JPWO2007057969A1 - Position detection system, position detection program, position detection apparatus, and position detection method - Google Patents

Abstract

The IC tag 10 is arranged at a wider interval than the reading range of the reader, and the reader 31 and the reader 32 are installed on the moving body in a positional relationship that can read different IC tag IDs. For each combination of two IDs that can be read by the two readers, the position and direction of the moving body are registered in the database in advance, and the database is compared with the two IDs read by the reader to move the movement. Detect body position and direction. In this manner, the position and direction of the moving body can be detected with a small number of IC tags.

Description

  The present invention relates to a position detection system, a position detection program, and a position detection method for detecting the position and direction of a moving body in which a reader is installed based on information read by a reader that reads IDs of IC tags arranged at equal intervals. The present invention relates to an apparatus and a position detection method, and in particular, a position detection system, a position detection program, a position detection apparatus, and a position detection system that can be introduced at low cost and can operate stably even when a plurality of moving objects are adjacent to each other. The present invention relates to a position detection method.

  In recent years, various systems have been constructed using IC tags. The IC tag is also called RFID (Radio Frequency Identification), and has an IC chip storing a unique ID and an antenna for wireless communication. The ID of the IC tag is read out in a non-contact manner by a device called a reader and used for various purposes.

  One system using IC tags is a position detection system for moving objects. In this method, IC tags are installed at predetermined intervals, and the position of the mobile body is detected by checking the ID read by the reader provided in the mobile body against a database storing the positions of the IC tags.

  For example, Patent Document 1 discloses a position detection system that can detect the position of a moving body with high accuracy by arranging an IC tag so that at least one IC tag is positioned in a reading range of a reader. . Further, this Patent Document 1 also discloses a technique for obtaining the moving direction of a moving body by vector calculation from the position detection results of a plurality of readers attached to the moving body in a predetermined positional relationship.

JP 2001-183455 A

  However, while the position detection system disclosed in Patent Document 1 can acquire the position and direction of the moving body with high accuracy, it requires installation of a large amount of IC tags, and further acquires the position and direction. Therefore, since an information processing device capable of high-speed computation is required, there is a problem that the cost for introduction becomes high.

  In addition, when IC tags are installed at a high density, there is a problem that when a plurality of moving bodies are adjacent to each other, electromagnetic waves for reading information on the IC tag interfere with each other, and reading mistakes are likely to occur.

  The present invention has been made to solve the above-described problems caused by the prior art, can be introduced at low cost, and can operate stably even when a plurality of moving objects are adjacent to each other. An object is to provide a position detection system, a position detection program, a position detection device, and a position detection method.

  In order to solve the above-described problems and achieve the object, the present invention provides an IC tag arranged at equal intervals, a reader for reading the ID of the IC tag, and the reader based on information read by the reader. A position detection system comprising a position detection device for detecting the position and direction of an installed mobile body, wherein the IC tag is arranged at a wider interval than the reading range of the reader, and the reader is Two readers are installed on the mobile body in a positional relationship that allows reading of IDs of different IC tags, and the position detection device includes an ID acquisition unit that acquires IDs read by the two readers, and the ID acquisition unit A database in which the position and direction of the moving body are registered in advance for each combination of two IDs that can be acquired by the above-described method, and the two IDs acquired by the ID acquisition unit are referred to. Characterized by comprising a position detecting means for detecting the position and direction of the moving body by.

  According to the present invention, the IC tag for detecting the position and direction of the moving body is arranged so as to be spaced apart from the reading range of the reader, so that even when a plurality of moving bodies are adjacent to each other, Interference does not occur, and the position and direction of the moving body can be detected stably. Furthermore, since the position and direction of the moving body can be detected by installing a small number of IC tags, the introduction cost can be kept low.

  In addition, according to the present invention, the ID and the database read by the reader are collated to detect the position and direction of the moving body, so that the position and direction can be detected without performing complicated calculation processing. The introduction cost can be kept low by using an inexpensive information processing apparatus.

  Further, the present invention is a position detection program for detecting the position and direction of a moving body in which the reader is installed based on information read by a reader that reads IDs of IC tags arranged at equal intervals. The ID acquisition procedure for acquiring the IDs read by the two readers installed on the mobile body in a positional relationship capable of reading the IDs of different IC tags, and the movement for each combination of two IDs that can be acquired by the ID acquisition procedure Causing the computer to execute a position detection procedure for detecting the position and direction of the moving body by collating a database in which the position and direction of the body are registered in advance and the two IDs acquired by the ID acquisition procedure. Features.

