JP2004282406A - Position dependence type information processing system, server and apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position dependence type information processing system, a server and an apparatus which realize a service that depends on a user position inexpensively and with high accuracy by using a direction measuring means. <P>SOLUTION: Direction data of two targets or more measured by a direction sensor 12 of a client terminal 10 are transmitted to a position information management server 20, the position information management server 20 executes a user position calculation program 24a to thereby perform estimation calculation of a user position on the basis of the direction data of the two targets or more and respective position information of two targets or more acquired from a target position information database 25a, therefore being able to surely measure a two-dimensional or three-dimensional user position. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【００５６】
次に、ユーザが存在するであろう位置を確率密度として計算する処理について述べる。問題の定式化のために、以下の確率変数を導入する。但し、以下の説明では、説明の簡単化のためにユーザはマーカを指し示すものとし、指定マーカとは、ｉ番目の測定で指し示したマーカを意味するものとする。
ここで、Ｐはユーザの位置（２次元ベクトル）を表す。Ａ_ｉは、指定マーカの方向の測定値（実数）を表す。Ｃ_ｉは、指定マーカの色（離散値）を表す。複数のマーカが同一の色を持つ可能性もある。Ｍ_ｉは、指定マーカの識別子（離散値）であり、ユーザがどのマーカを指し示したのかを表す。各識別子は唯一のマーカに対応する。
【００５７】
既に述べたように、ユーザは、マーカを選んで指し示し、その色を入力する操作（あるいは、色を選択入力してからマーカを選んで指し示す操作）を複数回繰り返す。全測定回数をｎとする。Ａ_ｉ，Ｃ_ｉ，Ｍ_ｉは１回の測定結果である。但し、システムが直接知ることができるのはＡ_ｉ，Ｃ_ｉのみであり、Ｍ_ｉは入力されない。
ユーザの位置Ｐを固定したとき、ｉ回目の測定は、他の測定結果（ｉ回目以外）の影響を受けないとする。つまり、各測定結果（Ａ_ｉ，Ｃ_ｉ）は、互いにＰの条件付き独立とする。すなわち、以下の数式２が成り立つと仮定する。
【数２】

【００５８】
実際には、同じマーカを続けて指し示すことは稀であるため、これは現実にやや反する仮定である。しかし、独立を仮定することにより、位置確率密度の計算を単純化することができる。
求める位置確率密度は、各測定結果ｃ_ｉ，ａ_ｉが分かったときのＰの事後確率ｆ（ｐ｜ｃ_１，ａ_１，ｃ_２，ａ_２，・・・，ｃ_ｎ，ａ_ｎ）であり、数式３によって表される。
【数３】

【００５９】
また、ｆ（ｃ_１，ａ_１，ｃ_２，ａ_２，・・・，ｃ_ｎ，ａ_ｎ，ｐ）は、数式４によって表される。
【数４】

【００６０】
また、ｆ（ｃ_ｉ，ａ_ｉ｜ｐ）は、数式５によって表される。
【数５】

【００６１】
ここで、ｆ（ｃ_ｉ｜ａ_ｉ，ｍ_ｉ，ｐ），ｆ（ａ_ｉ｜ｍ_ｉ，ｐ），ｆ（ｍ_ｉ｜ｐ），ｆ（ｐ）は以下のように与える。
ｆ（ｃ_ｉ｜ａ_ｉ，ｍ_ｉ，ｐ）：マーカの色Ｃ_ｉは、Ａ_ｉ，Ｐと独立なため、実際にはｆ（ｃ_ｉ｜ｍ_ｉ）で表される。マーカｍ_ｉの色がｃ_ｉのときには、ｆ（ｃ_ｉ｜ｍ_ｉ）＝１，さもなくば、ｆ（ｃ_ｉ｜ｍ_ｉ）＝０となる。
ｆ（ａ_ｉ｜ｍ_ｉ，ｐ）：マーカの位置は既知のため、マーカ識別子ｍ_ｉと、ユーザの位置ｐより、マーカの真の方向が定まる。従って、ｆ（ａ_ｉ｜ｍ_ｉ，ｐ）は、方向センサの測定誤差モデルより計算できる。すなわち、マーカの真の方向をｂとすると、ｆ（ａ_ｉ｜ｍ_ｉ，ｐ）＝ｆ_ｅ（ａ_ｉ−ｂ）となる。
ｆ（ｍ_ｉ｜ｐ）：ユーザのマーカ選択モデルである。すなわち、ユーザが、位置ｐにおいて、ｉ番目の測定の際に、どのマーカを選択するのかを表す確率変数である。例えば、位置ｐから見える全マーカに対する一様分布を用いる。
ｆ（ｐ）：ユーザの位置の事前確率である。例えば、システムの利用可能な領域に対する一様分布を用いる。
【００６２】
以上により、ユーザ位置の確率密度を計算することができる。２つのマーカの方向を測定して位置の推定を行った場合の計算例を図１２に示す。ユーザは、正方形の区画の中心付近で、１回目に左４５度方向にあるマーカを、２回目に右４５度方向にあるマーカを指し示した。そして、事前確率ｆ（ｐ）と、１回目の測定結果における確率密度ｆ（ｃ_１，ａ_１｜ｐ）と、２回目の測定結果における確率密度ｆ（ｃ_２，ａ_２｜ｐ）とを乗じ、これをｆ（ｃ_１，ａ_１，ｃ_２，ａ_２）で除して正規化することにより、事後確率ｆ（ｐ｜ｃ_１，ａ_１，ｃ_２，ａ_２）を求めた。図１２は、各確率密度を位置空間上にプロットしたものであり、白い部分が確率値の高い部分である。事後確率を見ると、ユーザが正方形の中心付近にいることを推定できていることが分かる。
