EP3792564A1

EP3792564A1 - Air-conditioning control device, air-conditioning control system, air-conditioning control method, and program

Info

Publication number: EP3792564A1
Application number: EP19804565.0A
Authority: EP
Inventors: Hisao Mizuno; Seiji Kondo; Naoki Nishikawa; Masanori Maruyama; Takao Sakurai; Kenji Shimizu; Hisao Iwata; Ei Onogawa
Original assignee: Mitsubishi Heavy Industries Thermal Systems Ltd
Current assignee: Mitsubishi Heavy Industries Thermal Systems Ltd
Priority date: 2018-05-15
Filing date: 2019-04-22
Publication date: 2021-03-17
Also published as: JP7063716B2; CN112400085B; WO2019220874A1; JP2019199982A; EP3792564A4; CN112400085A

Abstract

An air-conditioning control device that is configured to control an air-conditioning indoor unit in accordance with terminal position of a terminal held by a user includes an ultrasonic detection processing unit which is configured to detect ultrasonic waves emitted from the terminal through a first ultrasonic sensor provided in the air-conditioning indoor unit and a second ultrasonic sensor provided at a position different from the position of the air-conditioning indoor unit, an arrival time difference calculation unit which is configured to calculate an arrival time difference which is a difference between a time when the ultrasonic wave is detected by the first ultrasonic sensor and a time when the ultrasonic wave is detected by the second ultrasonic sensor, a position estimation unit which is configured to estimate the terminal position of the terminal on the basis of the arrival time difference, and an indoor unit control unit which is configured to control the air-conditioning indoor unit on the basis of the terminal position.

Description

[Technical Field]

The present invention relates to an air-conditioning control device, an air-conditioning control system, an air-conditioning control method, and a program.
The application is based on Japanese Patent Application No. 2018-093758 filed on May 15, 2018 , the content of which is incorporated herein by reference.

[Background Art]

In a case where air-conditioning according to an indoor user is provided by an air-conditioning indoor unit such as an air conditioner, it is necessary to ascertain the position of the user. For example, Patent Literature 1 discloses a technique for estimating the position of a user by detecting an indoor temperature distribution. However, in the technique disclosed in Patent Literature 1, the positions of all indoor users are estimated, and thus there is a likelihood that the technique will not appropriate for the provision of air-conditioning according to a specific user.
On the other hand, a technique for estimating the position of a user using a position estimation method similar to a position estimation method using GPS satellites is known. Specifically, ultrasonic waves are radiated from a terminal such as a smartphone held by a specific user, and the ultrasonic waves are detected by ultrasonic sensors such as a plurality of microphones provided at different positions on an air-conditioning indoor unit, whereby it is possible to estimate the position of the user on the basis of differences in arrival times of ultrasonic waves at the different positions of the ultrasonic sensors.

[Citation List]

[Patent Literature]

[Patent Literature 1]
Japanese Unexamined Patent Application, First Publication No. 2001-304655

[Summary of Invention]

[Technical Problem]

However, in the above-described technique, the influence of an error included in differences in arrival times of the detected ultrasonic waves becomes significant when the position of a user which is a sound source becomes distant from the air-conditioning indoor unit, and thus there is a likelihood that the position of the user will not be able to be estimated accurately.
Accordingly, a technique for making it possible to accurately estimate the position of a user of an air-conditioning indoor unit is desired. An object of the present invention is to provide an air-conditioning control device, an air-conditioning control system, an air-conditioning control method, and a program which are capable of accurately estimating the position of a user of an air-conditioning indoor unit.

[Solution to Problem]

According to a first aspect of the present invention, an air-conditioning control device that is configured to control an air-conditioning indoor unit in accordance with a terminal position of a terminal held by a user includes an ultrasonic detection processing unit which is configured to detect ultrasonic waves emitted from the terminal through a first ultrasonic sensor provided in the air-conditioning indoor unit and a second ultrasonic sensor provided at a position different from the position of the air-conditioning indoor unit, an arrival time difference calculation unit which is configured to calculate an arrival time difference which is a difference between a time when the ultrasonic wave is detected by the first ultrasonic sensor and a time when the ultrasonic wave is detected by the second ultrasonic sensor, a position estimation unit which is configured to estimate the terminal position of the terminal on the basis of the arrival time difference, and an indoor unit control unit which is configured to control the air-conditioning indoor unit on the basis of the terminal position.
According to a second aspect of the present invention, an air-conditioning control system includes the air-conditioning control device according to the first aspect, the terminal, the air-conditioning indoor unit, the first ultrasonic sensor, and the second ultrasonic sensor.
According to a third aspect of the present invention, in the air-conditioning control system according to the second aspect, the second ultrasonic sensor is provided in a remote operation device that is configured to allow remote operation of the air-conditioning indoor unit.
According to a fourth aspect of the present invention, in the air-conditioning control system according to the second aspect, the second ultrasonic sensor is provided in a fluorescent light.
According to a fifth aspect of the present invention, the air-conditioning control system according to the second aspect further includes an air-conditioning indoor unit which is separate from the air-conditioning indoor unit, in which the second ultrasonic sensor is provided in the separate air-conditioning indoor unit.
According to a sixth aspect of the present invention, in the air-conditioning control system according to any one of the second to the fifth aspects, the position estimation unit is configured to estimate the terminal position of the terminal on the basis of the arrival time difference with reference to a look-up table.
According to a seventh aspect of the present invention, in the air-conditioning control system according to any one of the second to fifth aspects, the position estimation unit is configured to estimate the terminal position of the terminal on the basis of the positions of the first ultrasonic sensor and the second ultrasonic sensor and the arrival time difference.
According to an eighth aspect of the present invention, in the air-conditioning control system according to the seventh aspect, the first ultrasonic sensor includes a plurality of ultrasonic sensors provided at different positions on the air-conditioning indoor unit, the ultrasonic detection processing unit is configured to detect ultrasonic waves emitted from the second ultrasonic sensor through the first ultrasonic sensor, the arrival time difference calculation unit is configured to calculate arrival time differences for settings which are differences between times when the ultrasonic waves are detected by the plurality of ultrasonic sensors of the first ultrasonic sensor, and the position estimation unit is configured to estimate the position of the second ultrasonic sensor on the basis of the positions of the plurality of ultrasonic sensors of the first ultrasonic sensor and the arrival time differences for settings.
According to a ninth aspect of the present invention, an air-conditioning control method is an air-conditioning control method of controlling an air-conditioning indoor unit in accordance with a terminal position of a terminal held by a user and includes an ultrasonic waves detection processing step of detecting ultrasonic waves emitted from the terminal through a first ultrasonic sensor provided in the air-conditioning indoor unit and a second ultrasonic sensor provided at a position different from the position of the air-conditioning indoor unit, an arrival time difference calculation step of calculating an arrival time difference which is a difference between a time when the ultrasonic wave is detected by the first ultrasonic sensor and a time when the ultrasonic wave is detected by the second ultrasonic sensor, a position estimation step of estimating the terminal position of the terminal on the basis of the arrival time difference, and an indoor unit control step of controlling the air-conditioning indoor unit on the basis of the terminal position.
According to a ninth aspect of the present invention, a program causes a computer of an air-conditioning control device that controls an air-conditioning indoor unit in accordance with a terminal position of a terminal held by a user to execute the steps including an ultrasonic waves detection processing step of detecting ultrasonic waves emitted from the terminal through a first ultrasonic sensor provided in the air-conditioning indoor unit and a second ultrasonic sensor provided at a position different from the position of the air-conditioning indoor unit, an arrival time difference calculation step of calculating an arrival time difference which is a difference between a time when the ultrasonic wave is detected by the first ultrasonic sensor and a time when the ultrasonic wave is detected by the second ultrasonic sensor, a position estimation step of estimating the terminal position of the terminal on the basis of the arrival time difference, and an indoor unit control step of controlling the air-conditioning indoor unit on the basis of the terminal position.

