JP2002311125A - Position measuring system, light emitting device therein and position measuring apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position measuring system capable of measuring the position even in a building. SOLUTION: The position measuring system comprises a plurality of markers 2a-2d disposed in a specified space for emitting lights in characteristics corresponding to different identifying information given to the markers, and a position measuring unit 3 for specifying own position of a sensor upon receipt of the lights from the markers 2a-2d, based on position information of the received lights.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning system, and more particularly to a positioning system using light.

[0002]

2. Description of the Related Art There is a GPS (Global Positioning System) as a currently popular position positioning system. This system is over 20100 sky
The position is measured by receiving radio waves from 24 GPS satellites orbiting a 0 km orbit. 24 GPS
If you can receive radio waves from at least three of the satellites,
Two-dimensional (latitude / longitude) position measurement is possible. In addition, if radio waves from four or more satellites can be received, three-dimensional position measurement including the sea level can be performed. As another positioning system, a position information providing service using a PHS (Personal Handy-phone System) is known. This service utilizes the fact that the radio waves used for PHS reach short distances. That is, the position of the terminal is measured by using the fact that the position of the base station with which the PHS terminal exchanges radio waves can be regarded as the position of the terminal.

[0003]

The above positioning systems have in common that radio waves are used. However, a system that uses radio waves cannot perform positioning in a space where radio waves are shielded, such as a building. In addition, the positioning system described above requires a great deal of cost for installation and maintenance of the equipment. By the way, various events are held in event venues having a considerable area. Event participants will be provided with a map of the event venue. However, in reality, it is often difficult for an event participant to specify its position on a map, and it may not be possible to quickly reach a desired event booth. Therefore, there is a strong demand for grasping the position of oneself in the event venue. If the event takes place in a venue with open space, the GPS system described above may be able to determine its own location. However, when the event is performed in a building that shields radio waves, the GPS system cannot be used. Although a location information providing service using PHS can be used, in an event venue, the radio waves used for PHS reach too long, and it may be difficult to provide for positioning. The present invention has been made in consideration of the above problems, and has as its object to provide a positioning system capable of measuring the position even in a building. In addition, it is an object of the present invention to provide such a positioning system without great costs.

[0004]

SUMMARY OF THE INVENTION The present invention has examined the use of light instead of radio waves to determine the position. As a result, the following findings have been obtained. A plurality of light sources are installed in a predetermined space, and a light reaching range from each light source is limited. Each light source is given different identification information (ID), and emits light with characteristics according to the ID. On the other hand,
A sensor for receiving light from each light source is prepared, and light emitted from each light source is received by the sensor. Since the light received by the sensor has different characteristics (ID) for each light source, the light source of the received light can be specified. If the sensor has the position information of each light source, the position of the sensor itself can be specified by specifying the light source. The present invention is based on the above findings, a plurality of light sources arranged in a predetermined space and emit light of different characteristics,
And a positioning unit that receives light emitted from the light source and specifies its own position based on characteristics of the received light. The positioning system of the present invention is characterized in that positioning is performed using light instead of radio waves. For example, assuming an event venue in a building,
A plurality of light sources are arranged in a plane direction in a building, and characteristics of light emitted from each light source are made different. By receiving this light by the light receiving means and recognizing the characteristics of the received light, it is possible to specify the light source that emitted the light. If the arrangement of the light source in the event venue is owned by the light receiving means, the position in the event venue can be specified. Further, the positioning system of the present invention can be realized by relatively low-cost elements such as a light source and a light receiving unit. Here, it is important for the positioning system of the present invention that the range that light rays from each light source reach is limited. That is, since the light reaching ranges from the respective light sources are different, it is compensated that the light received by the light receiving unit is emitted from the predetermined light source, so that the positioning by specifying the light source becomes more accurate. . In order to limit the light reaching range of each light source, a predetermined shielding member may be provided for the light source. In addition,
In the case of radio waves, it is possible to change the characteristics of radio waves transmitted from a radio wave transmission source, but it is not easy to limit the reach of the radio waves. In other words, since radio waves have diffractive properties, they can receive radio waves to some extent even in places where visibility is not effective, but it is not easy to control directivity. Therefore, it is not suitable for a positioning system utilizing straightness as in the present invention.