【００６３】
（４）ユーザ位置データの送信（位置情報管理サーバ２０からクライアント端末１０へ）
次に、位置情報管理サーバ２０は、上述した処理により求められたユーザ位置情報をクライアント端末１０へ送信する。クライアント端末１０は、ユーザ位置情報を受信するとＲＡＭ１５ｃ（又は不揮発性メモリ１５ｄ）に格納する。同時に、ディスプレイ１３上にユーザ位置付近の地図を表示するとともに、地図上でユーザ位置に該当する箇所にマークを表示する処理を行う。これにより、ユーザは、自分の現在位置を地図上で確認することができる。
【００６４】
（５）対象物の方向測定（クライアント端末１０）
続いて、ユーザは、サービスの提供を希望する対象物の方向をクライアント端末１０の先端部で指し示し、方向センサ１２により方向を測定する。
【００６５】
（６）ユーザ位置＋対象物方向測定データの送信（クライアント端末１０から位置情報管理サーバ２０へ）
そして、先に取得したユーザ位置、及び対象物方向測定データが、クライアント端末１０から位置情報管理サーバ２０へ送信される。
【００６６】
（７）指定対象物の推定（位置情報管理サーバ２０）
位置情報管理サーバ２０のＣＰＵ２１は、プログラム記憶手段２４より対象物推定プログラム２４ｂを読み出して実行する。すなわち、基地局３０及びネットワーク５０を介して、先に取得したユーザ位置、及び対象物方向測定データを受信すると、ユーザによって指定された対象物（すなわち、指定対象物）である可能性の高い対象物を対象物／サービス位置情報データベース２５ｂから検索する。尚、方向測定データとして方位角だけでなく仰角をも用いて指定対象物を推定することにより、例えば、ビルの高層階に設けられた屋外ディスプレイと低層階に設けられた屋外ディスプレイとを区別することができる。
ここで、指定対象物を推定するために、ある対象物が指定対象物である確率を計算する処理について説明する。問題の定式化のために、以下の確率変数を導入する。Ｐは、ユーザの位置（２次元ベクトル）である。Ａは、指定対象物の方向の測定値（実数）である。Ｔは、指定対象物の識別子（離散値）であり、ユーザがどの対象物を指し示したのかを表す。各識別子は、唯一の対象物と対応する。
求める確率は、ｆ（ｔ｜ａ）又はｆ（ａ｜ｔ）であり、これらはｆ（ａ，ｔ）から計算できる。例えば、（ｔ｜ａ）は、数式６によって表される。
【数６】

【００６７】
また、ｆ（ａ，ｔ）は、数式７によって表される。
【数７】

【００６８】
また、ｆ（ａ，ｔ，ｐ）は、数式８によって表される。
【数８】

【００６９】
ここで、ｆ（ａ｜ｔ，ｐ），ｆ（ｔ｜ｐ），ｆ（ｐ）は、以下のように与える。
ｆ（ａ｜ｔ，ｐ）：対象物の位置は既知のため、対象物の識別子ｔと、ユーザの位置ｐとから対象物の真の方向が定まる。従って、位置確率密度の場合と同様に、方向センサの測定誤差モデルより計算できる。
ｆ（ｔ｜ｐ）：ユーザの対象物選択モデルである。すなわち、ユーザが、位置ｐにおいてどの対象物を指し示すかを表す確率関数である。例えば、位置ｐから見える全対象物に対する一様分布を用いる。
ｆ（ｐ）：ユーザ位置の確率密度である。これは、上述した計算によって得られた位置確率密度である。
以上により、各対象物が指定対象物である確率が計算され、その計算結果に基づいて指定対象物が推定される。
【００７０】
（８）指定対象物推定結果の送信（位置情報管理サーバ２０からクライアント端末１０へ）
位置情報管理サーバ２０は、上述した処理によって推定された指定対象物推定結果をクライアント端末２へ送信する。尚、推定された指定対象物が一つである場合は一つの指定対象物の情報のみが送信され、複数である場合は複数の指定対象物についての一覧情報が送信される。そして、クライアント端末１０が、ネットワーク５０及び基地局３０を介して、指定対象物推定結果を受信すると、ディスプレイ１３に推定された指定対象物の名前が表示される。あるいは、指定対象物として推定された複数の指定対象物候補の一覧が表示される。
【００７１】
（９）指定対象物の確認（クライアント端末１０）
続いて、クライアント端末１０の操作ボタン１４を用いて、ディスプレイ１３に表示された指定対象物の確認操作を行う。例えば、ディスプレイ１３に指定対象物として「屋外ディスプレイＣ」のみが表示されている場合は、「屋外ディスプレイＣ」を指定対象物として確認する操作を行う。一方、複数の指定対象物候補の一覧が表示されている場合は、操作ボタン１４を用いて、それらの一つ（例えば、「屋外ディスプレイＣ」）を選択する操作を行う。
【００７２】
（１０）利用可能サービス要求の送信（クライアント端末１０から位置情報管理サーバ２０、応用サービス提供機器４０へ）
クライアント端末１０において指定対象物が確認若しくは選択されると、利用可能サービス及び指定対象物の識別情報が位置情報管理サーバ２０へ送信される。また、必要に応じて、さらに位置情報管理サーバ２０から当該対象物に対応する応用サービス提供機器４０へ利用可能サービス要求が送信される。例えば、上述した例では、「屋外ディスプレイＣ」に対する利用可能サービス要求が送信される。
【００７３】
（１１）利用可能サービス一覧の送信（位置情報管理サーバ２０、応用サービス提供機器４０からクライアント端末１０へ）
続いて、位置情報管理サーバ２０は、選択若しくは確認された指定対象物に関する利用可能サービス一覧をクライアント端末１０へ送信する。利用可能サービス一覧は、位置情報管理サーバ２０が有する対象物／サービス位置情報データベース２５ｂより検索することにより、若しくは、当該対象物に対応する応用サービス提供機器４０にアクセスすることにより取得される。クライアント端末１０は、ネットワーク５０及び基地局３０を介して指定対象物に関する利用可能サービス一覧を受信すると、ディスプレイ１３に利用可能サービス一覧を表示する。例えば、上述した例では、「屋外ディスプレイＣ」における利用可能サービス一覧として、「電源ＯＮ」、「電源ＯＦＦ」が送信される。また、指定対象物が「レストランＡ」である場合は、利用可能サービス一覧として、「ランチメニュー表示」、「ディナーメニュー表示」が送信される。
