for position detection.

Patent Document 7 describes a position detection system that performs position detection by laying a belt-like sheet on which a plurality of wireless ID tags are arranged on a floor panel. However, alignment of a plurality of belt-like sheet bodies and wireless IDs are described. Tag mapping is complicated and difficult to install.
Japanese Patent No. 3456891 Japanese Patent No. 3545690 Japanese Patent No. 3692284 Japanese Patent No. 4045493 Japanese Patent No. 3499218 JP 2005-226165 A JP 2007-170853 A

  As described above, the position detection system using the conventional electromagnetic induction type RFID has a short radio wave reaching distance. Therefore, in order to improve the position accuracy, it is necessary to increase the RFID installation density. Will be used. Therefore, the construction time and cost for installing a large number of RFIDs, and the time and cost required for mapping the RFID position information and ID are required.

  Further, the conventional method of fixing RFID to a structure such as a floor surface requires installation work and cost, and work and cost when it becomes unnecessary are separately generated. Therefore, it is not suitable for use for a limited time such as an event.

  Therefore, the present invention provides a position detection system that can arrange a large number of wireless ID tags with high accuracy in a short time and can efficiently perform a mapping operation of these wireless ID tags, and a position detection sheet used therefor. It is for the purpose.

And the wireless ID positioning mark displayed in correspondence with the array of tags are superimposed Rutotomoni provided with arranging a plurality of wireless ID tag regularly multiple being positioned by matching the mark the position A position detecting sheet, a storage unit for storing ID data and individual position information of the wireless ID tag in each position detecting sheet, and the position detecting sheet arranged on the basis of the positioning mark. An acquisition unit that acquires positional relationship information; and total positional information that indicates the positional relationship of all the wireless ID tags based on the acquired positional relationship information and the stored individual position information; A calculation unit to be stored; a reading unit that is mounted on the mobile body and communicates with a part of the wireless ID tag to acquire the ID data; and Characterized in that it comprises a position detector for detecting a position of the moving object based on the ID data and the entire position information stored in the storage unit is. Furthermore, the acquisition unit acquires positional relationship information based on a positional relationship between the positioning marks of the adjacent position detection sheet members. Furthermore, the acquisition unit acquires position relation information based on individual position information related to ID data transmitted from the wireless ID tag of each of the adjacent position detection sheet bodies.

The position detection sheet according to the present invention is a position detection sheet used in the position detection system described above, and a plurality of wireless ID tags are arranged at regular intervals in the longitudinal direction on a film-like substrate or a fabric-like substrate. A plurality of attached linear materials are arranged in parallel at a predetermined interval, and a plurality of positioning mark display bodies are arranged in parallel in a direction orthogonal to the linear materials, corresponding to the arrangement of the wireless ID tags. And holding means for holding the position detecting sheet in a detachable manner in an overlapped state.

  Since the present invention has the above-described configuration, the position detection sheet bodies are arranged based on the positioning marks displayed corresponding to the arrangement of the wireless ID tags. Can be arranged easily. In addition, since the overall position information of the wireless ID tag is calculated based on the positional relationship information of the position detection sheet body with the positioning mark as a reference, the mapping operation of the wireless ID tag is efficiently performed in a short time. Therefore, it is possible to respond flexibly to a change in layout or a change in installation location.

  Hereinafter, embodiments according to the present invention will be described in detail. The embodiments described below are preferable specific examples for carrying out the present invention, and thus various technical limitations are made. However, the present invention is particularly limited in the following description. Unless otherwise specified, the present invention is not limited to these forms.

  FIG. 1 is a schematic configuration diagram relating to an embodiment of the present invention. The position detection system includes a rectangular position detection sheet body 1, a large number of wireless ID tags 2 regularly arranged in a matrix on the position detection sheet body 1, and a mobile object (in this example, a pedestrian). ID reader 3 that communicates with a part of wireless ID tag 2 and acquires ID data, and ID data transmitted from ID reader 3 is acquired via relay 4 to detect the position of the moving body. An information processing apparatus 5 is provided.