[0005] In the positioning system of the present invention, the light sources can be arranged at equal intervals on the same plane in a predetermined space. For example, when the positioning system of the present invention is applied in a building serving as an event venue, light sources are arranged at equal intervals on a virtual plane at a predetermined height from the floor. The present invention does not limit the height at which the light source is arranged, but should adopt a height that does not hinder the event participants. Although it is important to note that it is important that the light reaching ranges from the respective light sources are different, this is sufficient in a region where light is received by the light receiving means. In the case of an event venue, for example, since the event participants carry light receiving means, the range of light rays from each light source differs in the area where the event is carried (area about 1 m above the floor). Is important. For example,
Even if the range of light rays from adjacent sources overlaps in the area just above the floor of the event venue, there is no problem as long as the range of light rays does not overlap in an area about 1 m above the floor. In addition, the difference in the light reaching ranges from the respective light sources includes a case where the light reaching ranges from the plurality of light sources partially overlap. The advantage of the partial overlap will be described later.

In the positioning system of the present invention, the characteristics of light emitted from a plurality of arranged light sources are made different. As a technique, each light source can be made to emit light by blinking in a different pattern. Each light source can be distinguished from other light sources by blinking and emitting light with its own pattern. The light receiving means can specify the light source that emitted the received light according to the characteristics of the received light. For example, pattern A
When the light that blinks in is received, the light source that blinks and emits in pattern A is specified, and when the light that blinks in pattern B is received, pattern B
The light source that blinks can be specified. As a prerequisite, the light receiving means must have correspondence information between each light source and a blinking pattern of each light source.

The present invention provides a light emitting device effective for the above-described positioning system. That is, the present invention is a light-emitting device in a system that receives light emitted from a plurality of light sources and specifies the light source that emitted the received light to determine the position, and illuminates a predetermined area including identification information. A light emitting device in a positioning system, comprising: a first light source that emits light; and a second light source that emits light including identification information different from the light emitted by the first light source. . In the light emitting device in the positioning system of the present invention, it is necessary to prepare at least two light sources for positioning. Therefore, the light emitting device of the present invention includes a first light source, a second light source, and two light sources. However, this is the minimum condition and does not deny having the third, fourth,..., N-th light sources. It goes without saying that each light source needs to emit light having different characteristics. Further, the light emitting device in the positioning system of the present invention,
The first light source and the second light source may be arranged so as to separate an irradiation area of light emitted from the first light source from an irradiation area of light emitted from the second light source. it can. This is for clearly distinguishing the first light source from the second light source. However, the present invention is not limited to the case where the irradiation area of light emitted from the first light source and the irradiation area of light emitted from the second light source are arranged so as to be separated from each other. That is, the first light source and the second light source
The irradiation area of light emitted from the first light source and the second
May be arranged so that the irradiation area of light emitted from the light source partially overlaps with the light source. As will be described later, the overlapping portion has a smaller area than an irradiation area of light emitted from the first light source and an irradiation area of light emitted from the second light source. Therefore, the accuracy of positioning can be improved by using this overlapping portion.

In the above-described light emitting device in the positioning system of the present invention, the wavelength of light emitted from the first light source and the second light source does not matter. However, there is a demand that the event participants do not want the event participants to recognize the light emitted from the first light source and the second light source at the event venue. In order to meet such a demand, it is desirable to use non-visible light such as ultraviolet light and infrared light. On the other hand, when light that can be visually recognized by humans, such as visible light, is emitted, there is an advantage that the light receiving unit can be appropriately directed to the light source. Therefore, it is preferable to select visible light or non-visible light depending on the purpose. Further, in the light emitting device in the positioning system of the present invention, the first light source and the second light source may be light sources each emitting light of a plurality of colors. By expressing different information in each color, more information can be provided in a short time. That is, the first light source and the second light source can include additional information in addition to including the identification information. Additional information includes a map of the event venue, details of the event, an event schedule, and the like. Then, such additional information and identification information can be assigned to lights of different colors.

