JP6551859B2 - Position estimation system, receiver, and control method - Google Patents

Description

  The present invention relates to a position estimation system, a receiving apparatus, and a control method.

  A position estimation system comprising a plurality of transmitting devices and receiving devices is known (see, for example, Patent Documents 1 and 2). Each of the plurality of transmission devices transmits a signal including identification information for identifying the transmission device by radio. The receiving device receives the signal transmitted by the transmitting device. The position estimation system estimates the position of the receiving device based on the identification information included in the signal received by the receiving device.

JP, 2015-148896, A JP, 2015-191574, A

  However, the receiving device may continue to receive the signal from the transmitting device even while the receiving device is stationary. In this case, the receiving device wastes power. Therefore, the amount of power consumed by the receiving apparatus (in other words, the amount of power consumption) may be excessive.

  One of the objects of the present invention is to suppress the amount of power consumption in a receiver.

In one aspect, the position estimation system includes a plurality of transmission devices and reception devices.
Further, each of the plurality of transmission devices transmits a signal including identification information for identifying the transmission device by radio.
In addition, the receiving device
A communication device for receiving the signal;
A sensor for detecting a parameter representing the magnitude of movement of the receiving device;
And a control device that controls the operation of the communication device based on the detected parameter.
Furthermore, the position estimation system includes:
For each of at least one of the plurality of transmission devices, the identification information and position information indicating the position of the transmission device identified by the identification information are associated with each other and stored in advance.
The position of the receiving apparatus is estimated based on the identification information included in the signal received by the receiving apparatus and the stored identification information and position information.

In one aspect, the receiving device is
A communication device that receives signals transmitted by each of a plurality of transmitting devices and including identification information that identifies the transmitting devices;
A sensor for detecting a parameter representing the magnitude of movement of the receiving device;
A control device that controls the operation of the communication device based on the detected parameter;
Equipped with

  In one aspect, the control method is a method of controlling a receiving device including a communication device that receives a signal that is transmitted by each of a plurality of transmitting devices and includes identification information that identifies the transmitting device.

Furthermore, this control method
Detecting a parameter representing the magnitude of the movement of the receiving device;
The operation of the communication device is controlled based on the detected parameter.

  Power consumption in the receiving device can be suppressed.

It is a block diagram showing composition of a position estimating system of a 1st embodiment. It is a block diagram showing the structure of the transmitter of FIG. It is a block diagram showing the structure of the receiver of FIG. It is a block diagram showing the structure of the relay apparatus of FIG. It is a block diagram showing the structure of the server apparatus of FIG. It is explanatory drawing showing an example of the reception data which the receiver of FIG. 1 memorize | stores. It is explanatory drawing showing an example of the space where the position estimation system of FIG. 1 is applied. It is a flowchart showing an example of the interrupt control which the receiver of FIG. 1 performs. It is a flowchart showing an example of the stillness determination process which the receiver of FIG. 1 performs. 3 is a flowchart illustrating an example of still data processing executed by the receiving device of FIG. 1. 3 is a flowchart illustrating an example of an operation control process executed by the receiving device of FIG. 1. 4 is a flowchart illustrating an example of data processing executed by the receiving device in FIG. 1. It is explanatory drawing showing an example of the space where the position estimation system of the 1st modification of a 1st embodiment is applied.

  Hereinafter, embodiments of the present invention relating to a position estimation system, a receiving apparatus, and a control method will be described with reference to FIGS. 1 to 13.

First Embodiment
(Constitution)
As illustrated in FIG. 1, the position estimation system 1 according to the first embodiment includes N transmission devices 10-1 to 10 -N, a reception device 20, a relay device 30, and a server device 40. . In this example, N represents an integer of 2 or more. In the following description, the transmission device 10-n is also referred to as the transmission device 10 when it is not necessary to be distinguished. n represents an integer of 1 to N;

  The receiving device 20 can communicate with each of the N transmitting devices 10-1, ..., 10-N and the relay device 30 by radio. Each of the N transmitting devices 10-1,..., 10-N and the relay device 30 and the receiving device 20 communicate with each other according to the first communication method. In the present example, the first communication method is the Bluetooth Low Energy (BLE) method. "BLUETOOTH" is a registered trademark. BLE may be expressed as Bluetooth 4.0, Bluetooth Smart, or Bluetooth Smart Ready. The first communication method may be a communication method different from the BLE method.

The relay device 30 is communicably connected to the server device 40 via the communication network NW. In this example, the communication path between the relay device 30 and the server device 40 includes one or both of a wireless communication path in which wireless communication is performed and a wired communication path in which wired communication is performed. The relay device 30 and the server device 40 communicate with each other according to the second communication method. For example, the second communication method is IP (Internet Protocol). The second communication method may be a communication method different from IP.
In the present example, the relay device 30 and the server device 40 correspond to an information processing device.

(Configuration: Transmitter)
As illustrated in FIG. 2, the transmission device 10-n includes a processing device 11, a storage device 12, and a communication device 13 connected to one another via a bus BU1. In this example, at least a part of the transmission device 10-n is configured by an LSI (Large Scale Integration) circuit. Note that at least a part of the transmission device 10-n may be configured by a programmable logic circuit (for example, PLD or FPGA). PLD is an abbreviation of Programmable Logic Device. FPGA is an abbreviation for Field-Programmable Gate Array.

  The processing device 11 controls the storage device 12 and the communication device 13 by executing a program stored in the storage device 12. Thereby, the processing device 11 realizes a function to be described later.