[Advantageous Effects of Invention]

According to at least one aspect among the above-described aspects, it is possible to accurately estimate the position of a user of an air-conditioning indoor unit.

[Brief Description of Drawings]

FIG. 1 is a schematic view illustrating an overall configuration of an air-conditioning control system according to a first embodiment.
FIG. 2 is a block diagram illustrating a functional configuration of an air-conditioning control device according to the first embodiment.
FIG. 3 is a first diagram illustrating an air-conditioning control system of the related art as a comparative example.
FIG. 4 is a second diagram illustrating an air-conditioning control system of the related art as a comparative example.
FIG. 5 is a third diagram illustrating an air-conditioning control system of the related art as a comparative example.
FIG. 6 is a flowchart illustrating operations of the air-conditioning control device according to the first embodiment.
FIG. 7 is a configuration diagram illustrating an overall configuration of an air-conditioning control system according to a second embodiment.
FIG. 8 is a schematic block diagram illustrating a configuration of a computer according to at least one embodiment.

[Description of Embodiments]

<First embodiment

(Overall configuration of air-conditioning control system)

Hereinafter, embodiments will be described in detail with reference to the drawings.
FIG. 1 is a schematic diagram illustrating an overall configuration of an air-conditioning control system 1 according to a first embodiment. It is assumed that the air-conditioning control system 1 according to the first embodiment is used in an indoor space W where a user is present such as a library, a large store, a warehouse, or a factory. However, in other embodiments, the air-conditioning control system 1 is not limited to the above-described use modes.
As illustrated in FIG. 1, the air-conditioning control system 1 according to the first embodiment includes an air-conditioning control device 10, an air-conditioning indoor unit 20, a remote operation device 30, a terminal 40 held by a user, and microphones M1 to M5.
The air-conditioning control device 10 controls the air-conditioning indoor unit 20 so that an environment (a temperature, a humidity, an airflow rate, and the like) is optimized according to the position of the user.
The air-conditioning indoor unit 20 is installed on the ceiling of the indoor space W where the user is present, or the like, and performs various operations for adjusting the environment of the indoor space W in response to a control instruction given by the air-conditioning control device 10. In the first embodiment, a case where the air-conditioning indoor unit 20 is a commercial air-conditioning indoor unit of a ceiling-embedded type is described, but the air-conditioning indoor unit 20 may be an air-conditioning indoor unit such as an external type other than a ceiling-embedded type or may be an air-conditioning indoor unit for other purposes such as home use rather than commercial use.
The remote operation device (remote controller) 30 is a device that allows remote control of environmental settings of the air-conditioning indoor unit 20 through pressing buttons or the like. The remote operation device 30 according to the first embodiment is provided on a wall of the indoor space W and is connected to the air-conditioning control device 10 in a wired manner. However, the remote operation device 30 may be connected to the air-conditioning control device 10 in a wireless manner.
The terminal 40 is a sound source that can emit ultrasonic waves S having a predetermined frequency. In the first embodiment, a case where the terminal 40 is an information processing device such as a smartphone is described, but the terminal 40 may be any of other apparatuses which may serve as a sound source such as a tablet-type information processing device or a wristwatch-type information processing device. In the first embodiment, a smartphone which is the terminal 40 emits predetermined ultrasonic waves S on a regular basis in order to specify the position of a user who holds the smartphone. Meanwhile, the terminal 40 may emit the predetermined ultrasonic waves S, for example, on an irregular basis. In addition, the terminal 40 may emit the predetermined ultrasonic waves, for example, so that the air-conditioning control device 10 superimposes information used for the control of the air-conditioning indoor unit 20 (for example, information of an environment (a temperature, a humidity, an airflow rate, and the like) requested by the user) on the ultrasonic waves S.
The microphones M1 to M5 are ultrasonic sensors which are capable of detecting the ultrasonic waves S emitted by the terminal 40. In the first embodiment, four microphones M1 to M4 are provided respectively at different positions on the air-conditioning indoor unit 20 as first ultrasonic sensors. That is, the first ultrasonic sensors include the four microphones M1 to M4. As illustrated in FIG. 1, the four microphones M1 to M4 are provided respectively at four corners on a surface of the air-conditioning indoor unit 20 which faces the indoor space W. Meanwhile, the first ultrasonic sensors may include any number of microphones (ultrasonic sensors) other than four.
In the first embodiment, one microphone M5 is provided in the remote operation device 30 as a second ultrasonic sensor. That is, the second ultrasonic sensor (microphone M5) is provided at a position different from the position of the air-conditioning indoor unit 20. Meanwhile, the second ultrasonic sensor may include any number of microphones (ultrasonic sensors) other than one. Further, in the first embodiment, a case where the second ultrasonic sensor is provided in the remote operation device 30 is described, but the second ultrasonic sensor may be provided in any of other apparatuses in the indoor space W such as a fluorescent light.