The present invention provides a positioning device used in the above-described positioning system. That is, the positioning device of the present invention is a positioning device that performs position positioning by receiving light having different characteristics within a predetermined area and specifying a light source that has emitted the light based on the characteristics of the received light. A light receiving unit for receiving light, a characteristic recognition unit for recognizing characteristics of the received light, and a light source that emits the received light is specified based on a recognition result by the characteristic recognition unit, and a position is specified based on the position of the specified light source. And a position specifying unit that performs the operation. It is preferable that the positioning device of the present invention includes a display unit that displays a position of the light source in the predetermined area.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on embodiments. (First Embodiment) FIG. 1 is a block diagram showing a basic configuration of a positioning system 1 according to a first embodiment. The positioning system 1 includes a marker 2 which is a light emitting device and a positioning device 3. Although only one marker 2 is shown in FIG. 1, the actual positioning system 1 includes a plurality of markers 2.
Will be provided.

The marker 2 comprises a light emitting means 21, a blink control means 22, and a storage means 23. Light emitting means 2
1 emits blinking light based on an instruction from the blinking control means 22. The blinking control means 22 reads out the light emission pattern information stored in the storage means 23 and controls the light emission means 21 to blink and emit light with the light emission pattern. As a more specific example, a sync pattern + a unique ID + other additional information +
A pattern obtained by encoding information including error detection or correction information is stored in the storage unit 23, and the light emitting unit 21 blinks and emits light with the pattern in accordance with an instruction of the blink control unit 22 that has read the pattern. As described above, the positioning system 1 includes the plurality of markers 2, each of which has a unique ID, and the storage unit 23.
Stores a light emission pattern in consideration of the unique ID. Therefore, each marker 2 emits light having different emission characteristics.

The positioning device 3 includes a light receiving means 31, an input means 32, a display means 33, an arithmetic processing means 34, a storage means 35, an interface 36, and an external storage medium 37.
It is composed of The light receiving unit 31 includes an optical sensor that receives light blinking and emitted from the marker 2. The input means 32 includes a button for executing an operation input of the positioning device 3,
It is composed of keys and the like. The storage device 35 stores the positioning device 3
A program for controlling the operation of is stored.
The arithmetic processing means 34 interprets and executes this program.
Information in the area is stored in the external storage medium 37. The area information includes the unique ID of each light emitting device and the location information of the marker 2 in a predetermined area for positioning. Note that the external storage medium 37 is detachable from the positioning device 3. The arithmetic processing unit 34 specifies the marker 2 that has emitted the received blinking light by comparing the blinking pattern of the light received by the light receiving unit 31 with the area information obtained via the interface 36. The arithmetic processing means 34 also determines the marker 2 based on the specified result.
Is specified in the predetermined area, and the result is displayed on the display means 33. As the display unit 33, a liquid crystal display can be used. FIG. 2 shows a specific form of the positioning device 3. This positioning device 3 is a portable positioning device 3, and as shown in FIG.
Has a built-in arithmetic processing means 34, a storage means 35 and an interface 36, a light receiving means 31 on the upper surface thereof, a display means 33 on a central part of the surface,
Further, input means 32 is arranged below the surface. Further, the external storage medium 37 is detachable from the positioning device main body 3a.

FIG. 3 is a perspective view showing a specific example of installation of the marker 2 according to the first embodiment, and FIG. 4 is a side view thereof. FIG.
And as shown in FIG. 4, the marker 2 is attached to a post 4 erected on the floor, for example. The height at which the marker 2 is mounted is set at a position considerably higher than the height of a human. To configure the positioning system 1, a plurality of posts 4 to which the markers 2 are attached are installed. FIGS. 3 and 4 show an example in which the four posts 4 are installed in a straight line, but they may be arranged in a matrix in an area where positioning is required. 3 and 4, the light emitted from the marker 2 is indicated by a dotted line, but since the light reaching area has a conical shape, the floor surface 5 is irradiated in a circular shape.

As shown in FIGS. 3 and 4, the marker 2 is arranged, and the positioning device 3 is operated while the marker 2 emits blinking light.
A human with a walk. The standard height at which the human has the positioning device 3 is defined as the estimated observation height. The one-dot chain line shown in FIG. 4 indicates the estimated observation height. At a height higher than the estimated observation height, the light reaching range of the light emitted from each marker 2 is divided. FIG. 5 shows the range of light emitted from each marker 2 on the estimated observation height plane by a solid circle.
It is. In FIG. 5, M01 to M08 indicate each marker 2
Means the ID assigned to the. Means such as a light-shielding plate may be provided on the marker 2 in order to separate the light reaching range in this way. FIG. 6 schematically shows a situation in which a plurality of markers 2 are arranged and a person having the positioning device 3 walks while emitting blinking light from the markers 2 (2a to 2d). The positioning device 3 includes a light reaching area of light emitted from the marker 2a, a light reaching area of light emitted from the marker 2b, a light reaching area of light emitted from the marker 2c, and the marker 2d as the human walks. Sequentially pass through the light reaching area of the light emitted from the light source, and receive flickering light having different characteristics in the process.