【００７４】
（１２）サービスの選択（クライアント端末１０）
ユーザは、クライアント端末１０のディスプレイ１３に表示された利用可能サービス一覧から、提供を希望するサービスを操作ボタン１４を用いて選択する。上述した「屋外ディスプレイＣ」の例では、例えば、「電源ＯＮ」を選択する。
尚、上記（８）において指定対象物の推定結果のみを位置情報管理サーバ２０からクライアント端末１０へ送信するとしたが、（７）において指定対象物の推定と共に利用可能サービス一覧の取得を行うことにより、（９）において指定対象物の確認／選択と（１２）のサービスの選択とを一度に行う構成としてもよい。
【００７５】
（１３）サービス指示（クライアント端末１０から位置情報管理サーバ２０、応用サービス提供機器４０へ）
クライアント端末１０において利用可能サービスが選択されると、その選択されたサービスに関する指示（以下、サービス指示と称する）が位置情報管理サーバ２０へ送信される。位置情報管理サーバ２０は、基地局３０及びネットワーク５０を介して受信したサービス指示を指定対象物に対応する応用サービス提供機器４０へ送信する。上述した「屋外ディスプレイＣ」の例では、（１２）において選択された「電源ＯＮ」に関するサービス指示が応用サービス提供機器４０へ送信される。
【００７６】
（１４）サービスの提供（応用サービス提供機器４０）
応用サービス提供機器４０は、位置情報管理サーバ２０よりサービス指示を受信すると、そのサービス指示に基づいてサービスの提供を実行する。上述した例では、応用サービス提供機器４０である屋外ディスプレイＣが電源ＯＮされる。このように、ユーザは、ビルの壁面に設けられた屋外ディスプレイ装置をクライアント端末１０を用いて容易に遠隔操作することができるのである。
あるいは、指定対象物が「レストランＡ」であり且つ「ランチメニュー表示」をサービスとして選択した場合には、応用サービス提供機器４０（例えば、レストランＡに関する情報を管理するネットワーク５０上のサーバコンピュータ）がランチタイムのメニュー情報をクライアント端末１０に対して送信する。そして、クライアント端末２は、ネットワーク５０及び基地局３０を介して「レストランＡ」のランチメニューを受信し、ディスプレイ１３に表示する。このように、ユーザは、実際に「レストランＡ」へ到着するのに先だって、ランチメニューをクライアント端末２のディスプレイ１３において見ることができる。
【００７７】
次に、環境に存在するサービスの発見を行う場合の一例について処理の流れ及び各部の作用を、図１０を参照しつつ説明する。尚、（１）ランドマーク／マーカの方向測定から（４）ユーザ位置データの送信までは上述した例と同様であるので説明を省略する。
【００７８】
（５’）任意方向の測定（クライアント端末１０）
ユーザは、何らかのサービスを発見したいと考える任意の方向をクライアント端末１０の先端部で指し示し、方向センサ１２により方向測定を行う。
【００７９】
（６’）ユーザ位置データ＋任意方向の方向測定データの送信（クライアント端末１０から位置情報管理サーバ２０へ）
そして、先に取得されたユーザ位置データ及び任意方向の測定データが、クライアント端末１０から位置情報管理サーバ２０へ送信される。
【００８０】
（７’）サービスの発見（位置情報管理サーバ２０）
位置情報管理サーバ２０のＣＰＵ２１は、プログラム記憶手段２４よりサービス発見プログラム２４ｃを読み出して実行する。すなわち、対象物／サービス位置情報データベース２５ｂに記憶された複数のサービス種別の位置情報を参照し、ユーザ位置データと任意方向の方向測定データとに基づいて、各サービスの確率密度の計算を行い、ユーザ位置を基点として方向測定データによって表される方向におけるサービスの存在を発見する（確率密度の計算については上述した「指定対象物の推定」参照）。例えば、ユーザが最寄りの駅の方向をクライアント端末１０により指示した場合には、ユーザの現在位置から駅方向に存在する全種別のサービス（「飲食店」、「衣料品店」等）の存在を発見する。あるいは、希望する特定のサービス種別（例えば、「飲食店」）をクライアント端末１０において指定して（６’）で送信し、当該指定方向に存在し且つ特定のサービス種別に該当するサービス（例えば、「飲食店」）の存在を発見するようにしてもよい。
【００８１】
（８’）発見されたサービス一覧の送信（位置情報管理サーバ２０からクライアント端末１０へ）
続いて、位置情報管理サーバ２０は、（７’）において発見されたサービス一覧をクライアント端末１０へ送信する。あるいは、発見されたサービスの存在を表す確率密度データをクライアント端末１０へ送信するようにしてもよい。
【００８２】
（９’）サービス一覧の表示（クライアント端末１０）
クライアント端末１０は、ネットワーク５０を介して位置情報管理サーバ２０から受信したサービス一覧をディスプレイ１３に表示する。あるいは、音、振動、光等によってサービスの存在をユーザに知らせるようにしてもよい。さらに、サービスの存在を表す確率密度データを受信した場合には、確率密度の大きさに対応する振動の強さ、音の大きさ、画像内容等を出力することにより、サービスの存在可能性を表現するようにしてもよい。
【００８３】
以上詳述したことから明らかなように、本実施形態の位置依存型情報処理システム１は、ネットワーク５０を介して通信接続された位置情報管理サーバ２０とクライアント端末１０とからなり、クライアント端末１０側のユーザ位置に依存した情報処理を行うシステムであって、クライアント端末１０に設けられ、ユーザによって指示された任意の方向を測定する方向センサ１２と、位置情報管理サーバ２０に設けられ目標物位置情報データベース２５ａを記憶するデータベース記憶装置２５と、方向センサ１２によって測定された二以上の目標物の方向データと、目標物位置情報データベース２５ａより取得された二以上の目標物の各々の位置情報とに基づいて、ユーザ位置の推定計算を行うユーザ位置計算手段として機能するユーザ位置計算プログラム２４ａを備えたことを特徴とする。