  The storage unit 12 stores information in a readable and readable manner. In this example, the storage device 12 identifies identification information for identifying the transmission device 10-n including the storage device 12 among the N transmission devices 10-1, ..., 10-N and the relay device 30. Remember.

  The processing device 11 may include a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor). The storage device 12 may also include a random access memory (RAM), a semiconductor memory, an organic memory, a hard disk drive (HDD), or a solid state drive (SSD).

The communication device 13 includes an antenna. The communication device 13 transmits and receives a signal wirelessly through an antenna according to the first communication method.
In the present example, the communication device 13 operates in the request mode. The request mode is a mode for transmitting a predetermined connection request. When the communication device 13 is operating in the request mode, the transmission device 10-n may be represented as a peripheral.

The connection request transmitted by the communication device 13 includes the identification information stored in the storage device 12. Furthermore, in the present example, the connection request transmitted by the communication device 13 includes information representing the power (in other words, transmission power) used by the communication device 13 for transmitting the connection request.
In the present example, the communication device 13 transmits a connection request each time a predetermined transmission cycle elapses. The connection request may be referred to as an advertising packet.

  In addition, transmitting device 10-n may be expressed as a beacon device or a beacon module. Also, the connection request transmitted by the transmitter 10-n may be expressed as a beacon or a beacon signal.

(Configuration: Receiver)
As shown in FIG. 3, the receiving device 20 includes a processing device 21, a storage device 22, a communication device 23, and an acceleration sensor 24 connected to one another via a bus BU 2. In this example, at least a part of the receiving device 20 is configured by an LSI circuit. Note that at least a part of the receiving device 20 may be configured by a programmable logic circuit.

The processing device 21 controls the storage device 22, the communication device 23, and the acceleration sensor 24 by executing a program stored in the storage device 22. Thereby, the processing device 21 realizes the function described later. In the present example, the processing device 21 corresponds to a control device.
The storage device 22 stores information in a readable and readable manner.

  The processing device 21 may include a CPU, an MPU, or a DSP. The storage device 22 may also include a RAM, a semiconductor memory, an organic memory, an HDD, or an SSD.

The communication device 23 includes an antenna. The communication device 23 transmits and receives a signal wirelessly through an antenna according to the first communication method.
In the present example, the communication device 23 operates in the response mode. When the communication device 23 operates in the response mode, the reception device 20 may be represented as central.

  In the response mode, a connection request is received from another device (in this example, each of the N transmitting devices 10-1,..., 10-N and the relay device 30), and a predetermined response condition is satisfied. In this mode, a connection is established with the other device by responding to the connection request, and wirelessly communicates with the other device via the established connection. In this example, the response condition is a condition that the transmission source of the connection request is the relay device 30 and received data described later is stored in the storage device 22.

  The acceleration sensor 24 detects a motion parameter that represents the magnitude of the motion of the receiving device 20. In this example, the acceleration sensor 24 is a three-axis acceleration sensor. That is, in this example, the acceleration sensor 24 detects acceleration in three axial directions orthogonal to each other as a motion parameter representing the magnitude of motion of the receiving device 20. In this example, the motion parameter may be expressed as an acceleration parameter.

  The receiving device 20 includes a gyro sensor in place of or in addition to the acceleration sensor 24 and uses the angular velocity of the receiving device 20 as a motion parameter indicating the magnitude of the motion of the receiving device 20. May be

  The acceleration sensor 24 starts the processing device 21 when the motion parameter detected by the acceleration sensor 24 changes. In this example, the acceleration sensor 24 outputs a predetermined interrupt signal to the processing device 21 when the motion parameter detected by the acceleration sensor 24 changes. Thereby, the acceleration sensor 24 starts the processing device 21 when the processing device 21 is not operating.

  Furthermore, the processing device 21 starts the communication device 23 when the motion parameter detected by the acceleration sensor 24 changes and the motion change parameter is larger than a predetermined change threshold. In this example, the processing device 21 starts the communication device 23 by starting the supply of power to the communication device 23.

  The movement change parameter represents the amount of change in the movement parameter detected by the acceleration sensor 24. In the present example, the motion change parameter represents the variance of the motion parameter detected by the acceleration sensor 24. The motion change parameter may represent the absolute value of the difference between the maximum value and the minimum value at a predetermined time of the motion parameter detected by the acceleration sensor 24. In this example, the motion change parameter may be referred to as an acceleration change parameter.

  In addition, the processing device 21 stops the operation of the communication device 23 when the state in which the motion change parameter is equal to or less than the change threshold value continues for a time longer than the predetermined second time threshold value. In this example, the processing device 21 stops the operation of the communication device 23 by stopping the supply of power to the communication device 23.

  Further, in this example, the processing device 21 stores still data in the storage device 22 when the state in which the motion change parameter is equal to or less than the change threshold value continues for a time longer than the predetermined first time threshold value. . The stationary data includes information indicating one or both of the time when the reception device 20 starts to be stationary (in this example, the date and time) and the time when the reception device 20 ends the stationary (in this example, the time and date). In this example, the first time threshold is smaller than the second time threshold. Note that the first time threshold may be equal to or greater than the second time threshold.

  Each time the processing device 21 receives a connection request by the communication device 23, the processing device 21 determines whether or not the transmission source of the connection request is the relay device 30. In the present example, the storage device 22 stores in advance identification information for identifying the relay device 30 out of the N transmission devices 10-1, ..., 10-N and the relay device 30. The processing device 21 determines whether or not the transmission source of the connection request is the relay device 30 based on the identification information stored in advance in the storage device 22 and the identification information included in the received connection request. judge. Note that the storage device 22 replaces the identification information for identifying the relay device 30 or in addition to the identification information for identifying the relay device 30 with each of the N transmission devices 10-1, ..., 10-N. Identification information to identify may be stored in advance.