The light receiving means 31 of the positioning device 3 has an area
A positioning method using an image sensor will be described with reference to the flowchart of FIG. After the start of the positioning, the light emitting point on the screen image captured by the light receiving means 31 is searched (S101). If the light emitting point can be extracted, the surrounding luminance of the light emitting point is checked. If not, the search for the light emitting point is continued (S102, S103). The check of the peripheral luminance is performed to determine whether the light emitting point is a point light source. Although the marker 2 is a point light source, since it is assumed that a light source other than the marker 2 is provided for illumination in the event venue, whether or not the marker 2 is selected is determined depending on the form of the light source. For example, as shown in FIG. 8, it is assumed that there are a dot-like light point P1 and a linear light point P2 as light-emitting points. In the case of the light point P1, the peripheral luminance is low, so that it is possible to recognize that the light point P1 is a point light source by checking the peripheral luminance. In the case of the light point P2, since an equivalent luminance portion exists around the captured portion, it can be determined that the light source is not a point light source.

If the light spot extracted by the check of the peripheral luminance is a point light source, the light spot is locked and followed (S104, S105). As described above, since the positioning device 3 is carried by a human, there is a possibility that the positioning device 3 is blurred. While the light spot is locked and followed, a sync pattern is detected (S106). As described above, the blinking light emitted from the marker 2 includes the sync pattern, and it is possible to determine whether or not the extracted light spot is due to the marker 2 based on the presence or absence of the detection of the sync pattern. If no sync pattern is detected, it is determined that the light spot is not caused by the marker 2, and the light emission point search is continued (S107, S101). When the sync pattern is detected, the ID assigned to the marker 2 is obtained from the received blinking light (S108). Thereafter, an error check is performed (S109). When an error is observed, the process returns to the sync pattern detection step (S110, S106). An error occurs when the light receiving state of the positioning device 3 deteriorates and data cannot be received correctly. If no error is observed, the position of the positioning device 3 is specified from the obtained ID and the area data obtained from the external storage medium 37 (S111). FIG. 9 shows an example in which the specified position is displayed on the display means 33 of the positioning device 3. FIG. 9 shows booths A to
This is an example of positioning at an event venue with a booth G,
The specified location is indicated by an asterisk. The person holding the positioning device 3 can check his / her own position by looking at the display on the display unit 33. The display unit 33 is not limited to a mode of displaying image information, but may be audio information. For example, by voice, "Booth F and Booth G
It is located between. "

(Second Embodiment) In the first embodiment described above, an example is shown in which only one marker 2 having the same ID is installed. However, a plurality of markers 2 having the same ID can be provided. For example, in the example shown in FIG. 10, a predetermined area is irradiated by four markers 2 having the same ID. In FIG. 10, M01, M02, and the like indicate the ID of the marker 2. FIG. 10 is a plan view showing a state where four markers 2 having the same ID are arranged in a plurality of rectangular areas. More specifically, a post 4 is provided upright at each corner in a rectangular area indicated by a dashed line, and a marker 2 is attached to each post 4. The light emitted from each marker 2 is as shown by the dotted line in FIG. That is, the range of light emitted from each marker 2 has a fan shape. Therefore, the floor of a single rectangular area is shown in FIG.
As shown in FIG. 7, four fan-shaped lights emitted from the four markers 2 cover the area. Providing a plurality of markers 2 having the same ID as shown in FIG. 10 has the following advantages. That is, since there are a plurality (four) of the markers 2 including the same ID information, the probability that the positioning device 3 receives the light emitted from the marker 2 increases. In particular,
In the example shown in FIG. 10, since the markers 2 are arranged at the four corners of the rectangular area, the light emitted from the markers 2 can be accurately received regardless of the direction of the person holding the positioning device 3. As a result, the probability that the positioning device 3 receives the light emitted from the marker 2 is improved, and thus the probability of positioning is improved.