(Functional configuration of air-conditioning control device)

FIG. 2 is a block diagram illustrating a functional configuration of the air-conditioning control device 10 according to the first embodiment.
Meanwhile, FIG. 2 also illustrates a connection configuration between the air-conditioning control device 10 and the microphones M1 to M5 in order to describe the function of the air-conditioning control device 10.
The air-conditioning control device 10 includes an ultrasonic detection processing unit 100, an arrival time difference calculation unit 110, a position estimation unit 120, an indoor unit control unit 130, and a storage unit 140.
The ultrasonic detection processing unit 100 is configured to detect the ultrasonic waves S emitted from the terminal 40 held by the user through the microphones M1 to M5. As illustrated in FIG. 2, the ultrasonic waves S detected by the microphones M1 to M4 are processed in order by amplifiers A1 to A4, filters F1 to F4, and comparators C1 to C4 which are provided in the air-conditioning indoor unit 20. Further, the processing results (detection results) are input from Ch1 to Ch4 to the ultrasonic detection processing unit 100. Similarly, the ultrasonic waves S detected by the microphone M5 are processed in order by an amplifier A5, a filter F5, and a comparator C5 which are provided in the remote operation device 30, and the processing results (detection results) are input from Ch5 to the ultrasonic detection processing unit 100.
The amplifiers A1 to A5 amplify signals of ultrasonic waves S detected by the microphones M1 to M5. The filters F1 to F5 extract only components having a predetermined frequency from the amplified signals of the ultrasonic waves S. The predetermined frequency is specified in advance as, for example, 5 kHz in accordance with the frequency of the ultrasonic waves S emitted by the terminal 40. The comparators C1 to C5 determine whether or not a component having a predetermined frequency has been extracted, and output a first signal indicating non-detection in a case where the component has not been extracted. In a case where the component having a predetermined frequency has been extracted, the comparators C1 to C5 output a second signal indicating detection. In the first embodiment, a case where the signal level of the first signal is higher than the signal level of the second signal has been described, but any signal may be used as the first signal and the second signal when the signals can be distinguished from each other.
When the ultrasonic detection processing unit 100 detects ultrasonic waves S emitted from the terminal 40 through the microphones M1 to M5, the ultrasonic detection processing unit inputs the time when ultrasonic waves S are detected by the microphones M1 to M5 to the arrival time difference calculation unit 110. Specifically, the time when a signal input from each of the comparators C1 to C5 is switched from the first signal to the second signal is input to the arrival time difference calculation unit 110. In another embodiment, the ultrasonic detection processing unit 100 may store the switched time in the storage unit 140 without directly inputting the time to the arrival time difference calculation unit 110. In this case, the arrival time difference calculation unit 110 acquires each stored time from the storage unit 140.
The arrival time difference calculation unit 110 sets the microphone M5 (second ultrasonic sensor) among the microphones M1 to M5 as a reference and calculates a difference between the time when the reference microphone M5 detects ultrasonic waves S and the time when each of the other four microphones M1 to M4 (first ultrasonic sensors) detects ultrasonic waves S, that is, a time difference (arrival time difference) between the time when the ultrasonic waves S arrive the microphone M5 and the time when the ultrasonic waves S arrive each of the microphones M1 to M4. The arrival time difference calculation unit 110 inputs the calculated arrival time difference to the position estimation unit 120.
The position estimation unit 120 estimates the terminal position of the terminal 40 that emits the ultrasonic waves S on the basis of the arrival time difference calculated by the arrival time difference calculation unit 110. The position estimation unit 120 inputs an estimation result to the indoor unit control unit 130.
The indoor unit control unit 130 controls the air-conditioning indoor unit 20 on the basis of the estimated terminal position. Specifically, the air-conditioning indoor unit 20 is controlled such that the environment (a temperature, a humidity, an airflow rate, and the like) is optimized on the assumption that a user holding the terminal 40 is present at the estimated terminal position.
The storage unit 140 stores a look-up table (LUT) which is a table in which an arrival time difference corresponds to an estimated terminal position which is used when the position estimation unit 120 estimates the terminal position of the terminal 40. The look-up table can be created in advance through calculation from the positions of the microphones M1 to M4 (first ultrasonic sensors), the position of the microphone M5 (second ultrasonic sensor), and a relationship between a sound velocity, a distance, and an arrival time (d=vt, d is a distance, v is a sound velocity, and t is an arrival time). Meanwhile, the sound velocity changes depending on a temperature, and thus a look-up table for each temperature of the indoor space W may be created and stored in the storage unit 140.