  FIG. 2 is a partially enlarged perspective view of the position detection sheet body 1. In the position detection sheet body 1, a large number of wireless ID tags 2 are arranged in a matrix at equal intervals between two sheet materials 10, and are attached to other position detection sheet bodies 1 on both sides. A holding member 12 that is detachably held is attached. In addition, on the surface of the position detection sheet 1, positioning marks 11 are displayed in a straight line between the wireless ID tags 2 at equal intervals in the vertical and horizontal directions.

  As a method of arranging the wireless ID tag 2 on the sheet material 10, for example, a method of arranging the wireless ID tag between two or more layers of sheets, an adhesive, sewing, laminating, coating, etc. on the surface of the sheet material There are a method of arranging by the above and a method of arranging in the manufacturing process of the sheet material. Any other method may be used as long as it can be fixed to the sheet material without impairing the function of the wireless ID tag.

  The sheet material 10 includes a film or a textile such as a woven fabric, a knitted fabric, and a non-woven fabric. The sheet material 10 has a single configuration or a configuration composed of a plurality of materials, and at least one surface of the sheet is a non-conductive material that does not shield electromagnetic waves. Composed. Specific materials include polyester fibers such as polyethylene terephthalate, PTT (polytrimethylene terephthalate), PBT (polybutylene terephthalate), nylon (polyamide fiber), aramid (aromatic polyamide fiber), and polyolefins such as polypropylene and polyethylene. Examples include fibers, synthetic fibers such as acrylic, chemical fibers such as rayon and acetate, and natural fibers such as cotton, hemp, wool, and silk. Furthermore, it is preferable that all the materials constituting the sheet material include a non-conductive material.

  By using such a highly flexible and durable material, the position detection sheet can be easily laid and collected, and the position accuracy of the wireless ID tag can be maintained.

  When the sheet material is a woven fabric, the wireless ID tag is arranged in a woven fabric structure having a multi-layer structure, or the movement of the wireless ID tag in the woven fabric is restricted by the woven structure. Can be physically fixed. In particular, by weaving using a yarn in which wireless ID tags are arranged at regular intervals in the yarn length direction as warps or wefts, a woven fabric in which wireless ID tags are arranged continuously and with high accuracy can be obtained.

  The same applies to the case where the sheet material is a knitted fabric. The wireless ID tag is arranged in a multi-layered knitted structure, or the movement of the wireless ID tag in the knitted fabric is restricted by the knitting structure or on the knitted structure. Can be physically and accurately fixed. In particular, by knitting using a yarn having wireless ID tags arranged at regular intervals in the yarn length direction as warp insertion yarns or weft insertion yarns, a knitted fabric in which wireless ID tags are arranged continuously and with high accuracy can be obtained. Can do.

  The positioning mark 11 is printed in advance over the entire length and the entire width of the sheet material 10 so as to be positioned in the middle of each wireless ID tag 2. The display position of the positioning mark 11 may be displayed only on both sides as necessary, or on both the front and back sides, and the display position is also displayed so as to overlap the wireless ID tag other than the intermediate position. There is no particular limitation. The positioning marks 11 may be displayed with stitches obtained by sewing the two sheet materials 10. In the case of a woven fabric or a knitted fabric, the warp yarn or the weft yarn or the warp insertion yarn or the weft insertion yarn may be displayed using a yarn having a color different from that of the ground texture. Further, the positioning mark 11 can be displayed as a part of the pattern.

  The positioning mark may be any mark that can be aligned. In the case of print display, various displays such as a cross shape and a dotted line are possible in addition to a straight line. Such a display may be displayed in a design or pattern. Moreover, you may make it perform a scale display so that a space | interval can be read. In addition, an end portion of the base material, a surface irregularity shape, a boundary line between members, and the like can also be used as positioning marks.

  The wireless ID tag 2 is assigned ID data that can be individually identified, and the ID data is stored in advance. As the wireless ID tag, a known passive RFID may be used, and those having a frequency band of 125 k-135 kHz / 13.56 MHz / 2.45 GHz / 860 M-960 MHz are preferable. When arranged on the position detection sheet body at high density, 2.45 GHz RFID having a small tag size is preferable.

  As the holding member 12, when a plurality of position detection sheet bodies 1 are installed, the holding member 12 has a holding force such that the positional relationship is not shifted by a walking operation or a traveling operation. For example, the position detection sheet bodies 1 are stabilized by providing fasteners or tapes, laces, buttons, fitting holes and protrusions, etc., which are detachably held by engaging a large number of hooks and loops. Can be held in. In addition to such holding means, the position detecting sheet 1 may be directly coupled and held by means such as a stapler, an adhesive tape, or temporary sewing.