  Further, the present invention is a position detection device for detecting the position and direction of a moving body in which the reader is installed based on information read by a reader that reads IDs of IC tags arranged at equal intervals, The ID acquisition means for acquiring the IDs read by the two readers installed on the mobile body in a positional relationship capable of reading the IDs of different IC tags, and the movement for each combination of two IDs that can be acquired by the ID acquisition means A database in which the position and direction of the body are registered in advance, and a position detection unit that detects the position and direction of the moving body by collating the two IDs acquired by the ID acquisition unit. To do.

  Further, the present invention is a position detection method for detecting the position and direction of a moving body in which the reader is installed based on information read by a reader that reads IDs of IC tags arranged at equal intervals, The ID acquisition process for acquiring the IDs read by the two readers installed on the mobile body in a positional relationship where the IDs of different IC tags can be read, and the movement for each combination of two IDs that can be acquired by the ID acquisition process Including a database in which the position and direction of the body are registered in advance, and a position detection step of detecting the position and direction of the moving body by comparing the two IDs acquired by the ID acquisition step. To do.

  According to the present invention, the ID and database read by the reader are collated to detect the position and direction of the moving body, so that the position and direction can be detected without performing complicated calculation processing. The introduction cost can be kept low by using an inexpensive information processing apparatus.

  According to the present invention, in the position detection program, a route setting procedure for setting a route to a destination based on a predetermined rule, a route set by the route setting procedure, and the position detection procedure are detected. The computer is further executed with a guidance procedure for collating the position and direction of the mobile body and guiding the mobile body to the destination.

  According to the present invention, in the position detection device, a route setting means for setting a route to a destination based on a predetermined rule, a route set by the route setting means, and the position detection means are detected. And a guide means for guiding the mobile body to the destination by collating the position and direction of the mobile body.

  According to the present invention, in the position detection method, a route setting step for setting a route to a destination based on a predetermined rule, a route set by the route setting step, and the position detection step are detected. And a guidance step of guiding the mobile body to the destination by collating the position and direction of the mobile body.

  According to the present invention, since the moving body is guided to the destination using the position information detected by the position detecting means, the moving body can be efficiently moved to the destination.

  In the position detection program according to the present invention, the guidance procedure may be configured such that the current position of the moving object detected by the position detection procedure is out of the route set by the route setting procedure. A route from the destination to the destination is reset by the route setting procedure.

  In the position detection device according to the present invention, the guide unit may include a current position when the current position of the moving body detected by the position detection unit is out of the route set by the route setting unit. The route setting means resets the route from the destination to the destination.

  In the position detection method according to the present invention, in the above-described position detection method, when the current position of the moving object detected by the position detection process is out of the route set by the route setting process, A route from the destination to the destination is reset in the route setting step.

  According to the present invention, when it is found from the position information detected by the position detecting means that the moving body is out of the predetermined route, the route to the destination is reset. You can be surely guided to your destination.

  According to the present invention, since the IC tag for detecting the position and direction of the moving body is arranged so as to be spaced apart from the reading range of the reader, even when a plurality of moving bodies are adjacent to each other, There is an effect that the detection of the position and direction of the moving body can be stably performed without interference. Furthermore, since the position and direction of the moving body can be detected by installing a small number of IC tags, there is an effect that the introduction cost can be kept low.

  In addition, according to the present invention, the ID and database read by the reader are collated to detect the position and direction of the moving body, so that the position and direction can be detected without performing complicated arithmetic processing. Therefore, it is possible to reduce the introduction cost by using an inexpensive information processing apparatus.

  In addition, according to the present invention, since the moving body is guided to the destination using the position information detected by the position detecting means, the moving body can be efficiently moved to the destination. Play.

  In addition, according to the present invention, when it is found from the position information detected by the position detection means that the moving body has deviated from the predetermined route, the route to the destination is reset. There is an effect that the body can be surely guided to the destination.