(Air-conditioning control system of the related art as comparative example)

An air-conditioning control system of the related art according to a comparative example for the air-conditioning control system 1 according to the first embodiment will be described with reference to FIGS. 3 to 5. FIGS. 3 to 5 are first to third diagrams illustrating the air-conditioning control system of the related art according to a comparative example.
The air-conditioning control system of the related art according to a comparative example includes the air-conditioning control system 1 and the microphones M1 to M4 (first ultrasonic sensors) similar to the air-conditioning control system 1 according to the first embodiment, but does not include the microphone M5 (second ultrasonic sensor) unlike the air-conditioning control system 1.
FIG. 3 illustrates a positional relationship between each of the microphones M1 and M4 and the terminal 40 held by a user in an air-conditioning indoor unit of the related art including microphones M1 to M4 similar to the air-conditioning indoor unit 20 illustrated in FIG. 1.
The air-conditioning control system of the related art estimates the position of the user on the basis of differences (arrival time differences) between times when the ultrasonic waves S emitted from the terminal 40 held by the user arrive the microphones M1 to M4, similar to the air-conditioning control system 1 according to the first embodiment. However, in the air-conditioning control system of the related art, the position of the user is estimated using only four microphones M1 to M4, unlike the air-conditioning control system 1 according to the first embodiment. Meanwhile, hereinafter, the microphones M1 and M4 for which a distance therebetween is largest among the four microphones M1 to M4 will be described as an example with reference to FIGS. 3 to 5. This is because a permissible range of a detection error of an arrival time difference of the ultrasonic waves S used to estimate the position of the user is maximized in a case where a distance between the microphones is largest.
A horizontal axis x in FIG. 3 represents a position x (m) in a horizontal direction with (the central position in a horizontal direction of) the air-conditioning indoor unit of the related art as a reference. That is, a distance in the horizontal direction from (the central position in a horizontal direction of) the air-conditioning indoor unit of the related art to the terminal 40 is x (m). In addition, a vertical axis z in FIG. 3 represents a height (m) from the terminal 40 in a vertical direction.
In the example illustrated in FIG. 3, the height of the air-conditioning indoor unit of the related art from the terminal 40 in a vertical direction is 1.5 (m), and a distance between the microphones M1 and M4 in a horizontal direction is 1.19 (m). FIG. 3 illustrates an example in which the terminal 40 is present at the position x (m) when the position is 0 (m), 1 (m), and 5 (m). In FIG. 3, a path of the ultrasonic waves S moving from the terminal 40 to the microphones M1 and M4 is indicated by a dotted line.
FIG. 4 illustrates calculation results obtained by specifically calculating differences (arrival time differences) between times when ultrasonic waves S arrive at the microphones M1 and M4 from the terminal 40 in a case where the position x (m) of the terminal 40 illustrated in FIG. 3 is changed.
As illustrated in FIG. 4, when the position x (m) of the terminal 40 is determined, a distance (m) from the terminal 40 to the microphone M1 is determined, and thus an arrival time t1 (ms) required for the ultrasonic waves S arrive the microphone M1 from the terminal 40 can be calculated using a sound velocity. Similarly, the distance (m) from the terminal 40 to the microphone M4 is determined, and thus an arrival time t4 (ms) required for the ultrasonic waves S to arrive the microphone M4 from the terminal 40 can be calculated using a sound velocity.
Therefore, an arrival time difference Δt41 (ms) which is a time difference between the arrival time t1 (ms) required for the ultrasonic waves S to arrive at the microphone M1 and the arrival time t4 (ms) required for the ultrasonic waves S to arrive at the microphone M4 can be calculated as Δt41=t4-t1.
The arrival time difference Δt41 (ms) actually used for control is calculated from detection times t1 and t4 obtained when the air-conditioning indoor unit of the related art detects ultrasonic waves S using each of the microphones M1 and M4 as illustrated in FIG. 5. Meanwhile, a horizontal axis in FIG. 5 represents time, and a vertical axis represents a signal level. That is, in FIG. 5, the time when a signal level rises represents the time when the ultrasonic waves S are detected.
FIG. 4 illustrates calculation results of arrival time differences Δt41 (ms) in a case where the position x (m) of the terminal 40 is 0 (m), 1 (m), 2 (m), 3 (m), 4 (m), 5 (m), and 6 (m). For example, as can be seen from the calculation results of the arrival time differences Δt41 (ms) illustrated in FIG. 4, an arrival time difference Δt41 (ms) between a case where the position x (m) of the terminal 40 is 0 (m) and a case where the position x (m) of the terminal 40 is 1 (m) is 1.29 (ms). On the other hand, an arrival time difference Δt41 (ms) between a case where the position x (m) of the terminal 40 is 4 (m) and a case where the position x (m) of the terminal 40 is 5 (m) is merely 0.05 (ms). This means that a position estimation error is 1 (m) due to only a deviation of 0.05 (ms) in the detection time illustrated in FIG. 5 in a case where the terminal 40 is at the position 4 (m). Here, 0.05 (ms) is equivalent to the amount of one period of 20 (kHz).
Further, an arrival time difference Δt41 (ms) between a case where the position x (m) of the terminal 40 is 5 (m) and a case where the position x (m) of the terminal 40 is 6 (m) is only 0.03 (ms). From this, it can be understood that it is necessary to suppress an error of an arrival time difference Δt41 (ms) to within only 0.03 (ms) in order to obtain the accuracy of ±1 (m) at the position 5 (m) of the terminal 40 on a condition that a distance between the microphones M1 and M4 is 1.19 (m) as illustrated in FIG. 3. Here, 0.03 (ms) is equivalent to the amount of 0.6 period of 20 (kHz).
As described above, in the air-conditioning control system of the related art, the position of a user is estimated using only four microphones M1 to M4 included in one air-conditioning indoor unit, and thus a permissible range of a detection error of an arrival time difference Δt41 becomes extremely narrow and strict in a case where there is an attempt to achieve a predetermined accuracy (for example, ±1 (m)) required for position estimation. In particular, a permissible range of a detection error becomes extremely narrow and strict as a distance between the terminal 40 and the air-conditioning indoor unit increases.