  Moreover, the sheet | seat body 1 for position detection can improve durability by forming a film in the surface by coating etc. Examples of the coating material include polyurethane, vinyl chloride, rubber, polyester elastomer, and silicon materials.

  Lamination or pasting may be performed as a method other than coating. Examples of the material for the laminate include thermoplastic films, woven and knitted fabrics, nonwoven fabrics, paper, artificial leather, foams and the like.

  In addition, if a non-conductive coating is formed on the surface of the position detection sheet body 1, even if the position detection sheet body 1 is placed on a conductive material such as metal, the ID data can be reliably communicated with the wireless ID tag. There is also an effect that it can be acquired. In order to reliably acquire the ID data, the surface of the position detection sheet 1 may be covered with a material including an electromagnetic wave absorbing material.

  FIG. 3 is a circuit configuration diagram relating to the wireless ID tag 2 and the ID reader 3. The wireless ID tag 2 includes a control circuit 20 that performs read processing and write processing of the memory 21, a demodulation circuit 22 that demodulates a signal received by the communication coil 25 and inputs the signal to the control circuit 20, and a signal output from the control circuit 20. A modulation circuit 23 that modulates and transmits via the communication coil 25, and a power supply circuit 24 that receives power from the communication coil 25 and supplies power to each circuit are provided. In addition, the ID reader 3 transmits / receives data to / from the repeater 4 and processes information, a demodulation circuit 31 that demodulates a signal received by the communication coil 33 and inputs the signal to the control circuit 30, and the control circuit 30. The modulation circuit 32 which modulates the signal output from the signal and transmits the signal via the communication coil 33 is provided. As the wireless ID tag 2 and the ID reader 3 having such a circuit configuration, known ones can be used.

  When the ID reader 3 mounted on the mobile body approaches the wireless ID tag 2 and reaches a communicable distance, the ID reader 3 communicates with the wireless ID tag 2 and reads the ID data from the wireless ID tag 2. It has become. Therefore, the current position of the moving body can be detected by specifying the wireless ID tag 2 based on the read ID data.

  Note that the ID reader 3 may directly communicate with the information processing apparatus 5 without using the repeater 4.

  FIG. 4 is a schematic block configuration diagram regarding the information processing apparatus 5. The information processing apparatus 5 stores data necessary for processing such as a control unit 50 that performs necessary data processing, ID data related to the wireless ID tag 2 in each position detection sheet body 1 and individual position information indicating the arrangement position thereof. A unit 51, an operation input unit 52 for inputting necessary data, and a display unit 53 for displaying detected position information and the like are provided.

  The control unit 50 acquires the positional relationship information of the plurality of installed position detection sheet bodies, the positional relationship information acquired by the acquisition unit 501, and each wireless ID tag 2 stored in the storage unit 51. Based on the calculation unit 502 that calculates the overall position information indicating the positional relationship of all the wireless ID tags 2 based on the individual position information, the ID data read by the ID reader 3, and the entire position information stored in the storage unit 51. A position detection unit 503 that detects the position of the moving body and a transmission / reception unit 504 that transmits / receives data to / from the repeater 4 are provided.

  FIG. 5 is a plan view relating to the position detection sheet body 1. The wireless ID tags 2 are arranged at equal intervals in the width direction X and the length direction Y of the position detection sheet 1, and are arranged in a matrix as a whole. A linear positioning mark 11 is displayed in the middle of each wireless ID tag 2.

  FIG. 6 is a data list regarding the ID data of the wireless ID tag and the individual position information in the position detection sheet 1 stored in the storage unit 51. In this example, any one of the wireless ID tags 2A positioned at the corners on the end 13 side of the position detection sheet 1 is set as a reference position (No. 1), and the length in the X direction from the reference position and the Y The direction length is stored in association with ID data as individual position information. In this case, since the interval between the wireless ID tags is set to an equal interval (L; unit m), it is assumed that the number is set to the mth in the X direction and the nth in the Y direction from the wireless ID tag at the reference position. The individual position information is (Lm, Ln) and can be easily set. Further, (m, n) may be stored as individual position information.