よって、方向センサ１２による二以上の目標物の方向測定結果と各目標物の位置情報とを利用してユーザ位置を推定計算するので、環境側に高価なユーザ位置測定用設備を設けることなく、極めて安価な構成で確実にユーザ位置を測定することができる。また、方位角及び仰角の方向測定結果を用いてユーザ位置を推定計算するため、二次元位置に限らず、三次元位置をも測定することができる。従って、例えば、ユーザ位置がビルの高層階である場合と低層階である場合との区別も可能である。
【００８４】
また、本実施形態によれば、ユーザが存在するであろう位置を確率密度として計算するので、方向センサ１２における測定誤差をも考慮して高精度且つ確実にユーザ位置を推定することができる。
また、本実施形態によれば、位置情報管理サーバ２０に設けられ、対象物／サービス位置情報データベース２５ｂを記憶するデータベース装置２５と、対象物／サービス位置情報データベース２５ｂに記憶された複数の対象物の位置情報を参照し、ユーザ位置データと対象物の方向データとに基づいて、各対象物がユーザによって指示された確率を計算することにより指定対象物を推定する指定対象物推定手段として機能する対象物推定プログラム２４ｂと、を備えているので、ユーザが何らかのサービスの提供を希望する場合等に、ユーザが方向センサ１２を内蔵したクライアント端末１０で指示した対象物を指定対象物として確実に推定することができる。そして、位置情報管理サーバ２０が推定した指定対象物の情報をクライアント端末１０へ送信することにより、クライアント端末１０のディスプレイ１３に指定対象物の情報が表示されるので、ユーザは指定対象物の情報を取得することができる。
【００８５】
また、本実施形態によれば、ネットワーク５０上にて各対象物に対応づけて設けられ、ネットワーク５０を介して受信したサービス指示に基づいて各対象物に関連した所定のサービスを提供するサービス提供装置としての応用サービス提供機器４０を備え、クライアント端末１０は、指定対象物に対応する応用サービス提供機器４０に対してサービス指示を送信可能に構成されている。従って、クライアント端末１０が指定対象物に対応する応用サービス提供機器４０に対してサービス指示を送信すると、応用サービス提供機器４０は、ネットワーク５０を介して受信したサービス指示に基づいて指定対象物に関連した所定のサービスの提供を実行する。これにより、ユーザは、クライアント端末１０における極めて簡単な操作により、対象物から離れた場所において、対象物に関する情報取得や対象物に対するサービスの指示等を行うことができる。
【００８６】
また、本実施形態によれば、位置情報管理サーバ２０に設けられ、環境に存在する複数のサービスについて各々の位置情報を記憶する対象物／サービス位置情報データベース２５ｂを記憶するデータベース装置２５と、対象物／サービス位置情報データベース２５ｂに記憶された複数のサービス種別の位置情報を参照し、ユーザ位置データとクライアント端末１０から送信された任意の方向を表す方向データとに基づいて、各サービスがユーザ位置を基点として当該任意の方向に存在する確率を計算することによりサービスの存在を発見するサービス発見手段として機能するサービス発見プログラム２４ｃと、を備えているので、既知のユーザ位置と、ユーザが方向センサ１２を内蔵したクライアント端末１０で指示した任意の方向の方向データとを用いて、対象物／サービス位置情報データベース２５ｂに記憶された各サービスが当該方向に存在する確率を計算することによりサービスの存在を確実に発見することができる。そして、位置情報管理サーバ２０が発見したサービスの一覧をクライアント端末１０へ送信することにより、クライアント端末１０のディスプレイ１３にサービス一覧が表示されるので、ユーザは指示した方向におけるサービスの存在を確実に知ることができる。
【００８７】
また、本実施形態によれば、方向センサ１２が、方位角及び仰角を測定可能であり、位置情報管理サーバ２０に送信される方向データには、方位角及び仰角の測定データが含まれていることを特徴とする。
従って、ユーザ位置計算プログラム２４ａの実行により、ユーザの三次元位置を推定することができる。また、指定対象物推定プログラム２４ｂの実行により、三次元方向に基づいて指定対象物を推定することができる。また、サービス発見プログラム２４ｃの実行により、三次元方向に基づいてサービスの存在を発見することができる。
【００８８】
次に、本発明の第二の実施形態について図面を参照しつつ説明する。尚、上述した第一の実施形態と同一の構成については同一符号を付し、これらについての詳細説明を省略する。
第一の実施形態の位置依存型情報処理システム１は、クライアント端末１０と位置情報管理サーバ２０との間でネットワーク５０を介して通信を行うことにより、ユーザ位置に依存した各種情報の提供や対象物に関するサービス指示等の位置依存サービスを実現する構成であったが、本実施形態の位置依存型情報処理装置１０１はネットワークに接続することなく装置単体で位置依存サービスの提供を実現するものである。
【００８９】
位置依存型情報処理装置１０１は、図１３に示すように、通信モジュール１１と、方向センサ１２と、ディスプレイ１３と、操作ボタン１４と、これら各部を制御する制御部１５とから構成されている。