(Processing flow of air-conditioning control system)

FIG. 6 is a flowchart illustrating operations of the air-conditioning control device 10 according to the first embodiment.
Operations of the air-conditioning control device 10 according to the first embodiment will be described with reference to FIG. 6.
When a processing flow illustrated in FIG. 6 is started, the ultrasonic detection processing unit 100 detects ultrasonic waves S emitted from the terminal 40 through a first ultrasonic sensor and a second ultrasonic sensor (step S101).
Specifically, detection processing is performed according to the following procedure. When the microphones M1 to M5 detect ultrasonic waves S emitted from the terminal 40 held by a user, signals of the detected ultrasonic waves S are amplified by the amplifiers A1 to A5, and then predetermined frequency components are extracted from the amplified signals of the ultrasonic waves S by the filters F1 to F5. The comparators C1 to C5 input a first signal or a second signal to the ultrasonic detection processing unit 100 in accordance with whether or not the predetermined frequency components have been extracted.
That is, the comparators C1 to C5 input the first signal to the ultrasonic detection processing unit 100 in a state where ultrasonic waves S having a predetermined frequency are not detected by the microphones M1 to M5, but the comparators C1 to C5 input the second signal to the ultrasonic detection processing unit 100 in a case where ultrasonic waves S having a predetermined frequency are detected by the microphones M1 to M5 and predetermined frequency components have been extracted.
Accordingly, the ultrasonic detection processing unit 100 determines that ultrasonic waves S having a predetermined frequency emitted from the terminal 40 of the user have been detected in a case where signals input from the comparators C1 to C5 are switched from first signals to second signals, and inputs the time to the arrival time difference calculation unit 110. For example, in a case where a signal input through Ch5 is switched from a first signal to a second signal at time t5, the ultrasonic detection processing unit 100 inputs the time t5 to the arrival time difference calculation unit 110 as a reception time of the microphone M5. Similarly, in a case where signals input through Ch1 to Ch4 are switched from first signals to second signals at times t1 to t4, the ultrasonic detection processing unit 100 inputs the times t1 to t4 to the arrival time difference calculation unit 110 as reception times of the microphones M1 to M4.
Next, the arrival time difference calculation unit 110 calculates an arrival time difference which is a difference between each of the times t1 to t4 when ultrasonic waves S are detected by the microphones M1 to M4 (first ultrasonic sensors) and the time t5 when ultrasonic waves S are detected by the microphone M5 (second ultrasonic sensor) (step S102).
For example, the arrival time difference calculation unit 110 calculates Δt15 (=t1-t5) as an arrival time difference between the microphone M1 (first ultrasonic sensor) and the microphone M5 (second ultrasonic sensor). Similarly, the arrival time difference calculation unit 110 calculates Δt25 (=t2-t5), Δt35 (=t3-t5), and Δt45 (=t4-t5) as arrival time differences between the microphones M2 to M4 (first ultrasonic sensors) and the microphone M5 (second ultrasonic sensor). The arrival time difference calculation unit 110 inputs the calculated arrival time differences to the position estimation unit 120.
Next, the position estimation unit 120 estimates the terminal position of the terminal 40 on the basis of the arrival time differences (step S103).
Specifically, the position estimation unit 120 estimates the terminal position of the terminal 40 from the arrival time differences (Δt15, Δt25, Δt35, and Δt45) between the first ultrasonic sensors (microphones M1 to M4) and the second ultrasonic sensor (microphone M5) which are input from the arrival time difference calculation unit 110 with reference to the look-up table stored in the storage unit 140. Meanwhile, the look-up table may include a plurality of terminal positions corresponding to one arrival time difference, and thus the position estimation unit 120 estimates the terminal position on the basis of four arrival time differences (Δt15, Δt25, Δt35, and Δt45) in the first embodiment. However, in another embodiment, the terminal position of the terminal 40 may be estimated on the basis of any number of arrival time differences which are one or more arrival time differences. The position estimation unit 120 inputs the estimated terminal position to the indoor unit control unit 130.
Next, the indoor unit control unit 130 controls the air-conditioning indoor unit 20 on the basis of the estimated terminal position (step S 104). Specifically, the air-conditioning indoor unit 20 is controlled such that the environment (a temperature, a humidity, an airflow rate, and the like) is optimized on the assumption that there is a user who is holding the terminal 40 at the estimated terminal position. In this manner, the flow illustrated in FIG. 6 is terminated.

(Operations and effects)