FIG. 1 is an explanatory diagram for explaining the arrangement of IC tags in the position detection method according to the present embodiment. FIG. 2 is an explanatory diagram for explaining the principle of the position detection method according to the present embodiment. FIG. 3 is an explanatory diagram for explaining a modification example of the arrangement of the IC tag and the reader. FIG. 4 is a sample diagram illustrating an example of a warehouse that detects the position of a moving object. FIG. 5 is a functional block diagram illustrating the configuration of the position detection apparatus according to the present embodiment. FIG. 6 is a sample diagram showing an example of the data structure of inventory data. FIG. 7 is a sample diagram showing an example of the data structure of the partition data. FIG. 8 is a sample diagram showing an example of the data structure of route data. FIG. 9 is a sample diagram showing an example of the data structure of the position / direction data. FIG. 10 is a flowchart showing a processing procedure of the position detection apparatus shown in FIG. FIG. 11 is a flowchart showing a processing procedure of the position detection process shown in FIG. FIG. 12 is a functional block diagram illustrating a computer that executes a position detection program.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 IC tag 21-22 Mobile body 31-32 Reader 100 Position detection apparatus 110 Control part 111 Route setting part 112 Guidance part 113 Position / direction detection part 114 ID acquisition part 120 Storage part 121 Inventory data 122 Section data 123 Route data 124 Position / Direction data 1000 Computer 1010 Input device 1020 Monitor 1030 Media reader 1040 RAM
1040a Position detection information 1050 Network interface device 1060 HDD
1060a DB for position detection
1060b Position detection program 1070 CPU
1070a Position detection process 1080 bus

  Exemplary embodiments of a position detection system, a position detection program, a position detection apparatus, and a position detection method according to the present invention will be described below in detail with reference to the accompanying drawings. In the following embodiments, the position detection system, the position detection program, the position detection device, and the position detection method according to the present invention will be described as an example when applied to the guidance of a work vehicle, but the position detection system according to the present invention, The position detection program, the position detection apparatus, and the position detection method can be effectively applied to other uses. Note that the present invention is not limited to the embodiments.

  First, an outline of the position detection method according to the present embodiment will be described. FIG. 1 is an explanatory diagram for explaining the arrangement of IC tags in the position detection method according to the present embodiment.

  As shown in the figure, in the position detection method according to the present embodiment, an area to be subjected to position detection is divided into rectangular sections, and the position and direction of the moving object are detected using the divided sections as a reference. That is, it is detected in which section the moving body is present and in which direction it is facing.

  In order to detect the position and direction, the IC tag 10 is arranged at the center of each side of the rectangular section. The lengths of the four sides of the rectangular section are determined based on the reading range of the reader that reads the ID of the IC tag 10. Specifically, the lengths of the four sides of the rectangular section are adjusted so that the IC tag 10 is arranged at a distance from the reading range of the reader.

  In this way, by arranging the IC tag at a distance from the reading range of the reader, electromagnetic interference does not occur even when a plurality of moving bodies equipped with the reader are adjacent to each other, and the reader can detect the ID of the IC tag. Reading can be performed stably.

  FIG. 2 is an explanatory diagram for explaining the principle of the position detection method according to the present embodiment. As shown in the figure, in order to detect the position and direction of the moving body 21, two readers 31 and 32 are installed at different positions of the moving body 21. Note that the moving body 21 may be a device such as a vehicle or a living organism such as a human being.

  The two readers are installed on the moving body 21 in a positional relationship so that different IC tags 10 can be detected simultaneously. In the example of FIG. 2, the reader 31 is installed in front of the moving body 21, and the reader 32 is set on the right side surface of the moving body 21. Then, when the reader 31 detects the IC tag 10 having the ID “C2”, the position of the reader 32 is adjusted so as to detect another IC tag 10 having the ID “D2”.

  A table in which the position and direction of the moving body 21 are registered for each combination of IDs read by the two readers is prepared, and the current position of the moving body 21 is checked by comparing the ID read by the reader with this table. And detect the direction.

In the example of FIG. 2, the front reader 31 reads the ID “C2”, and the right side reader 32 reads the ID “D3”. When this is compared with the table, the current position of the moving body 21 is “ It is a rectangular section indicated by an identification number “2-2”, and the direction is “N (North)”. When the mobile body 21 is rotated 90 degrees to the left, the front reader 31 reads the ID “D2”, and the right side reader 32 reads the ID “C2”. If it collates, it turns out that the present position of the mobile body 21 is a rectangular area shown by the identification number “2-2”, and the direction is the direction of “W (West)”.