制御部１５は、ＣＰＵ１５ａ，ＲＯＭ１５ｂ，ＲＡＭ１５ｃ，不揮発性メモリ１５ｃ等とから構成され、上述した各部を制御する。また、ＲＯＭ１５ｂには、ユーザ位置計算プログラム２４ａ、対象物推定プログラム２４ｂ、サービス発見プログラム２４ｃが格納されている。また、不揮発性メモリ１５ｄには、ランドマーク／マーカ位置情報データベース２５ａと、対象物／サービス位置情報データベース２５ｂとが格納されている。ここで、上述した各プログラムは、それぞれ第一の実施形態と同様のものである。一方、ランドマーク／マーカ位置情報データベース２５ａ及び対象物／サービス位置情報データベース２５ｂは、不揮発性メモリの記憶容量が極めて限られているため、ビル内や、テーマパーク内等の特定エリアに利用可能領域が限定されているものとする。尚、これらのデータベースは書き換え可能な不揮発性メモリ１５ｃに記憶されているので、データベース内容を随時更新することが可能である。
【００９０】
本実施形態では、上述した第一の実施形態においてクライアント端末１０における処理内容に加えて、位置情報管理サーバ２０において実行される処理をも位置依存型情報処理装置１０１内部において実行することにより、ユーザ位置の測定、対象物の推定、対象物に関する情報の取得、サービスの発見等を行うことができる。また、応用サービス提供機器４０に対してサービス指示を行う場合は、通信モジュール１１によりネットワークに接続してサービス指示の送信を行う。但し、サービス指示を行わない場合には、通信モジュール１１を省略して構成することも可能である。
【００９１】
尚、本発明は上述した各実施の形態に限定されるものではなく、本発明の主旨を逸脱しない範囲で種々の変更を施すことが可能である。
例えば、前記各実施形態では、方向センサ１２が地磁気及び重力を検出することにより方位角と仰角とを測定する構成としたが、方位角（二次元方向）のみを用いる構成としてもよい。さらに、絶対方向（方位角、仰角）に代えて、例えば、角速度センサを用いて二以上のマーカ間の相対方向（例えば、マーカＡを基準としたときのマーカＢの方向）を測定し、相対方向の測定結果よりユーザ位置を推定計算する構成としてもよい。
【００９２】
また、前記第一の実施形態では、ユーザ位置計算プログラム２４ａ、対象物推定プログラム２４ｂ、サービス発見プログラム２４ｃ、ランドマーク／マーカ位置情報データベース２５ａ、対象物／サービス位置情報データベース２５ｂが位置情報管理サーバ２０側に設けられる構成としたが、これらの全て若しくは一部がクライアント端末２に設けられる構成であってもよい。
また、前記各実施形態では、ユーザ位置の測定及び指定対象物の発見（又はサービス指示）の両方の場面で方向測定を行う例を示したが、ユーザ位置が既知である場合は、操作ボタン１４により直接ユーザ位置を入力し、指定対象物の発見等においてのみ方向測定を行うようにしてもよい。さらに、方向センサ１２を内蔵したクライアント端末１０又は位置依存情報処理装置１０１を用いて測定された方向におけるサービスの存在を発見する例を示したが、クライアント端末１０等を用いて方向の範囲（例えば、北から西までの範囲）を指定し、その範囲内におけるサービスの存在を発見する構成としてもよい。
【００９３】
【発明の効果】
以上詳述したように、本発明によれば、方向測定手段による二以上の目標物の方向測定結果と各目標物の位置情報とを利用してユーザ位置を推定計算するので、環境側に高価なユーザ位置測定用設備を設けることなく、極めて安価な構成で確実にユーザ位置を測定することができる。また、方向測定結果を用いてユーザ位置を推定計算するため、二次元位置に限らず、三次元位置をも測定可能な構成とすることができる。
また、本発明によれば、ユーザ位置データと対象物の方向データとに基づいて、各対象物がユーザによって指示された確率を計算することにより指定対象物を確実に推定することができる。
また、本発明によれば、ユーザ位置と、ユーザが方向測定手段を用いて指し示した任意の方向の方向データとを用いて、各サービスが当該方向に存在する確率を計算することによりサービスの存在を確実に発見することができる。
【図面の簡単な説明】
【図１】本発明の第一の実施形態における位置依存型情報処理システムの全体構成を示すブロック図である。
【図２】クライアント端末の外観構成図である。
【図３】クライアント端末のシステム構成を示すブロック図である。
【図４】方向センサによって得られるヨー角（方位角）を説明する図である。
【図５】位置情報管理サーバのシステム構成を示すブロック図である。
【図６】ランドマーク／マーカ位置情報データベースの一例を示す図である。
【図７】対象物／サービス位置情報データベースの一例を示す図である。
【図８】利用可能領域の定義例を示す説明図である。
【図９】位置依存サービスの一例（指定対象物の推定）の流れを説明する図である。
【図１０】位置依存サービスの他の一例（サービスの発見）の流れを説明する図である。
【図１１】マーカを用いたユーザ位置の推定の原理を説明する図である。
【図１２】ユーザ位置の確率密度の計算例を説明する図である。
【図１３】第二の実施形態における位置依存型情報処理装置のシステム構成を示すブロック図である。
【符号の説明】
１…位置依存型情報処理システム、１０…クライアント端末（クライアント）、１２…方向センサ（方向測定手段）、２０…位置情報管理サーバ（サーバ）、１５ａ，２１…ＣＰＵ（ユーザ位置計算手段、対象物推定手段、サービス発見手段）、２４…プログラム記憶手段、２４ａ…ユーザ位置計算プログラム（ユーザ位置計算手段）、２４ｂ…対象物推定プログラム（対象物推定手段）、２４ｃ…サービス発見プログラム（サービス発見手段）、２５…データベース記憶手段（目標物位置情報データベース手段、対象物位置情報データベース手段、サービス位置情報データベース手段）、２５ａ…ランドマーク／マーカ位置情報データベース、２５ｂ…対象物／サービス位置情報データベース、４０…応用サービス提供機器（サービス提供装置）。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a position-dependent information processing system, server, and device for realizing a service depending on a user position and a direction designated by a user.