As described above, according to the air-conditioning control device 10 (air-conditioning control system 1) of the first embodiment, ultrasonic waves S emitted from the terminal 40 are detected through not only the first ultrasonic sensor (microphones M1 to M4) provided in the air-conditioning indoor unit 20 but also the second ultrasonic sensor (microphone M5) provided at a position different from the position of the air-conditioning indoor unit 20.
Thereby, a distance between the first ultrasonic sensor and the second ultrasonic sensor can be freely set to a large value without restriction such as the size of the air-conditioning indoor unit 20, and thus it is possible to set a wider permissible range of a detection error of an arrival time difference of ultrasonic waves S than in a case where ultrasonic waves S are detected using only the first ultrasonic sensor provided in the air-conditioning indoor unit 20 and to improve the accuracy of estimated position. Therefore, according to the air-conditioning control device 10 (air-conditioning control system 1) of the first embodiment, it is possible to accurately estimate the position of the user of the air-conditioning indoor unit 20.
Further, according to the air-conditioning control system 1 of the first embodiment, the second ultrasonic sensor (microphone M5) is provided in the remote operation device 30 that allows remote operation of the air-conditioning indoor unit 20.
Thereby, the existing remote operation device 30 can be used, and thus it is possible to reduce installation costs and an installation space compared with in a case where, for example, a single second ultrasonic sensor is newly installed. In addition, it is possible to easily mount the second ultrasonic sensor.
Meanwhile, in the air-conditioning control system 1 according to the first embodiment, the second ultrasonic sensor may be provided in a fluorescent light.
In this case, a fluorescent light which is the existing equipment can be used, and thus it is possible to reduce installation costs and an installation space compared with in a case where, for example, a single second ultrasonic sensor is newly installed. In addition, it is possible to easily mount the second ultrasonic sensor.
Further, according to the air-conditioning control system 1 of the first embodiment, the position estimation unit 120 estimates the terminal position of the terminal 40 on the basis of arrival time differences with reference to the look-up table.
Thereby, the position estimation unit 120 can estimate the terminal position of the terminal 40 with reference to only the look-up table, and thus it is possible to reduce a processing load of the air-conditioning control system 1 and estimate the terminal position at an extremely high speed. In addition, it is possible to more accurately estimate the terminal position, for example, by creating look-up tables corresponding to various conditions (for example, a temperature and the like) in advance.

<Modification example of first embodiment

Although the air-conditioning control system 1 according to the first embodiment has been described in detail, a specific mode of the air-conditioning control system 1 is not limited thereto, and various changes of design and the like can be made without departing from the scope of the invention.

<First modification example of first embodiment

For example, in the air-conditioning control system 1 according to the first embodiment, description has been given in step S103 of FIG. 6 on the assumption that the position estimation unit 120 estimates the terminal position of the terminal 40 from arrival time differences between the first ultrasonic sensors (microphones M1 to M4) and the second ultrasonic sensor (microphone M5) which are input from the arrival time difference calculation unit 110 with reference to the look-up table stored in the storage unit 140.
Here, as a first modification example of the first embodiment, the position estimation unit 120 may calculate and estimate the terminal position of the terminal 40 held by a user without using a look-up table.
For example, the position estimation unit 120 may estimate the terminal position of the terminal 40 by a method similar to a position estimation method for estimating a position on the basis of an arrival time difference of radio waves received from a GPS satellite.
In the position estimation method using a GPS satellite, the position of a receiver is calculated by solving simultaneous equations. Accordingly, in the simultaneous equations of the position estimation method using a GPS satellite, the position estimation unit 120 can estimate the terminal position of the terminal 40 by switching a transmission side and a reception side with each other.
Specifically, when three-dimensional coordinates of four microphones (for example, the microphones M1 to M3 (first ultrasonic sensors) and the microphone M5 (second ultrasonic sensor)) at different positions are set to be (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), and (X4, Y4, Z4), three-dimensional coordinates of the terminal 40 are set to be (x, y, z), reception times of radio waves S from the four microphones (M1, M2, M3, and M5) at different positions are set to be t1, t2, t3, and t4, a transmission time of radio waves from the terminal 40 is set to be "d", and the speed of radio waves is set to be "v", the following simultaneous equations are obtained. $f 1 = {(x - X 1)}^{2} + {(y + Y 1)}^{2} + {(z - Z 1)}^{2} - {(v (t) (1 - d))}^{2} = 0$
$f 2 = {(x - X 2)}^{2} + {(y + Y 2)}^{2} + {(z - Z 2)}^{2} - {(v (t) (2 - d))}^{2} = 0$
$f 3 = {(x - X 3)}^{2} + {(y + Y 3)}^{2} + {(z - Z 3)}^{2} - {(v (t) (3 - d))}^{2} = 0$
$f 4 = {(x - X 4)}^{2} + {(y + Y 4)}^{2} + {(z - Z 4)}^{2} - {(v (t) (4 - d))}^{2} = 0$
The position (x, y, z) of the terminal 40 is obtained by solving this equation. Meanwhile, the solution of the equation is obtained using approximate calculation such as a Newton-Raphson method.
In the first modification example of the first embodiment, the terminal position of the terminal 40 is estimated by performing approximate calculation on the above-described equation using arrival time differences (Δt15, Δt25, Δt35) between the microphones M1 to M3 and M5 instead of the reception time (t1, t2, t3, and t4) and the transmission time "d" of the radio waves S.
Meanwhile, the positions of the first ultrasonic sensors and the second ultrasonic sensor may be stored in, for example, the storage unit 140 in advance. In addition, a case where four microphones are the microphones M1 to M3 and M5 has been described above, but the four microphones may be any three microphones (ultrasonic sensors) among the microphones M1 to M4 (first ultrasonic sensors) and M5 (second ultrasonic sensor).

(Operations and effects)

As described above, according to the air-conditioning control system 1 of the first modification example of the first embodiment, the position estimation unit 120 estimates the terminal position of the terminal 40 on the basis of the positions of the first ultrasonic sensors and the second ultrasonic sensor and arrival time differences.
Thereby, it is not necessary to previously create and prepare a look-up table which is a correspondence table in which an arrival time difference corresponds to an estimated terminal position, and thus it is possible to extremely easily introduce the air-conditioning control system 1.