  In this way, a table in which the position and direction of the moving body 21 are registered for each combination of IDs read by the two readers is prepared, and the actually read ID is checked against this table to determine the position and direction of the moving body 21. The position and direction of the moving body 21 can be acquired without performing complicated calculations.

  Instead of adjusting the interval between the placement of the IC tags, the IC tag having an appropriate reading range and the type of reader may be selected so that the electromagnetic waves for reading the IC tag do not interfere with each other. .

  Further, the arrangement of the IC tag does not have to be as described above. FIG. 3 is an explanatory diagram for explaining a modification example of the arrangement of the IC tag and the reader. In the example of the figure, the IC tag 10 is installed at each vertex of the rectangular section. Also in this case, the sizes of the four sides of the rectangular section are adjusted so that the distance between the IC tags 10 is wider than the reading range of the reader.

  In this example, the reader 31 is installed at the front left end of the moving body 22, and the reader 32 is installed at the front right end of the moving body 22. Then, when the reader 31 detects the IC tag 10 having the ID “B2”, the position of the reader 32 is adjusted so as to detect another IC tag 10 having the ID “B3”.

  Even in such an arrangement of the IC tag and the reader, by registering the position and direction of the moving body 22 for each combination of IDs read by the two readers in the table, the mobile body 22 can be detected only by referring to the table. The position and direction can be acquired.

  Next, an example of a target area to which the position detection method according to the present embodiment is applied will be described. FIG. 4 is a sample diagram illustrating an example of a warehouse that detects the position of a moving object.

  As shown in the figure, this warehouse is divided into rectangular sections of a predetermined size and managed in position. Each rectangular section is given an identification number by a combination of a number in the X direction and a number in the Y direction. For example, the identification number “5-3” is assigned to the fifth rectangular section in the X direction and the third rectangular section in the Y direction. This identification number is used to specify the storage location of the package.

  IC tags are arranged on the sides of each rectangular section as shown in FIG. The intervals of the IC tags are adjusted so that the reading ranges do not overlap. These IC tags are used to detect the position and direction of a work vehicle that carries a load.

  The warehouse is provided with a loading / unloading place, and the luggage loaded from here is carried by a work vehicle and stored at a predetermined position in the warehouse. In addition, after a predetermined period, the work vehicle is carried out from the storage location to the loading / unloading location. The warehouse is dotted with offices, and this section cannot store luggage or work vehicles. The same applies to places where luggage is already stored.

  In this way, there are places where work vehicles cannot pass in the warehouse, and the place where the work vehicle can pass changes depending on the storage state of the luggage. Therefore, in order to efficiently take in and out the luggage, use information processing technology. It is effective to find the optimal route and guide the work vehicle along that route. In order to guide the work vehicle, it is necessary to detect the position and direction of the work vehicle.

  In order to detect the position and direction of the work vehicle, the position detection method according to the present embodiment is effective. As already explained, in the position detection method according to the present embodiment, the position and direction are detected with reference to the section divided into rectangles. Therefore, as shown in FIG. High compatibility with management method.

  For example, in the position detection method disclosed in Patent Document 1, the position and direction of the work vehicle can be accurately detected, but a conversion process for mapping the detected position and direction to a rectangular section is required. The calculation processing amount increases. On the other hand, in the position detection method according to the present embodiment, such a conversion process is not necessary.

  Next, the configuration of the position detection apparatus according to the present embodiment will be described. FIG. 5 is a functional block diagram illustrating the configuration of the position detection apparatus according to the present embodiment. The position detection device 100 is mounted on a work vehicle, detects the position and direction of the work vehicle, and performs processing for guiding the work vehicle to a destination.

  As shown in the figure, the position detection apparatus 100 is configured to be connected to two readers, a reader 31 and a reader 32. The reader 31 and the reader 32 are devices for reading the ID of the IC tag, and are installed in the work vehicle so that the IDs of the different IC tags can be read as shown in FIG.

  The position detection device 100 includes a control unit 110 and a storage unit 120. The control unit 110 is a control unit that controls the entire position detection apparatus 100, and includes a route setting unit 111, a guidance unit 112, a position / direction detection unit 113, and an ID acquisition unit 114.