  When the transmission source of the received connection request is not the relay device 30, the processing device 21 stores received data based on the identification information included in the connection request in the storage device 22. As shown in FIG. 6, the received data includes information indicating the time (in this example, the date and time) when the connection request is received by the communication device 23, and the power of the connection request received by the communication device 23 ( In other words, it includes information indicating (reception power), information indicating transmission power used to transmit the connection request, and identification information. As described above, the identification information and the information indicating the transmission power are included in the connection request.

  If the transmission source of the received connection request is the relay device 30, the processing device 21 determines whether or not the received data is stored in the storage device 22.

  When the transmission source of the received connection request is the relay device 30 and the received data is stored in the storage device 22, the processing device 21 communicates with the relay device 30 by responding to the connection request. The communication device 23 is controlled to establish a connection. In this case, the processing device 21 controls the communication device 23 to transmit the received data stored in the storage device 22 to the relay device 30 wirelessly via the established connection. In other words, when a connection is established with the relay device 30, the receiving device 20 collectively transmits the received data stored in the storage device 22.

  Further, in this case, when the transmission of the reception data stored in the storage device 22 is completed, the processing device 21 ends the storage of the reception data by the storage device 22 (in this example, the reception data from the storage device 22). Erase).

On the other hand, the processing device 21 does not respond to the connection request when the transmission source of the received connection request is the relay device 30 and the received data is not stored in the storage device 22. Therefore, in this case, no connection is established between the receiving device 20 and the relay device 30.
The receiving device 20 may be represented as a user terminal or a terminal device.

(Configuration: Relay device)
As illustrated in FIG. 4, the relay device 30 includes a processing device 31, a storage device 32, a first communication device 33, and a second communication device 34, which are connected to one another via a bus BU3. . In the present example, at least a part of the relay device 30 is configured by an LSI circuit. Note that at least a part of the relay device 30 may be configured by a programmable logic circuit.

  The processing device 31 controls the storage device 32, the first communication device 33, and the second communication device 34 by executing a program stored in the storage device 32. Thereby, the processing device 31 realizes the function described later.

  The storage device 32 stores information in a readable and readable manner. In the present example, the storage device 32 stores identification information for identifying the relay device 30 among the N transmission devices 10-1,..., 10-N and the relay device 30.

  The processing device 31 may include a CPU, an MPU, or a DSP. The storage device 32 may also include a RAM, a semiconductor memory, an organic memory, an HDD, or an SSD.

The first communication device 33 comprises an antenna. The first communication device 33 transmits and receives a signal wirelessly through an antenna according to the first communication method.
The second communication device 34 transmits and receives signals via the communication network NW according to the second communication scheme.

In this example, the first communication device 33 operates in the request mode. When the first communication device 33 is operating in the request mode, the relay device 30 may be represented as a peripheral. The connection request transmitted by the first communication device 33 includes identification information stored in the storage device 32. In this example, the first communication device 33 transmits a connection request every time a predetermined transmission cycle elapses.
Note that the relay device 30 may be represented as a gateway or a gateway device.

(Configuration: Server device)
As illustrated in FIG. 5, the server device 40 includes a processing device 41, a storage device 42, and a communication device 43 that are connected to each other via a bus BU4. In this example, at least a part of the server device 40 is configured by an LSI circuit. Note that at least a part of the server device 40 may be configured by a programmable logic circuit.

  The processing device 41 controls the storage device 42 and the communication device 43 by executing a program stored in the storage device 42. Thereby, the processing device 41 realizes a function to be described later.

  The storage unit 42 stores information in a readable and readable manner. In this example, the storage device 42 is a position indicating the identification information and the position of the transmission device 10-n identified by the identification information for each of the N transmission devices 10-1, ..., 10-N. Information is associated with each other and stored in advance.

  The processing device 41 may include a CPU, an MPU, or a DSP. The storage device 42 may also include a RAM, a semiconductor memory, an organic memory, an HDD, or an SSD.

The communication device 43 transmits and receives a signal via the communication network NW according to the second communication method.
When the received data from the relay device 30 is received by the communication device 43, the processing device 41 stores the received data in the storage device 42. The processing device 41 receives the receiving device 20 (in other words, based on the identification information included in the received data stored in the storage device 42 and the identification information and position information stored in advance in the storage device 42). The position of the user holding the receiving device 20 is estimated.

  For example, the processing device 41 estimates the position of the reception device 20 at each of a plurality of time points. In this example, the processing device 41 uses the identification information included in the connection request as the position of the reception device 20 at the time when the connection request in which the value obtained by subtracting the reception power from the transmission power is equal to or less than a predetermined power threshold is received. The position represented by the position information associated with and stored in the storage device 42 is estimated.

  Also, for example, in addition to the position of the receiving device 20, the processing device 41 performs an action of a user holding the receiving device 20 (for example, walking, running, climbing stairs, descending stairs, or standing still). ) May be estimated.

(Operation)
Next, the operation of the position estimation system 1 will be described with reference to FIGS.
In this example, as shown in FIG. 7, the position estimation system 1 is applied to an indoor space RM having an entrance / exit DR. For example, the indoor space RM is a factory, a warehouse, a store, an airport, an office, or the like. Note that the position estimation system 1 may be applied to an outdoor space in addition to the indoor space RM or instead of the indoor space RM.

In this example, four shelves SH-1 to SH-4 having a rectangular shape in a top view are positioned in a lattice pattern in the indoor space RM.
The relay device 30 is located near the entrance / exit DR of the indoor space RM. The number N of transmission apparatuses 10 included in the position estimation system 1 is 16.