<Second modification example of first embodiment

In the air-conditioning control system 1 according to the first modification example of the first embodiment described above, description has been given on the assumption that the positions of the first ultrasonic sensors and the second ultrasonic sensor used when the position estimation unit 120 estimates the terminal position of the terminal 40 are stored in the storage unit 140 in advance.
Here, as a second modification example of the first embodiment, the storage unit 140 may store only the position of a first ultrasonic sensor, and the position of a second ultrasonic sensor may be estimated according to a procedure similar to the procedure of estimating the terminal position of the terminal 40.
That is, the position of the second ultrasonic sensor (microphone M5) provided in the remote operation device 30 may be estimated by emitting ultrasonic waves S having a predetermined frequency from the second ultrasonic sensor (microphone M5) and detecting the ultrasonic waves S by the first ultrasonic sensor including a plurality of ultrasonic sensors (microphones M1 to M4) provided at different positions of the air-conditioning indoor unit 20.
Specifically, the ultrasonic detection processing unit 100 detects ultrasonic waves S emitted from the second ultrasonic sensor (microphone M5) through the first ultrasonic sensors (microphones M1 to M4). Next, the arrival time difference calculation unit 110 calculates arrival time differences (arrival time differences for setting) which are differences between times when ultrasonic waves S are detected by the plurality of ultrasonic sensors (microphones M1 to M4) of the first ultrasonic sensor. Next, the position estimation unit 120 estimates the position of the second ultrasonic sensor (microphone M5) on the basis of the positions of the plurality of ultrasonic sensors (microphones M1 to M4) of the first ultrasonic sensor and the arrival time differences for setting, similar to the position estimation method described in the first modification example of the first embodiment described above.

(Operations and effects)

As described above, according to the air-conditioning control system 1 of the second modification example of the first embodiment, the position estimation unit 120 estimates the position of the second ultrasonic sensor (microphone M5) on the basis of the positions of the plurality of ultrasonic sensors (microphones M1 to M4) of the first ultrasonic sensor and arrival time differences (arrival time differences for setting).
Thereby, it is not necessary to store the position of the second ultrasonic sensor (microphone M5) in the storage unit 140 by ascertaining the position of the second ultrasonic sensor in advance and, for example, inputting the position through the remote operation device 30, or the like. In addition, even when the position of the second ultrasonic sensor (microphone M5) is moved together with the remote operation device 30, the position of the moved second ultrasonic sensor (microphone M5) can be accurately acquired.

Next, an air-conditioning control system 1 according to a second embodiment will be described with reference to FIG. 7.
FIG. 7 is a schematic view illustrating an overall configuration of the air-conditioning control system 1 according to the second embodiment.
As illustrated in FIG. 7, the air-conditioning control system 1 according to the second embodiment includes an air-conditioning indoor unit 21 separate from the air-conditioning indoor unit 20. The air-conditioning indoor unit 21 is configured in a similar manner to the air-conditioning indoor unit 20, and the air-conditioning indoor unit 21 is provided with four microphones M5 to M7 (second ultrasonic sensors).
That is, the air-conditioning control system 1 according to the second embodiment is different from the air-conditioning control system 1 according to the first embodiment only in that the air-conditioning control system includes the separate air-conditioning indoor unit 21 and the second ultrasonic sensors are provided in the air-conditioning indoor unit 21 instead of the remote operation device 30. Except for a case where particular mention is made, the other respects will not be described because the air-conditioning control system 1 according to the second embodiment is configured and function in a similar manner to the air-conditioning control system 1 according to the first embodiment.
Meanwhile, in the second embodiment, the second ultrasonic sensors include four microphones M5 to M8, but only some (for example, the microphone M5) of them may function as a second ultrasonic sensor.

(Operations and effects)

As described above, according to the air-conditioning control system 1 of the second embodiment, the air-conditioning control system 1 includes the air-conditioning indoor unit 21 separate from the air-conditioning indoor unit 20, and the second ultrasonic sensors (microphones M5 to M8) are provided in the separate air-conditioning indoor unit 21.
Thereby, the existing air-conditioning indoor unit 21 can be used, and thus it is possible to more reduce installation costs and an installation space than in a case where, for example, a single second ultrasonic sensor is newly installed. In addition, it is possible to easily mount the second ultrasonic sensor.
Further, the air-conditioning control device 10 can not only control the air-conditioning indoor unit 20 but also control the separate air-conditioning indoor unit 21 so that the environment (a temperature, a humidity, an airflow rate, and the like) is optimized, on the basis of an estimated terminal position, and thus it is possible to extremely efficiently perform control.
Further, for example, in a case where a plurality of microphones (M1 to M4) are included in the first ultrasonic sensors provided in the air-conditioning indoor unit 20 and a plurality of microphones (M5 to M8) are included in the second ultrasonic sensors provided in the air-conditioning indoor unit 21, it is possible to more accurately estimate the position of a user of the air-conditioning indoor unit 20 on the basis of a large number of arrival time differences obtained from a large number of combinations of the microphones.
FIG. 8 is a schematic block diagram illustrating a configuration of a computer according to at least one embodiment.
A computer 9 includes a CPU 91, a main storage device 92, an auxiliary storage device 93, and an interface 94.
The above-described air-conditioning control device 10 includes the computer 9. In addition, the operation of each of the above-described processing units is stored in the auxiliary storage device 93 in the form of a program. The CPU 91 reads out the programs from the auxiliary storage device 93, develops the programs to the main storage device 92, and executes the above-described processing in accordance with the programs. For example, the above-described ultrasonic detection processing unit 100, the arrival time difference calculation unit 110, the position estimation unit 120, and the indoor unit control unit 130 may be the CPU 91.
In addition, the CPU 91 secures a storage region corresponding to the above-described databases in the main storage device 92 or the auxiliary storage device 93 in accordance with the programs. For example, the above-described storage unit 140 may be secured in the main storage device 92 or the auxiliary storage device 93.
Examples of the auxiliary storage device 93 includes a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), a semiconductor memory, and the like. The auxiliary storage device 93 may be an internal medium directly connected to a bus of the computer 9 or may be an external medium connected to the computer 9 through an interface 94 or a communication line. Further, in a case where the program is distributed to the computer 9 through the communication line, the computer 9 having received the program distributed may develop the program to the main storage device 92 and execute the above-described processing. In at least one embodiment, the auxiliary storage device 93 is a non-transitory tangible storage medium.
In addition, the program may be a program for realizing some of the above-described functions. Further, the program may be a so-called differential file (differential program) which is realized by combinations of the above-described functions with other programs stored in the auxiliary storage device 93 in advance.
Although some embodiments of the present invention have been described above, those embodiments are presented as examples and do not intend to limit the scope of the invention. Those embodiments may be implemented in other various modes, and may be variously omitted, substituted, and modified without departing from the scope of the invention. Those embodiments and modification thereof are within the scope and the gist of the invention and are within the scope of the invention described in the scope of claims and the equivalent thereof.