  The route setting unit 111 is a processing unit that obtains an optimum route to the destination and stores it in the route data 123 of the storage unit 120. Specifically, the current position of the work vehicle detected by the position / direction detection unit 113, the storage location identification number stored in the inventory data 121 of the storage unit 120, and the partition data 122 of the storage unit 120 Based on the stored information on the state of each rectangular section, the optimum route from the current position to the storage location of the package is obtained.

  FIG. 6 is a sample diagram showing an example of the data structure of the inventory data 121. As shown in the figure, the inventory data 121 includes one record for each package, and includes items such as package ID, product name, number of packages, and storage position code. The package ID is an identification number for identifying the package. The product name is the name of the package, and the number of packages is the number of packages. The storage position code is an identification number of a rectangular section corresponding to the storage location of the package.

  FIG. 7 is a sample diagram showing an example of the data configuration of the partition data 122. As shown in the figure, in the partition data 122, one record is registered in advance for each rectangular partition, and has items such as a position code, X, Y, and state. The position code is an identification code of a rectangular section corresponding to the data. X and Y indicate the number of sections in the X direction and the Y direction of the rectangular section corresponding to the data.

  The state is a code indicating the state of the rectangular section corresponding to the data, and takes a value of “in use”, “unused” or “unusable”. “In use” indicates that the package is stored in the rectangular section. “Unused” indicates that no package is stored in the rectangular section. “Unusable” indicates that the rectangular section is fixedly used in an office or the like and cannot be used for storing luggage. The sections other than “unusable” change to “in use” or “unused” depending on the storage status of the package.

  When the package ID of the package to be transported is input, the route setting unit 111 refers to the inventory data 121, acquires the position code of the storage location of the package as the destination, and further from the position / direction detection unit 113. Get the position code of the current position. Then, a rectangular section whose state is “unused” is extracted from the section data 122, and an optimum route from the current position to the destination is obtained and stored in the route data 123.

  The optimum route is, for example, the shortest route to the destination. Further, instead of the simple shortest route, an optimal route may be set in consideration of traffic flow so that a work vehicle contact accident does not occur.

  FIG. 8 is a sample diagram showing an example of the data configuration of the route data 123. As shown in the figure, the route data 123 holds the position code of each section on the route from the current position to the destination and the direction in which the work vehicle should travel in that section. The example in the figure is the route data indicated by the arrow in FIG. 4, and the route data from the current position indicated by the position code “18-8” to the destination indicated by the position code “3-7” is shown. Holds information.

  Returning to the description of FIG. 5, the guiding unit 112 is a processing unit that guides the work vehicle to move according to the route set by the route setting unit 111. Specifically, the guidance unit 112 acquires the current position of the work vehicle from the position / direction detection unit 113, compares this with the route data 123, determines the direction to proceed, and guides the work vehicle in that direction. .

  The guidance of the work vehicle may be performed by automatically maneuvering the work vehicle, or an instruction may be given to the operator of the work vehicle through the display unit. When the work vehicle deviates from the route for some reason, the guide unit 112 causes the route setting unit 111 to reset the route. Thereby, even when the work vehicle deviates from the route, it can be guided to the destination.

  The position / direction detection unit 113 is a processing unit that detects the position and direction of the work vehicle according to the method described above. The ID acquisition unit 114 detects the position and direction of the work vehicle. Therefore, it is a processing unit that acquires the ID read by the reader 31 and the reader 32. The position / direction detection unit 113 compares the IDs of the two IC tags acquired by the ID acquisition unit 114 with the position / direction data 124 and detects the position and direction of the work vehicle.

  FIG. 9 is a sample diagram showing an example of the data configuration of the position / direction data 124. As shown in the figure, in the position / direction data 124, one record is registered in advance for each combination of IDs read by the reader 31 and the reader 32, and items such as a first ID, a second ID, a position code, and a direction are recorded. Have

  The first ID indicates an ID read by the reader 31 from the IC tag, and the second ID indicates an ID read by the reader 32 from the IC tag. The position code and direction indicate the position and direction of the work vehicle when the IDs read by the reader 31 and the reader 32 are the first ID and the second ID of the data.