Each of the transmission devices 10-1 to 10-4 is fixed to the shelf SH-1. In this example, the transmission devices 10-1 to 10-4 are respectively located at four corners of the shelf SH-1 in top view. Similarly, the transmitting devices 10-5 to 10-8, the transmitting devices 10-9 to 10-12, and the transmitting devices 10-13 to 10-16, the shelf SH-2, the shelf SH-3, and the shelf It is fixed to SH-4 respectively.
The receiving device 20 is held (in other words, carried) by the user UR.

The receiving device 20 starts the acceleration sensor 24 when the receiving device 20 is started. Thereby, the acceleration sensor 24 starts execution of the interrupt control shown in FIG.
In this example, the acceleration sensor 24 detects a motion parameter every time a predetermined detection cycle elapses. In the interrupt control, the acceleration sensor 24 determines whether or not the detected motion parameter has changed (step S101 in FIG. 8).

When the detected motion parameter does not change, the acceleration sensor 24 repeatedly executes the process of step S101 until the detected motion parameter changes.
When the detected motion parameter changes, the acceleration sensor 24 outputs an interrupt signal to the processing device 21. Thereby, the acceleration sensor 24 starts the processing device 21 when the processing device 21 is not in operation (step S102 in FIG. 8). Thereafter, the acceleration sensor 24 returns to step S101 and repeatedly executes the processes of steps S101 to S102.

When the processing device 21 is started, the processing device 21 starts execution of the stillness determination process shown in FIG. 9.
In the stillness determination process, the processing device 21 calculates a motion change parameter based on the motion parameter detected by the acceleration sensor 24 (step S201 in FIG. 9). Next, the processing device 21 determines whether the calculated movement change parameter is larger than the change threshold (step S202 in FIG. 9).

  First, it is assumed that the motion change parameter is larger than the change threshold. In this case, the processing device 21 determines “Yes” in step S202, and sets the first still flag to a predetermined off value (step S203 in FIG. 9).

  In this example, that the first stationary flag is set to the predetermined ON value means that the state in which the motion change parameter is equal to or less than the change threshold continues for a longer time than the first time threshold. Represents On the other hand, setting the first stationary flag to the off value indicates that the state where the motion change parameter is equal to or less than the change threshold value has not continued for a time longer than the first time threshold value.

Next, the processing device 21 sets the second stationary flag to a predetermined off value (step S204 in FIG. 9). In this example, that the second stationary flag is set to the predetermined ON value means that the state in which the motion change parameter is equal to or less than the change threshold continues for a longer time than the second time threshold. Represents. On the other hand, setting the second stationary flag to the off value indicates that the state in which the motion change parameter is less than or equal to the change threshold has not continued for a longer time than the second time threshold.
Then, the processing device 21 stops the operation of the timer (step S205 in FIG. 9).

  Thereafter, the processing device 21 returns to step S201, and repeatedly executes the processing of step S201 to step S205 until the motion change parameter becomes equal to or less than the change threshold.

Furthermore, when the processing device 21 is started, the processing device 21 starts execution of the static data processing shown in FIG.
In the still data processing, the processing device 21 determines whether or not the first still flag is set to an on value (step S301 in FIG. 10). According to the above assumption, since the first stationary flag is set to the off value, the processing device 21 determines “No”, and steps are performed until the first stationary flag is set to the on value. The process of S301 is repeatedly performed.

Furthermore, when the processing device 21 is started, the processing device 21 starts executing the operation control process shown in FIG.
In the operation control process, the processing device 21 determines whether or not the second stationary flag is set to an on value (step S401 in FIG. 11). Since the second stationary flag is set to the off value according to the above assumption, the processing device 21 determines “No” and starts the communication device 23 (step S402 in FIG. 11). Then, the processing device 21 returns to step S401, and repeatedly executes the processing of step S401 to step S402 until the second stillness flag is set to the on value.

Furthermore, when the processing device 21 is started, the processing device 21 starts to execute the data processing shown in FIG.
In the data processing, the processing device 21 stands by until the connection request is received ("No" route of step S501 in FIG. 12).
First, it is assumed that the reception device 20 receives a connection request from the transmission device 10-n because the user UR of the reception device 20 has moved to the vicinity of the transmission device 10-n. In this case, the processing device 21 determines “Yes” in step S501, and determines whether the transmission source of the received connection request is the relay device 30 (step S502 in FIG. 12).

  According to the above assumption, the processing device 21 determines “No”, and stores the received data based on the received connection request in the storage device 22 (step S503 in FIG. 12). Then, the processing device 21 returns to step S501, and executes the processing after step S501 again.

  As the user UR of the reception device 20 moves, the reception device 20 receives connection requests from the plurality of transmission devices 10 at a plurality of points in time. Thus, the processing device 21 executes the processing of steps S501 to S503 every time the communication device 23 receives a connection request. As a result, the processing device 21 stores received data based on the connection request received from each of the plurality of transmitting devices 10 in the storage device 22.

  Next, it is assumed that the motion change parameter is equal to or less than the change threshold when the user UR of the reception device 20 stands still. In this case, when the processing device 21 proceeds to step S202 of FIG. 9, it determines “No” and determines whether the timer is operating (step S206 of FIG. 9).

  When the timer is not operating, the processing device 21 determines “No”, starts the timer (step S207 in FIG. 9), and proceeds to step S208. In this example, the timer outputs information representing the time (in other words, the timer value) that has elapsed since the timer was started. When the timer is operating, the processing device 21 determines “Yes” in step S206, and proceeds to step S208 without executing the process of step S207.