  The mapping information in which the ID data of the wireless ID tag arranged on the position detection sheet 1 and the individual position information are associated with each other may be created when the position detection sheet 1 is manufactured and stored in the information recording medium. Then, when laying the position detection sheet body 1, the mapping information of the position detection sheet body may be input to the information processing apparatus 5 and stored in the storage unit 51.

  As the information recording medium, a CD, a DVD, a USB memory, a semiconductor memory, an RFID capable of inputting information, an FD, or the like can be used as long as it can be carried with the position detection sheet. Then, it is preferable that a read-only information recording medium is obtained by performing a write prohibition process after inputting the mapping information.

The position detection accuracy (a; unit m) of the position detection sheet 1 depends on the moving speed (v; unit m / s) of the moving body and the processing time (t; unit s) required for the position detection of the wireless ID tag. Therefore, it can be calculated by the following equation.
a = v × t
When the interval (L; unit m) between the wireless ID tags arranged on the position detection sheet 1 is shorter than a (a> L), the position detection accuracy is a, and when L is longer than a ( The position detection accuracy is L when a <L).

  When the position detection sheet 1 is laid, a plurality of position detection sheets 1 are laid in accordance with a path that requires position detection. In that case, it is necessary to set position information for all the wireless ID tags of the plurality of position detection sheet bodies 1. Since the mapping information for each position detection sheet 1 is stored in the storage unit 51 in advance, the mapping information of all the wireless ID tags is calculated by acquiring the positional relationship information relating these mapping information. Can do. In this case, the positional relationship information can be easily obtained by laying the position detecting sheet 1 with the positioning mark 11 as a reference.

  As a method of acquiring positional relationship information, there is a method of acquiring ID data of overlapping wireless ID tags by reading them with an ID reader. FIG. 7 is a processing flow relating to acquisition of positional relationship information. First, two wireless IDs serving as reference positions for another position detection sheet member superimposed on a reference position detection sheet member after both sheet members are placed in a state of being overlapped with the positioning mark. The ID reader is brought close to each tag, and the ID data of the wireless ID tag of the position detection sheet that overlaps with the ID data of the wireless ID tag is read and transmitted to the information processing apparatus 5 (S100).

  The acquisition unit 501 reads individual position information from the storage unit 51 based on the received two pairs of ID data (S101), and the position in the Y direction regarding the individual position information regarding the two ID data on the position detection sheet body side serving as a reference. The deviation is calculated (S102). Based on the positional deviation in the Y direction, the rotation angle of another position detection sheet member with respect to the reference position detection sheet member is obtained. In this case, since both the sheet bodies are overlapped with reference to the positioning marks displayed at equal intervals, a positional deviation pattern in the Y direction can be set in advance, and the rotation angle is calculated in advance based on the pattern. What is necessary is just to memorize | store in the memory | storage part 51 and to read as needed.

  Further, since the individual position information of the wireless ID tag of the position detection sheet that is a reference superimposed on one wireless ID tag (No. 1 in FIG. 6) at the read reference position can be obtained. The entire position information of another position detection sheet can be calculated using the position information and the rotation angle as position relation information (S103).

As shown in FIG. 8, the coordinate system (X _B -Y _B ) of another position detection sheet body is rotated by an angle θ with respect to the coordinate system (X _A -Y _A ) of the reference position detection sheet body. In this case, the coordinates (x _B , y _B ) in the coordinate system (X _B −Y _B ) are converted as follows.
x _A = x _B cos θ + y _B sin θ
y _A = −x _B sin θ + y _B cos θ
Therefore, if the individual position information corresponding to the wireless ID tag serving as the reference position is (X _A1 , Y _A1 ), the entire position information (X _ABn , Y _ABn ) of the wireless ID tag in another position detection sheet is The individual position information (X _Bn , Y _Bn ) is used to calculate the following position.
X _ABn = X _A1 + X _Bn cos θ + Y _Bn sin θ
Y _ABn = Y _A1 -X _Bn sin θ + Y _Bn cos θ

  In addition, when the positional relationship information can be easily read from the positional relationship between the position detection sheet bodies, the information may be input from the operation input unit 52 of the information processing device 5.