  The storage unit 120 is a storage unit that stores various data, and stores inventory data 121, partition data 122, route data 123, and position / direction data 124. Since these data have already been described, description thereof will be omitted.

  Note that the configuration of the position detection apparatus 100 described above can be appropriately distributed / integrated. For example, components other than the guidance unit 112 and the ID acquisition unit 114 can be realized in a remote server device, and information can be exchanged with the position detection device 100 on the work vehicle by wireless communication.

  Next, the processing procedure of the position detection apparatus 100 will be described. FIG. 10 is a flowchart showing a processing procedure of the position detection apparatus 100 shown in FIG. This figure shows a processing procedure when a package to be transported is designated and the pilot is guided until the package arrives at the destination.

  When a load to be transported is designated, the position / direction detection unit 113 performs a position detection process described later to acquire the current position and direction of the work vehicle (step S101). Subsequently, the route setting unit 111 obtains a route from the current position to the destination and stores it in the route data 123 (step S102).

  Then, the guidance unit 112 refers to the route data 123 to instruct the driver in the direction of movement (step S103), causes the position / direction detection unit 113 to perform position detection processing, and determines the latest position of the work vehicle. A direction is acquired (step S104). If the destination has been reached (Yes at step S105), the operator is instructed to unload and complete the process (step S108).

  If the destination has not been reached (No at Step S105), the current position is checked against the route data 123. Here, if the current position does not exist on the route (No at Step S106), the route setting unit 111 is caused to reset the route from the current position to the destination (Step S107). When the processing so far is completed, the process returns to step S103 and the guidance is continued.

  FIG. 11 is a flowchart showing a processing procedure of the position detection process shown in FIG. The position / direction detection unit 113 checks whether the reader 31 and the reader 32 are reading the ID via the ID acquisition unit 114. If any of the IDs is not read (No at Step S201 or No at Step S202), the confirmation is continued.

  When both the reader 31 and the reader 32 are reading the ID (Yes at Step S201 and Yes at Step S202), the ID read by the two readers is checked against the position / direction data 124 to obtain the current position and direction. (Step S203).

  Various processes of the position detection apparatus 100 described in the above embodiment can be realized by executing a position detection program prepared in advance by a computer. Therefore, an example of a computer that executes a position detection program will be described below with reference to FIG.

  FIG. 12 is a functional block diagram illustrating a computer that executes a position detection program. The computer 1000 includes an input device 1010 that receives data input from a user, a monitor 1020, a medium reading device 1030 that reads a program from a recording medium that records various programs, a RAM (Random Access Memory) 1040 that temporarily stores various information, A network interface device 1050 that exchanges data with other computers via a network, an HDD (Hard Disk Drive) 1060, and a CPU (Central Processing Unit) 1070 are connected by a bus 1080.

  The HDD 1060 stores a position detection program 1060b that is a program that exhibits the same function as that of the position detection apparatus 100. The HDD 1060 also stores a position detection DB 1060a corresponding to the inventory data 121, the section data 122, the route data 123, and the position / direction data 124 shown in FIG.

  The position detection DB 1060a may be appropriately integrated or distributed.

  Then, the CPU 1070 reads the position detection program 1060b from the HDD 1060 and executes it, so that the program functions as the position detection process 1070a. This position detection process 1070a corresponds to the control unit 110 shown in FIG.

  Further, the CPU 1070 reads out necessary information from the position detection DB 1060a of the HDD 1060 and stores it as the position detection information 1040a in the RAM 1040, and executes various data processing based on the position detection information 1040a stored in the RAM 1040. .

  Note that the position detection program 1060b is not necessarily stored in the HDD 1060. The computer 1000 may read and execute the position detection program 1060b stored in a storage medium such as a CD-ROM. Good. In addition, the position detection program 1060b is stored in another computer (or server) connected to the computer 1000 via a public line, the Internet, a LAN, a WAN, or the like, and the computer 1000 reads and executes the program from these. You may do it.

  Further, a part of the function of the position detection program 1060b may be executed by another computer, and data may be exchanged with the computer 1000 by communication such as wireless communication.