The processing device 21 determines whether or not the timer value represented by the information output by the timer is larger than the first time threshold (step S208 in FIG. 9).
First, it is assumed that the timer value is less than or equal to the first time threshold. In this case, the processing device 21 determines “No”, returns to step S201 without performing the processing of step S209 to step S211, and executes the processing of step S201 and subsequent steps again.

  Next, it is assumed that the timer value is greater than the first time threshold and the timer value is less than or equal to the second time threshold. In this case, when the processing device 21 proceeds to step S208 in FIG. 9, the processing device 21 determines “Yes” and sets the first stillness flag to the on value (step S209 in FIG. 9).

Next, the processing device 21 determines whether the timer value is larger than the second time threshold (step S210 in FIG. 9).
According to the above assumption, the processing device 21 determines “No”, returns to step S201 without performing the process of step S211, and executes the processes of step S201 and subsequent steps again.

  When the first stationary flag is set to the on value, the processing device 21 determines “Yes” when the process proceeds to step S301 in FIG. 10, and the first stationary flag is set to the off value ( In other words, the process waits until the first stationary flag changes from the on value to the off value) ("No" route in step S302 in FIG. 10).

  Next, it is assumed that the timer value is larger than the second time threshold value. In this case, when the processing device 21 proceeds to step S210 in FIG. 9, the processing device 21 determines “Yes” and sets the second stillness flag to the on value (step S211 in FIG. 9). Then, the processing device 21 returns to step S201, and executes the processing after step S201 again.

  When the second stationary flag is set to the on value, the processing device 21 determines “Yes” when it proceeds to step S401 in FIG. 11 and stops the operation of the communication device 23 (step in FIG. 11). S403). Next, the processing device 21 terminates the processing in FIG. 11 by stopping the operation of the processing device 21 (step S404 in FIG. 11).

  Thereafter, it is assumed that the movement change parameter becomes larger than the change threshold value by the movement of the user UR of the receiving device 20. In this case, as described above, when the acceleration sensor 24 outputs an interrupt signal to the processing device 21, the acceleration sensor 24 starts the processing device 21 (step S102 in FIG. 8).

  Then, when the processing device 21 proceeds to step S202 in FIG. 9, it determines “Yes”, and sets each of the first still flag and the second still flag to an off value (steps S203 to S203 in FIG. Step S204). Next, the processing device 21 stops the operation of the timer (step S205 in FIG. 9).

  Thus, each of the first stationary flag and the second stationary flag changes from the on value to the off value. Therefore, when the processing device 21 proceeds to step S302 in FIG. 10, the processing device 21 determines “Yes”, and stores the static data in the storage device 22 (step S303 in FIG. 10). Then, the processing device 21 returns to step S301, and repeatedly executes the processing of step S301 to step S303.

  Further, when the processing device 21 proceeds to step S401 in FIG. 11, it determines “No” and starts the communication device 23 (step S402 in FIG. 11). Then, the processing device 21 returns to step S401, and repeatedly executes the processing of step S401 to step S402 until the second stillness flag is set to the on value.

  Next, it is assumed that the receiving device 20 receives a connection request from the relay device 30 because the user UR of the receiving device 20 has moved to the vicinity of the relay device 30. In this case, the processing device 21 determines “Yes” in each of step S501 and step S502, and determines whether or not reception data stored in the storage device 22 exists (step S504 in FIG. 12). .

  First, it is assumed that there is received data stored in the storage device 22. In this case, the processing device 21 determines “Yes”, and controls the communication device 23 to establish a connection with the relay device 30 by responding to the received connection request (step S505 in FIG. 12). ).

  Next, the processing device 21 controls the communication device 23 to transmit the data stored in the storage device 22 to the relay device 30 wirelessly via the established connection (step S506 in FIG. 12). In this example, the transmitted data is received data and still data. The data to be transmitted may be only reception data. In other words, when a connection is established with the relay device 30, the reception device 20 collectively transmits the reception data and the static data stored in the storage device 22.

  Then, the processing device 21 determines whether the reception of data by the relay device 30 has been completed (step S507 in FIG. 12). In this example, the determination as to whether or not the reception of data has been completed is performed based on whether or not a predetermined completion notification (for example, an ACK (Acknowledgement) signal) has been received by the communication device 23 from the relay device 30.

  When the reception of data by the relay device 30 is not completed, the processing device 21 returns to step S506, and repeatedly executes the processing of steps S506 to S507 until the reception of data by the relay device 30 is completed.

  When reception of data by the relay device 30 is completed, the processing device 21 determines “Yes” in step S507, and the reception data and static data stored in the storage device 22 (in other words, transmitted in step S506) Received data and static data) are erased from the storage device 22 (step S508 in FIG. 12).

After that, the processing device 21 returns to step S501, and executes the processing after step S501 again.
If the reception device 20 does not complete reception of data by the relay device 30, the processing device 21 is configured to return to step S501 without executing the process of step S508 in FIG. Good.

  In this example, the relay device 30 transmits the received data to the server device 40 each time it receives data from the receiving device 20. The relay device 30 may transmit data to the server device 40 every time a predetermined relay cycle elapses.

  The server device 40 receives the identification information included in the received data received from the reception device 20 via the relay device 30 and the identification information and position information stored in the storage device 42 each time a predetermined estimation period elapses. The position of the receiver 20 is estimated based on The server device 40 may estimate the position of the receiving device 20 every time the request signal transmitted by the user of the position estimation system 1 is received.