(Third Embodiment) In the first and second embodiments, the positioning device 3 receives only the light emitted from the marker 2 having the same ID in the area higher than the estimated observation height. Was assumed. However, the present invention is not limited to such an embodiment. By receiving light emitted from the plurality of markers 2 having different IDs, the positioning position can be narrowed down as compared with the case where only light emitted from a single marker 2 is received. The third embodiment shows this specific example. FIG. 12 is a side view showing the arrangement of the marker 2 according to the third embodiment. FIG.
As shown in FIG. 2, in the third embodiment, similarly to the first and second embodiments, a plurality of posts 4 are erected on the floor 5 and a marker 2 is attached to each post 4. In addition, each marker 2
Are different from each other, and each marker 2 emits a blinking light including its own ID information, similarly to the first and second embodiments. In the third embodiment, FIG.
As shown in (1), the light emitted from the adjacent markers 2 overlaps in the range below the predetermined height. In the overlapping range, lights including two different ID information are mixed. FIG. 13 shows a light reaching range of light emitted from each marker 2 on the estimated observation height (indicated by a dashed line) in the third embodiment. The light emitted from one marker 2 is indicated by one circle, but as shown in FIG. 13, the light emitted from a plurality of markers 2 may overlap on the estimated observation height plane. Understand. The third embodiment narrows down the positioning position by utilizing the fact that the lights emitted from the plurality of markers 2 overlap.

A method of narrowing down the positioning position in the third embodiment will be described with reference to FIGS. FIG.
4 to 16 show the light beam reaching ranges of the light emitted from the respective markers 2 on the estimated observation height plane as in FIG. In FIG. 14A, it is assumed that blinking light is emitted only from the marker 2 corresponding to the area painted black. In this case, if the positioning device 3 is present in the area painted black, the light receiving means 31 recognizes the corresponding marker 2. The positioning device 3 specifies the corresponding marker 2 based on the ID information included in the blinking light. Then, the positioning device 3 derives, as a positioning result, that the positioning device 3 exists in the area painted black. FIG. 14B shows the visualization of the positioning result, and the gray solid indicates the range of the positioning result. The gray fill area is proportional to the black fill area in FIG.

In FIG. 15A, blinking light is emitted from the light emitting device (marker 2a) corresponding to the area painted black and the light emitting device (marker 2b) corresponding to the area painted gray. It is assumed that light is emitted. In this case, if the positioning device 3 exists in an overlapping portion between the region painted black and the region painted gray, the light receiving means 31 specifies the markers 2a and 2b. Then, the positioning device 3 derives, as a positioning result, that the positioning device 3 is present in an overlapping portion between the region painted black and the region painted gray. Similar to FIG. 14, when this positioning result is visualized as an area proportional to the overlapping portion, the result is as shown in FIG. 15B. The gray-filled area in FIG. 15B is proportional to the area of the overlapping portion between the black-painted area and the gray-painted area in FIG. 14 (b) and FIG. 15 (b), FIG.
It can be seen that 5 (b) has a smaller gray painted area.

FIG. 16A assumes that the positioning device 3 exists at an overlapping portion of the light emitted from the three markers 2. In this case, the positioning device 3 specifies that the positioning device 3 exists in an overlapping portion of the light emitting regions indicated by black, dark gray, and light gray. Then, as a positioning result, the positioning device 3 derives that the positioning device 3 itself exists in an overlapping portion of the three regions. FIG. 16B shows this positioning result visualized as an area proportional to the overlapping portion. The gray-filled area in FIG. 16B is proportional to the overlapping portion of the light-emitting regions indicated by black, dark gray, and light gray in FIG. FIG.
By comparing FIG. 16B with FIG. 16B, it can be seen that FIG. 16B has a smaller gray-filled area. As is clear from the above description, if the markers 2 are arranged so that the light emission ranges of the lights emitted from the markers 2 having different IDs overlap each other, the positioning results can be narrowed down.

(Supplementary Information) Positioning System 1 According to the Present Invention
Although the embodiment has been described, supplementary items and other specific application examples of the positioning system will be described below. The positioning device 3 used in the positioning system 1 according to the present invention is a portable device provided with an optical sensor. As this optical sensor, a simple optical sensor or an area image sensor can be used. As the optical sensor, a known optical sensor such as an infrared sensor can be used. A typical example of an area image sensor is a CCD (Charge C).
oupled Device). In the present invention, the positioning device 3 may be a device dedicated to the system. For example, a PDA (Personal D) having an optical sensor may be used.
digital assistant) and a digital camera. The positioning device 3 can also be realized as application software operating on the hardware of these devices.