  As described above, in this embodiment, since the IC tag for detecting the position and direction of the moving body is arranged so as to be spaced apart from the reading range of the reader, a plurality of moving bodies are adjacent to each other. Even in this case, interference of electromagnetic waves does not occur, and the position and direction of the moving body can be detected stably. Furthermore, since the position and direction of the moving body can be detected by installing a small number of IC tags, the introduction cost can be kept low.

  Further, since the ID and the database read by the reader are collated to detect the position and direction of the moving body, the position and direction can be detected without performing complicated calculation processing, and inexpensive information can be obtained. The introduction cost can be kept low by using the processing device.

  As described above, the position detection system, the position detection program, the position detection apparatus, and the position detection method according to the present invention are useful for detecting the position and direction of a moving body, and can be particularly introduced at a low cost. Furthermore, it is suitable when it is necessary to operate stably even when a plurality of moving bodies are adjacent to each other.

Claims (10)

From IC tags arranged at equal intervals, a reader that reads the ID of the IC tag, and a position detection device that detects the position and direction of a moving body on which the reader is installed based on information read by the reader A position detection system comprising:
The IC tag is arranged with a wider interval than the reading range of the reader,
The reader is installed on the mobile body in a positional relationship in which two readers can read different IC tag IDs,
The position detection device includes:
ID acquisition means for acquiring IDs read by the two readers;
A database in which the position and direction of the moving body are registered in advance for each combination of two IDs that can be acquired by the ID acquisition means, and the two IDs acquired by the ID acquisition means are collated, and the position of the moving body And a position detection means for detecting the direction. A position detection program for detecting the position and direction of a moving object on which a reader is installed based on information read by a reader that reads IDs of IC tags arranged at equal intervals,
An ID acquisition procedure for acquiring IDs read by two readers installed in the mobile body in a positional relationship in which IDs of different IC tags can be read;
The position of the moving object by collating a database in which the position and direction of the moving object are registered in advance for each combination of two IDs that can be acquired by the ID acquiring procedure and the two IDs acquired by the ID acquiring procedure. And a position detection procedure for detecting a direction. A route setup procedure for setting a route to a destination based on a predetermined rule;
Causing the computer to further execute a route set by the route setting procedure and a guidance procedure for guiding the moving body to the destination by comparing the position and direction of the moving body detected by the position detection procedure. The position detection program according to claim 2, wherein:   In the guidance procedure, when the current position of the mobile body detected by the position detection procedure is out of the route set by the route setting procedure, the route from the current position to the destination is restored to the route setting procedure. The position detection program according to claim 3, wherein the position detection program is set. A position detection device that detects the position and direction of a moving body on which a reader is installed based on information read by a reader that reads IDs of IC tags arranged at equal intervals,
ID acquisition means for acquiring IDs read by two readers installed in the mobile body in a positional relationship capable of reading different IC tag IDs,
A database in which the position and direction of the moving body are registered in advance for each combination of two IDs that can be acquired by the ID acquisition means, and the two IDs acquired by the ID acquisition means are collated, and the position of the moving body And a position detecting means for detecting the direction. Route setting means for setting a route to the destination based on a predetermined rule;
Further comprising guidance means for comparing the route set by the route setting means with the position and direction of the moving object detected by the position detecting means to guide the moving object to the destination. The position detection device according to claim 5.   The guiding means re-routes the route from the current position to the destination to the route setting means when the current position of the mobile body detected by the position detection means is out of the route set by the route setting means. The position detection device according to claim 6, wherein the position detection device is set. A position detection method for detecting the position and direction of a moving body on which a reader is installed based on information read by a reader that reads IDs of IC tags arranged at equal intervals,
An ID acquisition step of acquiring IDs read by two readers installed on the mobile body in a positional relationship in which IDs of different IC tags can be read;
The position of the moving object by collating a database in which the position and direction of the moving object are registered in advance for each combination of two IDs that can be acquired by the ID acquiring step and the two IDs acquired by the ID acquiring step. And a position detecting step for detecting a direction. A route setting step for setting a route to a destination based on a predetermined rule;
And further comprising a guidance step of comparing the route set by the route setting step with the position and direction of the moving body detected by the position detection step and guiding the moving body to a destination. The position detection method according to claim 8.   The guiding step re-routes the route from the current position to the destination to the route setting step when the current position of the moving object detected by the position detection step is out of the route set by the route setting step. The position detection method according to claim 9, wherein the position detection method is set.

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