  Next, it is assumed that the received data stored in the storage device 22 does not exist. In this case, when the processing device 21 proceeds to step S504 in FIG. 12, the processing device 21 determines “No” and returns to step S501 without executing the processing in steps S505 to S508.

  As described above, in the position estimation system 1 according to the first embodiment, each of the N transmitting apparatuses 10-1, ..., 10-N includes a signal including identification information for identifying the transmitting apparatus 10-n. (In this example, a connection request) is transmitted by wireless.

  Further, the receiving device 20 is based on the communication device 23 that receives the signal, the acceleration sensor 24 that detects a parameter (motion parameter in this example) representing the magnitude of the movement of the receiving device 20, and the detected parameter. And a processing device 21 that controls the operation of the communication device 23.

  In addition, the position estimation system 1 (in this example, the server device 40) uses identification information and the identification information for each of at least one of the N transmission devices 10-1, ..., 10-N. Position information representing the position of the transmitter 10-n to be identified is associated with each other and stored in advance.

  Furthermore, the position estimation system 1 (in this example, the server device 40), based on the identification information included in the signal received by the reception device 20 and the stored identification information and position information, the reception device 20. Estimate the position of

  According to this, the receiving device 20 controls the operation of the communication device 23 based on the magnitude of the movement of the receiving device 20. By the way, the position of the receiving device 20 does not change during the period in which the receiving device 20 is stationary. Therefore, for example, the amount of power supplied to the communication device 23 can be suppressed while the reception device 20 is stationary. As a result, the amount of power consumption in the receiving device 20 can be suppressed.

  By the way, one of the pair of devices transmits a connection request, and the other of the pair of devices receives the connection request and responds to the connection request, whereby the pair of devices A communication scheme is known that establishes a connection between the pair of devices and communicates wirelessly via the established connection. For example, a BLE system is known as one of this type of communication system.

  When the position estimation system uses the BLE method, each transmitter may use a connection request as a signal including identification information. Thereby, the signal can be easily transmitted from the transmitter to the receiver. Therefore, in this case, in communication between the transmission device and the reception device, the transmission device operates in the request mode, and the reception device operates in the response mode.

  By using the same communication method as the communication between the transmitting device and the receiving device for the communication between the receiving device and the relay device, the manufacturing cost of the receiving device can be suppressed. Further, the amount of power consumption when operating in the request mode is smaller than the amount of power consumption when operating in the response mode. Therefore, in order to reduce the power consumption in the receiving device, in the communication between the receiving device and the relay device, the receiving device operates in the request mode and the relay device operates in the response mode. It is conceivable to construct an estimation system.

  In this case, the receiving apparatus operates while alternately switching the operation mode between the request mode and the response mode as time elapses. However, in the case where the receiving device passes within a relatively short time a communicable region with the relay device, the receiving device operates in the request mode while the receiving device is located in the region. There is nothing to do. In this case, the receiving device can not communicate with the relay device.

  In order to cope with this problem, in the position estimation system 1 according to the first embodiment, each of the N transmitting devices 10-1, ..., 10-N and the relay device 30 is in a request mode for transmitting a connection request. To work. Furthermore, each of the N transmitters 10-1, ..., 10-N uses the connection request as a signal including identification information.

  Furthermore, the receiving device 20 receives a connection request from another device that is each of the transmitting device 10-n and the relay device 30, and connects to the other device by responding to the connection request. Operating in a response mode of communicating with the other device wirelessly via the established connection.

  In addition, the reception device 20 transmits reception data based on the identification information included in the received signal to the relay device 30 wirelessly via the established connection.

In addition, for each of at least one of the N transmitting devices 10-1, ..., 10-N, the server device 40 identifies the position of the transmitting device 10-n identified by the identification information and the identification information. And positional information representing H. are stored in advance in association with each other.
Furthermore, the server device 40 receives the reception data from the reception device 20 via the relay device 30, and the reception device based on the identification information included in the reception data and the stored identification information and position information. Twenty positions are estimated.

  According to this, since the receiving device 20 operates without switching the operation mode, the connection with the relay device 30 is made while being located in the area where the wireless communication with the relay device 30 is possible. The probability of being established can be increased.

As a result, the probability that communication between the receiving device 20 and the relay device 30 is executed can be increased. Furthermore, according to the position estimation system 1, the receiving device 20 controls the operation of the communication device 23 based on the magnitude of the motion of the receiving device 20. Therefore, it can be suppressed that the amount of power consumption in the receiving device 20 becomes excessive.
As described above, according to the position estimation system 1, it is possible to increase the probability that communication between the receiving device 20 and the relay device 30 is executed while suppressing the power consumption in the receiving device 20.

  Furthermore, in the position estimation system 1 of the first embodiment, each time the receiving device 20 receives a signal including identification information from the transmitting device 10-n, the receiving device 20 stores reception data based on the identification information included in the signal. Furthermore, when the connection with the relay device 30 is established, the reception device 20 transmits the received data stored in a batch.

  According to this, it is possible to reduce the frequency at which the receiving device 20 transmits received data to the relay device 30. As a result, it is possible to reduce the amount of power consumed by the receiving device 20 to transmit received data.

  Furthermore, in the position estimation system 1 of the first embodiment, the reception device 20 receives the connection request transmitted by the relay device 30, and stores reception data based on the identification information included in the received signal. If there is, the connection is established with the relay device 30 by responding to the connection request, and the stored reception data is transmitted to the relay device 30 wirelessly through the established connection, and stored. When the transmission of the received data is completed, the storage of the received data is ended. Furthermore, the receiving device 20 does not respond to the connection request when the connection request transmitted by the relay device 30 is received and the received data based on the identification information included in the received signal is not stored.