On the other hand, the light source of the marker 2 is red / green /
Monochromatic light such as blue can also be used. In the case of monochromatic light, the load of the light source search in the positioning device 3 can be reduced. For example, using a red light source as the light source of the marker 2,
A red sensor or a color image sensor is used as an optical sensor of the positioning device 3. Since the light source used for illumination is often white light, when the positioning system 1 of the present invention is used in a space where the illumination light source exists, only the point light source emitting only red light is searched. Just do
The search load is reduced. In addition, non-visible light such as infrared light and ultraviolet light can be used as the light source of the marker 2. In this case, an infrared sensor or an ultraviolet sensor is used for the positioning device 3, but there is an advantage that the user is not conscious of light emission from the marker 2. Further, a light source of a plurality of colors can be used as the light source of the marker 2. If a color image sensor such as a CCD is used as the positioning device 3, a plurality of pieces of information can be transmitted and received at the same time. For example, light sources of three colors of red / green / blue are used, a sync pattern is assigned to a red light source, a marker ID is assigned to a green light source, and additional information is assigned to a blue light source. Then, since the positioning device 3 including the color image sensor can receive the sync pattern, the marker ID, and the additional information in parallel, the detection accuracy and speed of the marker 2 can be improved, and information can be acquired in a short time. .

Next, a specific application example of the positioning system 1 of the present invention will be described. For example, the present invention can be applied as a guide terminal for an exhibition held in a building.
The exhibition hall is divided into booths, and each booth has a different I
The marker 2 with D is arranged. The number of the markers 2 arranged in each booth may be singular or plural. It is important that the positioning device 3 serving as a guide terminal can receive light from the corresponding marker 2 in each booth. For passages between booths and other rest areas,
By arranging the markers 2 in appropriate ranges, the light emitted from the markers 2 can be received in the venue without leakage. Exhibition participants are lent a positioning device 3 when entering the exhibition. The positioning device 3 is specialized for the exhibition guide and does not require the external storage medium 37. An infrared sensor is used as the optical sensor. Further, the positioning device 3 holds information on the exhibition. This information includes map (booth arrangement) information in the exhibition hall and information indicating the display contents of each booth. The information about the exhibition uses the storage means 35 incorporated in the positioning device 3.
However, considering that the information is updated at each exhibition,
It is desirable to use a rewritable memory such as a flash memory as the storage unit 35. Marker 2 as above
By using the positioning device 3, the participants of the exhibition can operate the positioning device 3 as appropriate to display the map in the venue, that is, the layout of the booth on the display means 33, and use it as a reference for viewing. Can be. By selecting the displayed booth, it is also possible to obtain information such as the display contents of the booth. Further, as an essential function of the positioning device 3, it is possible to display on the map where the user is in the venue. Further, by including the start time of the event as additional information in the blinking light emitted from the marker 2, the start guidance of the event can be obtained. In addition, when a booth to be visited is designated, a route to a target booth can be guided together with the current position information.

The following example is an example in which the positioning system 1 of the present invention is applied to a theme park. It is assumed that a visitor of the theme park has purchased a PDA with a camera or a digital camera corresponding to the positioning system 1 according to the present invention and is carrying it. A visitor purchases an external storage medium 37 in which information on the theme park is written at the time of entry. This external storage medium 37 can be further provided with a free area for writing information. This external storage medium 37 can be mounted on a PDA or digital camera that is being carried. In addition, information on the theme park can be written in the external storage medium 37 carried by the visitor when entering. The external storage medium 37 must also be able to be mounted on a PDA or digital camera that is being carried. The information on the theme park includes a map in the theme park (location of the attraction), information on the contents of the attraction, and application software for performing positioning and a function as a guide in the theme park. Therefore, the PDA or the digital camera equipped with the external storage medium 37 in which the information on the theme park is written becomes the positioning device 3 that performs the guide function.

A visitor carrying the positioning device 3 equipped with the external storage medium 37 can receive the following services in the theme park. First, visitors can refer to maps or attractions in the theme park. Further, as an essential function of the positioning device 3, it is possible to display on the map where the user is in the theme park. Along with this, you can expect a guide to the attractions you want to go. Furthermore, if the additional information of the blinking light emitted from the marker 2 includes real-time information such as the waiting time of the attraction, the real-time information is acquired, which is useful for viewing in the theme park.