[0002]
[Prior art]
In recent years, with the spread of mobile communication terminals such as mobile phones and car navigation systems, various services depending on the user position have been developed. As a method of detecting a user position, GPS (Global Positioning System) is widely used. That is, the acquisition of the user position information using the GPS is performed by receiving information such as the position and time of a satellite transmitted from a GPS satellite in a circular orbit by a receiver on the user side, and transmitting a radio wave from the satellite. This is done by measuring the time it takes to reach the receiver from and converting it to a distance.
[0003]
[Problems to be solved by the invention]
However, GPS requires a long time from when the power of the receiver is turned on until the GPS satellite is captured and the sensor becomes available, and it is used in places where radio waves from GPS satellites are difficult to reach, such as building streets and indoors. It has been pointed out that there are various problems, such as difficulty, a position error of the satellite, and a delay of about 10 m due to a delay of a radio wave when the radio wave from the satellite passes through the troposphere or the ionosphere.
On the other hand, as a position measurement technology for a mobile phone, a technology (Assisted-GPS) for shortening the system start-up time by capturing GPS satellites on the base station side, or a position is known as an indoor positioning technology. Techniques (Active-BAT) using the arrival time of an ultrasonic wave at a certain ultrasonic receiving apparatus have also been proposed, but these systems generally have a problem in that environmental facilities become expensive.
It is theoretically possible to obtain a three-dimensional position including altitude by using radio waves from many GPS satellites in a conventional technology such as GPS, but it is difficult to obtain detailed position information. There was a problem.
On the other hand, in a service that depends on the user position, if the method of specifying an object related to the provision of the service is complicated, a problem arises that the user is difficult to use.
[0004]
The present invention has been made in view of such a problem, and an object of the present invention is to provide a position-dependent information processing system, a server, and an apparatus that can realize a service that depends on a user position at low cost and with high accuracy using a direction measuring unit. It is to provide.