  According to this, the frequency with which the receiving device 20 responds to the connection request transmitted by the relay device 30 can be reduced. As a result, the amount of power consumed by the receiving device 20 to establish a connection with the relay device 30 can be reduced.

  Furthermore, in the position estimation system 1 of the first embodiment, the processing device 21 changes the amount of change (in this example, movement change parameter) of the parameter (in this example, movement parameter) detected by the acceleration sensor 24 into a predetermined change. When it is below the threshold value, the operation of the communication device 23 is stopped.

  According to this, for example, the amount of power supplied to the communication device 23 can be suppressed while the receiving device 20 is stationary. As a result, the amount of power consumption in the receiving device 20 can be suppressed.

  Furthermore, in the position estimation system 1 according to the first embodiment, the processing device 21 starts the communication device 23 when a parameter (in this example, a motion parameter) detected by the acceleration sensor 24 changes.

  According to this, it is possible to increase the probability that the communication device 23 operates while the receiving device 20 is moving. As a result, during the period in which the receiving device 20 is moving, the position of the receiving device 20 can be estimated with high accuracy.

The number of relay devices 30 provided in the position estimation system 1 may be two or more.
In addition, the position estimation system 1 may include a smartphone, a personal computer, or the like having the same function as the function of the server device 40 instead of or in addition to the server device 40. Moreover, the relay apparatus 30 and the server apparatus 40 may be comprised integrally.

First Modified Example of First Embodiment
Next, the position estimation system of the 1st modification of 1st Embodiment is demonstrated. The position estimation system of the first modified example of the first embodiment is based on a plurality of pieces of identification information included in a plurality of signals respectively transmitted by a plurality of transmission devices with respect to the position estimation system of the first embodiment. It differs in that the position of the transmitter is estimated. The following description will focus on the differences. In addition, in description of the 1st modification of 1st Embodiment, what attached | subjected the code | symbol same as the code | symbol used in 1st Embodiment is the same or substantially the same.

  In this example, as shown in FIG. 13, the position estimation system 1 includes two transmitting devices 10-17 and 10-18 in addition to the position estimation system 1 of the first embodiment. In other words, the number N of transmitters 10 included in the position estimation system 1 of the first modification of the first embodiment is eighteen.

  In this example, two movable objects IT-1 and IT-2 exist in the indoor space RM. The transmitters 10-17 and 10-18 are fixed to the object IT-1 and the object IT-2, respectively.

In this example, the transmission device 10, the reception device 20, and the relay device 30 operate in the same manner as the transmission device 10, the reception device 20, and the relay device 30 of the first embodiment, respectively.
In this example, in addition to the functions of the server device 40 of the first embodiment, the server device 40 estimates the positions of the transmitting devices 10-17 and 10-18 (in other words, the objects IT-1 and IT-2). .

  In this example, the storage device 42 has identification information and position information indicating the position of the transmission device 10-n identified by the identification information, for each of the transmission devices 10-1, ..., 10-16. Are associated with each other and stored in advance. Furthermore, the storage device 42 stores identification information for each of the transmission devices 10-17 and 10-18.

  In this example, when the received data from the relay device 30 is received by the communication device 43, the processing device 41 stores the received data in the storage device 42. The processing device 41 estimates the position of the receiving device 20 based on the identification information included in the reception data stored in the storage device 42 and the identification information and the position information stored in advance in the storage device 42. Do.

  Furthermore, the processing device 41 transmits the transmission device 10-17 based on the identification information included in the reception data stored in the storage device 42 and the identification information and position information stored in advance in the storage device 42. , 10-18 positions. In this example, the processing device 41 includes a connection request including identification information for identifying the transmission device 10-17 (or the transmission device 10-18), and a value obtained by subtracting the reception power from the transmission power is equal to or less than a predetermined power threshold. Are stored in the storage unit 42 in association with the identification information included in the connection request which is received within a predetermined time from the time the signal is received and the value obtained by subtracting the reception power from the transmission power is less than the power threshold The position represented by the position information that has been performed is estimated as the position of the transmission device 10-17 (or the transmission device 10-18) at the time point.

  In this example, each of the transmitters 10-17 and 10-18 corresponds to the first transmitter. In this example, each of the transmitters 10-1, ..., 10-16 corresponds to the second transmitter.

According to the position estimation system 1 of the first modification of the first embodiment, the same operations and effects as the position estimation system 1 of the first embodiment can be achieved.
Furthermore, according to the position estimation system 1 of the first modified example of the first embodiment, of the N transmission devices 10-1, ..., 10-N, the first transmission devices 10-17, 10-18. , Identification information stored in the signal transmitted by the second transmitting apparatus 10-1, ..., 10-16, and the second identification information contained in the signal Based on the information and the position information, the positions of the first transmission devices 10-17 and 10-18 are estimated.

  According to this, when the first transmitters 10-17 and 10-18 move, the position of the first transmitters 10-17 and 10-18 can be estimated together with the position of the receiver 20.

  The present invention is not limited to the embodiments described above. For example, various modifications that can be understood by those skilled in the art may be added to the above-described embodiment without departing from the spirit of the present invention. For example, as long as it does not deviate from the meaning of the present invention, any combination of the above-described embodiment and modification may be adopted as another modification of the above-described embodiment.