[Industrial Applicability]

According to the above-described air-conditioning control device, air-conditioning control system, air-conditioning control method, and program, it is possible to accurately estimate the position of a user of an air-conditioning indoor unit.

[Reference Signs List]

1 Air-conditioning control system
9 Computer
10 Air-conditioning control device
20 Air-conditioning indoor unit
21 (Separate) air-conditioning indoor unit
30 Remote operation device (remote controller)
40 Terminal
91 CPU
92 Main storage device
93 Auxiliary storage device
94 Interface
100 Ultrasonic detection processing unit
110 Arrival time difference calculation unit
120 Position estimation unit
130 Indoor unit control unit
140 Storage unit
A1 to A5 Amplifier
C1 to C5 Comparator
F1 to F5 Filter
M1 to M4 Microphone (first ultrasonic sensor)
M5 to M8 Microphone (second ultrasonic sensor)
S Ultrasonic waves
W Indoor space

Claims

An air-conditioning control device that is configured to control an air-conditioning indoor unit in accordance with a terminal position of a terminal held by a user, the air-conditioning control device comprising:
an ultrasonic detection processing unit which is configured to detect ultrasonic waves emitted from the terminal through a first ultrasonic sensor provided in the air-conditioning indoor unit and a second ultrasonic sensor provided at a position different from the position of the air-conditioning indoor unit;

an arrival time difference calculation unit which is configured to calculate an arrival time difference which is a difference between a time when the ultrasonic wave is detected by the first ultrasonic sensor and a time when the ultrasonic wave is detected by the second ultrasonic sensor;

a position estimation unit which is configured to estimate the terminal position of the terminal on the basis of the arrival time difference; and

an indoor unit control unit which is configured to control the air-conditioning indoor unit on the basis of the terminal position.
An air-conditioning control system comprising:
the air-conditioning control device according to claim 1;

the terminal;

the air-conditioning indoor unit;

the first ultrasonic sensor; and

the second ultrasonic sensor.
The air-conditioning control system according to claim 2, wherein the second ultrasonic sensor is provided in a remote operation device that is configured to allow remote operation of the air-conditioning indoor unit.
The air-conditioning control system according to claim 2, wherein the second ultrasonic sensor is provided in a fluorescent light.
The air-conditioning control system according to claim 2, further comprising:
an air-conditioning indoor unit which is separate from the air-conditioning indoor unit,

wherein the second ultrasonic sensor is provided in the separate air-conditioning indoor unit.
The air-conditioning control system according to any one of claims 2 to 5, wherein the position estimation unit is configured to estimate the terminal position of the terminal on the basis of the arrival time difference with reference to a look-up table.
The air-conditioning control system according to any one of claims 2 to 5, wherein the position estimation unit is configured to estimate the terminal position of the terminal on the basis of the positions of the first ultrasonic sensor and the second ultrasonic sensor and the arrival time difference.
The air-conditioning control system according to claim 7, wherein
the first ultrasonic sensor includes a plurality of ultrasonic sensors provided at different positions on the air-conditioning indoor unit,
the ultrasonic detection processing unit is configured to detect ultrasonic waves emitted from the second ultrasonic sensor through the first ultrasonic sensor,
the arrival time difference calculation unit is configured to calculate arrival time differences for setting which are differences between times when the ultrasonic waves are detected by the plurality of ultrasonic sensors of the first ultrasonic sensor, and
the position estimation unit is configured to estimate the position of the second ultrasonic sensor on the basis of the positions of the plurality of ultrasonic sensors of the first ultrasonic sensor and the arrival time differences for setting.
An air-conditioning control method of controlling an air-conditioning indoor unit in accordance with a terminal position of a terminal held by a user, the air-conditioning control method comprising:
an ultrasonic waves detection processing step of detecting ultrasonic waves emitted from the terminal through a first ultrasonic sensor provided in the air-conditioning indoor unit and a second ultrasonic sensor provided at a position different from the position of the air-conditioning indoor unit;

an arrival time difference calculation step of calculating an arrival time difference which is a difference between a time when the ultrasonic wave is detected by the first ultrasonic sensor and a time when the ultrasonic wave is detected by the second ultrasonic sensor;

a position estimation step of estimating the terminal position of the terminal on the basis of the arrival time difference; and

an indoor unit control step of controlling the air-conditioning indoor unit on the basis of the terminal position.
A program causing a computer of an air-conditioning control device that controls an air-conditioning indoor unit in accordance with a terminal position of a terminal held by a user to execute the steps comprising:
an ultrasonic waves detection processing step of detecting ultrasonic waves emitted from the terminal through a first ultrasonic sensor provided in the air-conditioning indoor unit and a second ultrasonic sensor provided at a position different from the position of the air-conditioning indoor unit;

an arrival time difference calculation step of calculating an arrival time difference which is a difference between a time when the ultrasonic wave is detected by the first ultrasonic sensor and a time when the ultrasonic wave is detected by the second ultrasonic sensor;

a position estimation step of estimating the terminal position of the terminal on the basis of the arrival time difference; and

an indoor unit control step of controlling the air-conditioning indoor unit on the basis of the terminal position.