[0005]
[Means for Solving the Problems]
In order to achieve this object, a position-dependent information processing system according to claim 1 comprises a server and a client communicatively connected via a network, and performs information processing depending on the position of the client-side user. A system, provided in the client, a direction measuring means for measuring an arbitrary direction specified by a user, and provided in at least one of the client or the server, for each of a plurality of targets present in the environment Target position information database means for storing position information, direction data of two or more targets provided in at least one of the client and the server, and measured by the direction measuring means, and the target position information database means Based on the position information of each of the two or more targets obtained from the Characterized in that a user position calculating means for estimating calculations over THE position.
Therefore, the direction measuring means provided in the client measures the directions of two or more targets specified by the user, and the user position calculating means provided in at least one of the client and the server is measured by the direction measuring means. Direction data of two or more landmarks and two or more landmark data obtained from landmark position information database means provided in at least one of the client and the server and storing respective position information for a plurality of landmarks existing in the environment. The estimation calculation of the user position is performed based on the position information of each of the targets. Therefore, since the user position is estimated and calculated by using the direction measurement result of two or more targets by the direction measurement unit and the position information of each target, without providing expensive user position measurement equipment on the environment side, The user position can be reliably measured with an extremely inexpensive configuration. In addition, since the user position is estimated and calculated using the direction measurement result, a configuration capable of measuring not only a two-dimensional position but also a three-dimensional position can be provided. The landmarks include landmarks of high-rise buildings and the like, and markers (markers) artificially provided on walls and telephone poles (the same applies hereinafter). The measurement of the direction of the target is not limited to the absolute direction, but may be a relative direction between the targets.