DESCRIPTION OF REFERENCE NUMERALS 1 position estimation system 10 transmission device 11 processing device 12 storage device 13 communication device 20 reception device 21 processing device 22 storage device 23 communication device 24 acceleration sensor 30 relay device 31 processing device 32 storage device 33 first communication device 34 second communication device 34 Communication device 40 Server device 41 Processing device 42 Storage device 43 Communication devices BU1 to BU4 Bus DR Entrance / exit IT Object NW Communication network RM Indoor space SH Shelf UR User

Claims (9)

A position estimation system comprising a plurality of transmitters and receivers, comprising:
Each of the plurality of transmission devices transmits a signal including identification information for identifying the transmission device by radio,
The receiving device is
A communication device for receiving the signal ;
A sensor for detecting a parameter representing the magnitude of movement of the receiving device;
A control device that controls the operation of the communication device based on the detected parameter ;
The position estimation system includes:
The information processing apparatus stores in advance the identification information and position information indicating the position of the transmission apparatus identified by the identification information in association with each other for at least one of the plurality of transmission apparatuses.
Each of the plurality of transmission devices and the information processing device operate in a request mode for transmitting a predetermined connection request,
Each of the plurality of transmission devices uses the connection request as the signal,
The receiving device receives the connection request from another device that is each of the transmitting device and the information processing device, and establishes a connection with the other device by responding to the connection request, And operating in a response mode that communicates wirelessly with the other device via the established connection;
The reception device transmits reception data based on identification information included in the received signal to the information processing device wirelessly via the established connection,
The information processing apparatus receives the reception data from the reception apparatus, and determines the position of the reception apparatus based on the identification information included in the reception data and the stored identification information and position information. Estimate position estimation system. The position estimation system according to claim 1, wherein
The receiving device is
Each time the signal is received, reception data based on identification information included in the signal is stored, and
A position estimation system, which collectively transmits the stored reception data when a connection is established with the information processing apparatus. The position estimation system according to claim 1 or 2, wherein
The receiving device is
When the connection request transmitted by the information processing apparatus is received, and the received data based on the identification information included in the received signal is stored, the information processing apparatus is responded by responding to the connection request. Establishing a connection between them and transmitting the stored reception data to the information processing apparatus wirelessly via the established connection, and transmission of the stored reception data is completed. End storing the received data on the other hand,
A position estimation system which does not respond to the connection request when the connection request transmitted by the information processing apparatus is received and received data based on identification information included in the received signal is not stored. The position estimation system according to any one of claims 1 to 3 ,
Before SL controller when the amount of change in the detected parameter is less than a predetermined variation threshold, it stops the operation of the communication device, the position estimation system. The position estimation system according to claim 4, wherein
The position estimation system, wherein the control device starts the communication device when the detected parameter changes. A position estimation system comprising a plurality of transmitters and receivers, comprising:
Each of the plurality of transmitting devices wirelessly transmits a signal including identification information for identifying the transmitting device;
The receiving device is
A communication device for receiving the signal ;
A sensor for detecting a parameter representing the magnitude of movement of the receiving device;
A control device that controls the operation of the communication device based on the detected parameter ;
The position estimation system includes:
For each of at least one of the plurality of transmitting devices, the identification information and position information indicating the position of the transmitting device identified by the identification information are associated with each other and stored in advance.
First identification information included in a signal transmitted by a first transmission device other than the at least one transmission device and received by the reception device, and the at least one transmission device. The first transmission based on the second identification information transmitted by the second transmission device and included in the signal received by the reception device, and the stored identification information and position information A position estimation system that estimates the position of the device. A receiving device,
A communication device that receives a signal that is transmitted by each of a plurality of transmitting devices and that includes identification information that identifies the transmitting devices ;
A sensor for detecting a parameter representing the magnitude of movement of the receiving device;
A control device that controls the operation of the communication device based on the detected parameter ;
An information processing apparatus for storing in advance each of the identification information and position information indicating the position of the transmission apparatus identified by the identification information in association with each other for each of at least one of the plurality of transmission apparatuses; A connection is established with the other device by receiving a predetermined connection request from the other device which is each of the transmitting devices, and responding to the connection request, and via the established connection. Operating in a response mode to communicate with the other device wirelessly,
A receiving apparatus, which wirelessly transmits received data based on identification information included in the received signal to the information processing apparatus via the established connection. A control method for controlling a receiving device including a communication device that receives a signal that is transmitted by each of a plurality of transmitting devices and includes identification information that identifies the transmitting device,
Detecting a parameter representing the magnitude of the movement of the receiving device;
Controlling the operation of the communication device based on the detected parameter;
An information processing apparatus for storing in advance each of the identification information and position information indicating the position of the transmission apparatus identified by the identification information in association with each other for each of at least one of the plurality of transmission apparatuses; A predetermined connection request is received from another device that is each of the transmitting devices, and a connection is established with the other device by responding to the connection request, and via the established connection Operating in a response mode to communicate with the other device wirelessly,
A control method for causing reception data based on identification information included in the received signal to be transmitted to the information processing apparatus wirelessly via the established connection. A control method for controlling a position estimation system comprising a plurality of transmitters and receivers,
Each of the plurality of transmitting devices wirelessly transmits a signal including identification information for identifying the transmitting device;
The receiving device is
Receiving the signal by the communication device ;
Detecting a parameter representing the magnitude of the movement of the receiving device;
Controlling the operation of the communication device based on the detected parameter;
The position estimation system includes:
For each of at least one of the plurality of transmitting devices, the identification information and position information indicating the position of the transmitting device identified by the identification information are associated with each other and stored in advance.
First identification information transmitted by a first transmission device other than the at least one transmission device among the plurality of transmission devices and included in the signal received by the reception device, and the at least one transmission device The first transmission based on the second identification information included in the signal transmitted by the second transmission device and received by the reception device, and the stored identification information and position information. Control method to estimate the position of the device.

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