[0027]

As described above, according to the present invention,
Positioning can be performed even in a building where radio waves cannot reach. Moreover, the equipment required for the positioning system of the present invention can be reduced in cost as compared with a conventional positioning system such as GPS.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a positioning system according to a first embodiment.

FIG. 2 is a perspective view showing an example of a positioning device according to the first embodiment.

FIG. 3 is a perspective view showing an arrangement of the light emitting device according to the first embodiment.

FIG. 4 is a side view showing an arrangement of the light emitting device according to the first embodiment.

FIG. 5 is a diagram illustrating a light beam reaching range of light emitted from each marker on an estimated observation height plane according to the first embodiment.

FIG. 6 is a diagram schematically illustrating a state in which a person having a positioning device walks in a state where a light emitting device is arranged.

FIG. 7 is a flowchart illustrating a positioning method according to the first embodiment.

FIG. 8 is a diagram for explaining point light source extraction according to the first embodiment.

FIG. 9 is a diagram illustrating an example in which a positioning result according to the first embodiment is displayed on a display unit.

FIG. 10 is a plan view illustrating an arrangement of a light emitting device according to a second embodiment.

FIG. 11 is a diagram illustrating an aspect of light emitted from a light emitting device according to a second embodiment.

FIG. 12 is a side view illustrating an arrangement of a light emitting device according to a third embodiment.

FIG. 13 is a diagram illustrating a light beam reaching range of light emitted from a marker on an estimated observation height plane according to the third embodiment.

FIG. 14 is a diagram illustrating a technique for narrowing down a positioning position according to the third embodiment.

FIG. 15 is a diagram illustrating a method of narrowing down a positioning position according to the third embodiment.

FIG. 16 is a diagram illustrating a method of narrowing down a positioning position according to the third embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Positioning system, 2, 2a, 2b, 2c, 2d ... Marker, 21 ... Light emission means, 22 ... Flashing control means, 23 ... Storage means, 3 ... Positioning device, 3a ... Positioning device main body, 31 ... Light receiving means, 32 ... input means, 33 ... display means, 34 ... arithmetic processing means, 35 ... storage means, 36 ... interface, 3
7 ... External storage medium, 4 ... Post, 5 ... Floor surface

Claims (11)

[Claims] 1. A plurality of light sources which are arranged in a predetermined space and emit light of different characteristics, receive light emitted from the light source, and identify a position of the light source based on characteristics of the received light. A positioning system, comprising: a positioning unit. 2. The positioning system according to claim 1, wherein the plurality of light sources have a limited light range from each light source. 3. The positioning system according to claim 1, wherein the plurality of light sources emit light that blinks in different patterns. 4. The positioning system according to claim 1, wherein said positioning means specifies its own position by specifying a light source which has emitted the received light based on characteristics of the received light. . 5. A method for receiving light emitted from a plurality of light sources,
A light emitting device in a system for positioning by specifying a light source that emits received light, comprising: a first light source that includes identification information and emits light for irradiating a predetermined area; and the first light source emits light. And a second light source that emits light including identification information different from the light to be emitted. 6. The first light source and the second light source are divided into an irradiation area of light emitted from the first light source and an irradiation area of light emitted from the second light source. The light emitting device in the positioning system according to claim 5, wherein the light emitting device is arranged as follows. 7. The first light source and the second light source partially include an irradiation area of light emitted from the first light source and an irradiation area of light emitted from the second light source. 6. The device according to claim 5, wherein the devices are arranged so as to overlap.
3. A light emitting device in the positioning system according to claim 1. 8. The light emitting device according to claim 5, wherein the first light source and the second light source emit non-visible light. 9. The light emitting device according to claim 5, wherein the first light source and the second light source emit light of a plurality of colors. 10. A positioning device that receives light having different characteristics within a predetermined region and performs position positioning by specifying a light source that emits the light based on characteristics of the received light, wherein the light receiving device receives the light. A part, a characteristic recognizing unit that recognizes characteristics of the received light, and a position specifying part that specifies a light source that has emitted the received light and that specifies a position based on the position of the specified light source based on a recognition result of the characteristic recognizing part. And a positioning unit. 11. The positioning device according to claim 10, wherein the positioning device includes a display unit that displays a position in the predetermined area.