  An example of laying a plurality of position detection sheet members will be described below. FIG. 9 is a plan view showing a case where the position detection sheets are arranged in the length direction. In this example, the position detection sheet body 1a is laid on the end side so that the positioning mark 11a and the end part 13b of the position detection sheet body 1b are partially overlapped. The two wireless ID tags 2b at the corners on the end 13b side of the position detection sheet 1b are set as wireless ID tags serving as reference positions.

  When acquiring the positional relationship information of the position detection sheet body 1b with reference to the position detection sheet body 1a, ID data of the two wireless ID tags 2B of the two wireless ID tags 2B and the position detection sheet body 1a overlapping with these are obtained. The positional relationship information can be obtained by reading and based on the individual position information regarding these wireless ID tags.

  In this example, the individual position information of the wireless ID tag of the position detection sheet 1a at the position overlapping one of the wireless ID tags 2B (upper side in FIG. 7) serving as the reference position of the position detection sheet 1 is the position relation information. Become. Then, the individual position information, which is the positional relationship information, is input as the entire position information of the wireless ID tag 2B, and the remaining wireless ID tags of the position detection sheet 1b are stored in the stored individual position information of the wireless ID tag 2B. By adding the whole position information, the whole position information can be calculated.

  When the positional relationship information can be read with the naked eye based on the positioning mark 11a in which the end 13b of the position detection sheet 1b is aligned, the read positional relationship information may be directly input.

  In a state where both sheet bodies are overlapped, the holding members 12a and 12b of both sheet bodies are also overlapped vertically, and both sheet bodies are firmly held so as not to be displaced.

  Moreover, even if it installs in the laying example demonstrated above in the state which faced | matched the edge parts of both sheet bodies, the whole position information can be calculated easily. In this case, the end portion itself becomes a positioning mark for alignment. And the space | interval of the Y direction between the wireless ID tag 2B and the wireless ID tag of the edge part of the position detection sheet | seat body 1a adjacent to it is calculated | required, and the space | interval data calculated | required by the separate position information of the wireless ID tag of an edge part are obtained. What is necessary is just to add and set positional relationship information. In order to prevent the positional deviation of both sheet bodies, it is advisable to affix a tape to the boundary portion or perform temporary sewing.

  FIG. 10 is a plan view showing a case where the position detection sheet bodies are arranged in the width direction. In this example, on the side portion side of the position detection sheet body 1a, the positioning mark 11a is laid so as to partially overlap the side edge of the position detection sheet body 1b (boundary line with the holding member 12b). .

  When acquiring positional relationship information, ID data of one wireless ID tag 2B (upper side in FIG. 10) serving as a reference position of the position detection sheet body 1b and the wireless ID tag of the position detection sheet body 1a superimposed thereon. And the individual position information is read out based on the ID data of the wireless ID tag of the position detection sheet 1a to obtain the positional relationship information. Then, the positional relationship information is input as the overall position information of the wireless ID tag 2B, and for the remaining wireless ID tags of the position detection sheet 1b, the entire position information of the wireless ID tag 2B is added to the stored individual position information. By doing so, the total position information can be calculated.

  In addition, when the positional relationship information can be read with the naked eye based on the positioning marks 11a in which the side edges of the position detection sheet 1b are aligned, the read positional relationship information may be directly input.

  In a state where the two sheet bodies are overlapped, the holding members 12a and 12b of the two sheet bodies are overlapped, and the two sheet bodies are firmly held so as not to be displaced.

  Further, when the holding member 12b provided on the side portion of the position detection sheet body 1b is laid on the holding member 12a provided on the side portion of the position detection sheet body 1a, the inner boundary of the holding member The line is used as a positioning mark for alignment. In this case, one wireless ID tag 2B (upper side in FIG. 8) serving as a reference position of the position detection sheet body 1b and the other wireless ID tag 2A (lower side in FIG. 8) of the position detection sheet body 1a adjacent thereto. The distance in the X direction between the wireless ID tag 2 </ b> A and the positional information is obtained by adding the obtained distance data to the individual position information of the wireless ID tag 2 </ b> A.

  FIG. 11 is a plan view showing a case where the position detection sheet bodies are arranged in a direction orthogonal to each other. In this example, the end portion side of the position detection sheet body 1b is laid so as to be orthogonal to the end portion side of the position detection sheet body 1a. At that time, the position detection sheet body 1b is aligned so that the end portion 13b of the position detection sheet body 1a coincides with the side edge of the position detection sheet body 1a, and one of the wireless ID tags 2B serving as the reference position of the position detection sheet body 1b. Is arranged so as to overlap with the wireless ID tag located at the corner of the end 13a of the position detecting sheet 1a.

  When acquiring the positional relationship information of the position detection sheet body 1b with reference to the position detection sheet body 1a, ID data of the two wireless ID tags 2B of the two wireless ID tags 2B and the position detection sheet body 1a overlapping with these are obtained. The positional relationship information can be obtained by reading and based on the individual position information regarding these wireless ID tags.

  In this example, the individual position information of the wireless ID tag of the position detection sheet 1a at the position overlapping the one wireless ID tag 2B (right side in FIG. 11) serving as the reference position of the position detection sheet 1 is the position relation information. Become. Then, the individual position information, which is positional relation information, is input as the entire position information of the wireless ID tag 2B, and the stored individual position information is subjected to 90-degree coordinate conversion for the remaining wireless ID tags of the position detection sheet 1b. The total position information can be calculated by adding the total position information of the wireless ID tag 2B to the value.

  In a state where the two sheet bodies are overlapped, the holding members 12a and 12b of the two sheet bodies are overlapped with each other, and the two sheet bodies are firmly held so as not to be displaced.

  FIG. 12 is a plan view showing a case where the position detection sheet members are arranged by rotating a predetermined angle with respect to the reference position detection sheet member. In this example, the position detection sheet is formed by matching one corner (upper side in FIG. 12) of the end portion 13b of the position detection sheet 1b with the intersection of the positioning marks 11a at the side end of the position detection sheet 1a. The body 1b is rotated by a predetermined angle.

  In this case, the other corner (the lower side in FIG. 12) of the end portion 13b is aligned with the positioning mark 11a, and the other corner with respect to one corner 3 positions the positioning mark 11a. The position is set so as to be displaced in the Y direction. In this way, if the position detection sheet 1b is rotated with reference to the positioning mark 11a, the rotation pattern is determined in advance, so that the rotation angle can be calculated in advance based on the rotation pattern. .

  When acquiring the positional relationship information, the ID data of the two wireless ID tags 2B serving as the reference position of the position detection sheet body 1b and the wireless ID tag of the position detection sheet body 1a superimposed thereon are read to detect the position. The individual position information is read based on the ID data of the two wireless ID tags of the sheet body 1a. A positional deviation in the Y direction is obtained from the individual position information, and a rotation angle corresponding to the positional deviation is read out. Then, the individual positional information and the read rotation angle of the wireless ID tag of the position detecting sheet 1a superimposed on one of the wireless ID tags 2B (upper side in FIG. 12) may be used as the positional relationship information. And as demonstrated in FIG. 8, the whole positional information can be calculated based on the positional relationship information and the individual positional information regarding the wireless ID tag of the position detecting sheet 1b.

  FIG. 13 is a plan view showing a case where the arrangement density of wireless ID tags is increased by using a plurality of position detection sheet bodies. In this example, another position detection sheet 1b is laid on the lower side of the reference position detection sheet 1a. Then, the positioning mark 11b in the length direction is set so as to be positioned in the middle of the positioning mark 11a with respect to the positioning mark 11a in the length direction. Therefore, the wireless ID tag 2b of the position detection sheet 1b is positioned in the middle of the position detection sheet 1a in the width direction of the wireless ID tag 2a, and the wireless ID tag is apparently doubled in density. Will be placed. In this case, the position detection sheet 1a is added to the individual position information of the wireless ID tag 2b of the position detection sheet 1b by using the position displacement of the position detection sheet 1b in the width direction as position relation information. It is possible to calculate the entire position information with reference to.

  FIG. 14 is a flow relating to position detection processing. As described above, a plurality of position detection sheet members are laid, and the entire position information is calculated for all the wireless ID tags, and the entire mapping information is stored in the storage unit 51. Then, when the mobile body equipped with the ID reader 3 moves on the position detection sheet body, radio waves are transmitted from the ID reader 3 (S200) to check whether there is a wireless ID tag that can be communicated. (S201). If there is a wireless ID tag that has been replied to, the power is supplied from the ID reader 3 to the wireless ID tag (S202), a communication path is established, and the ID data of the wireless ID tag is requested to be transmitted. Data is received (S203). The received ID data is transmitted to the information processing apparatus 5 via the repeater 4, and the entire position information corresponding to the ID data is read by the position detection unit 503 (S204). Then, the current position of the moving body is displayed based on the read entire position information. Further, the information indicating the detected current position of the moving body can be transmitted to another device so as to operate in accordance with the movement of the moving body.

  As described above, since a plurality of position detection sheet bodies can be laid on the path for position detection based on the positioning marks, mapping processing can be easily performed, so that laying work, layout change, and collection work can be performed. It can be performed efficiently and is suitable as a position detection system for a limited time event venue.

  In addition to the floor surface, the installation work can be similarly easily performed on a structure such as a wall surface or a column surface by using the positioning mark as a reference.

  The present invention can be applied to a wide range of fields that require position detection, such as the welfare field, service field, distribution / logistics field, manufacturing process field, and security field. For example, it can be applied to a wheelchair position detection system, an automatic traveling system for wheelchairs and transport vehicles, a robot position detection system, a visitor guidance system in an event venue, and the like.

It is a schematic block diagram regarding embodiment which concerns on this invention. It is a partially expanded perspective view regarding the sheet body for position detection. It is a circuit block diagram regarding a wireless ID tag and an ID reader. 2 is a schematic block configuration diagram relating to an information processing apparatus 5. FIG. It is a top view regarding the sheet | seat body for position detection. It is a data list regarding ID data and individual position information of a wireless ID tag. It is a processing flow regarding acquisition of positional relationship information. It is explanatory drawing regarding the coordinate conversion by rotation of the sheet | seat body for position detection. It is a top view which shows the case where the sheet | seat for position detection is arranged in the length direction. It is a top view which shows the case where the sheet | seat body for position detection has been arranged in the width direction. It is a top view which shows the case where the sheet | seat body for position detection is arranged in the orthogonal direction. It is a top view which shows the case where the position detection sheet body is arranged by rotating a predetermined angle with respect to the reference position detection sheet body. It is a top view which shows the case where the arrangement | positioning density of a wireless ID tag is raised using the several sheet | seat body for position detection. It is a flow regarding a position detection process.

Explanation of symbols

1 Position detection sheet
10 Sheet material
11 Positioning mark
12 Holding member
13 End 2 Wireless ID tag 3 ID reader 4 Repeater 5 Information processing device
50 Control unit
51 Memory
52 Operation input section
53 Display

Claims (4)

And the wireless ID positioning mark displayed in correspondence with the array of tags are superimposed Rutotomoni provided with arranging a plurality of wireless ID tag regularly multiple being positioned by matching the mark the position A position detecting sheet, a storage unit for storing ID data and individual position information of the wireless ID tag in each position detecting sheet, and the position detecting sheet arranged on the basis of the positioning mark. An acquisition unit that acquires positional relationship information; and total positional information that indicates the positional relationship of all the wireless ID tags based on the acquired positional relationship information and the stored individual position information; A calculation unit to be stored; a reading unit that is mounted on the mobile body and communicates with a part of the wireless ID tag to acquire the ID data; and Position sensing system of the moving body, characterized in that it comprises a position detector for detecting a position of the moving object based on the ID data and the entire position information stored in the storage unit is. The position detection system according to claim 1, wherein the acquisition unit acquires positional relationship information based on a positional relationship between the positioning marks of the adjacent position detection sheet members. The said acquisition part acquires positional relationship information based on the separate positional information regarding the ID data transmitted from each said radio | wireless ID tag of the said said sheet | seat body for position detection adjacent to Claim 1 or 2 characterized by the above-mentioned. The described position detection system. A position detection sheet used in the position detection system according to any one of claims 1 to 3, wherein a plurality of wireless ID tags are attached to a film-like substrate or a fabric-like substrate at regular intervals in a longitudinal direction. A plurality of linear materials are arranged in parallel at a predetermined interval, and a plurality of positioning mark display bodies are arranged in parallel in a direction orthogonal to the linear material, corresponding to the arrangement of the wireless ID tags. A position detecting sheet body comprising holding means for detachably holding the position detecting sheet body in an overlapped state.

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