[0006]
The position-dependent information processing system according to claim 2, wherein the user position calculating means calculates a probability density based on the direction data of the two or more targets and their position information, It is characterized by estimating the user position.
Therefore, since the position where the user will be located is calculated as the probability density, the user position can be estimated with high accuracy and reliability in consideration of the measurement error in the direction measuring means.
[0007]
The position-dependent information processing system according to claim 3, wherein the position-dependent information processing system is provided in at least one of the client and the server, and stores position information of a plurality of objects existing in an environment. And, provided in at least one of the client or the server, with reference to the position information of the plurality of objects stored in the object position information database means, measured by the user position data and the direction measuring means A designated object estimating means for estimating a designated object by calculating a probability of each object being instructed by a user based on direction data of the object.
Therefore, the designated target estimating means provided in at least one of the client and the server refers to the position information of the plurality of targets stored in the target position information database unit, and is measured by the user position data and the direction measuring unit. The designated object is estimated by calculating the probability of each object being instructed by the user based on the direction data of the object. Therefore, when the user desires to provide some kind of service, the target object specified by the user using the direction measuring means can be reliably estimated as the specified target object.
Here, the target object refers to an object that can be pointed to by a user in connection with provision of some service. Specifically, it corresponds to a building such as a store or a restaurant, or a device such as a large display provided on a wall surface of the building. In addition, the designated object refers to an object actually designated by the user. (Hereinafter the same)
[0008]
Further, the location-dependent information processing system according to claim 4, provided in at least one of the client or the server, a service location information database means for storing location information for a plurality of services existing in the environment, It is provided in at least one of the client and the server, refers to the location information of the plurality of services stored in the service location information database unit, and represents user location data and an arbitrary direction measured by the direction measurement unit. Service finding means for finding the existence of a service by calculating the probability that each service exists in the arbitrary direction based on the user position based on the direction data.
Therefore, using the known user position and the direction data in an arbitrary direction indicated by the user using the direction measuring means, it is possible to reliably find the existence of the service by calculating the probability of existence in the direction. it can. For example, when the user turns the direction measuring unit in an arbitrary direction without specifying the type of service, the existence of all types of services in the direction is found, and the service is displayed by a display device or the like provided in the client. Can be informed. When the user specifies a specific service type in the client and turns the direction measuring unit in an arbitrary direction, the presence of a service belonging to the specific service type in the direction may be discovered. Alternatively, the client may notify the user of the existence of the service by sound, vibration, light, or the like. Furthermore, the existence of a service is represented as a probability density, and the presence of a service may be represented by outputting vibration intensity, sound volume, image content, and the like corresponding to the magnitude of the probability density. Good (hereinafter the same in claims 7, 13, 15, 22, 26).
[0009]
The position-dependent information processing system according to claim 5, comprising a server and a client communicatively connected via a network, wherein the system performs information processing depending on the position of the client-side user. A direction measurement unit provided in the client and configured to measure an arbitrary direction designated by a user; and an object provided in at least one of the client and the server and storing position information of each of a plurality of objects existing in the environment. Object position information database means, provided in at least one of the client or the server, and referring to the position information of the plurality of objects stored in the object position information database means, the user position data and the direction measurement Each object based on the direction data of the object measured by the means. There characterized by comprising a designation object estimating means for estimating a designated object by calculating the probabilities indicated by the user.
Therefore, the designated target estimating means provided in at least one of the client and the server refers to the position information of the plurality of targets stored in the target position information database unit, and is measured by the user position data and the direction measuring unit. The designated object is estimated by calculating the probability of each object being instructed by the user based on the direction data of the object. Therefore, when the user desires to provide some kind of service, the target object specified by the user using the direction measuring means can be reliably estimated as the specified target object.
[0010]
The position-dependent information processing system according to claim 6 is provided on the network in association with each of the objects, and is associated with each of the objects based on a service instruction received through the network. And a service providing device for providing the predetermined service, wherein the client is configured to be able to transmit a service instruction to the service providing device corresponding to the designated object.
Therefore, when the client transmits a service instruction to the service providing apparatus corresponding to the designated object, the service providing apparatus provides a predetermined service related to the designated object based on the service instruction received via the network. Execute. The provision of the service means, for example, providing information on the product to be handled when the object is a store, and when the object is a device such as a large display provided on the wall of the building, the device is provided. Means power on / off. (Hereinafter the same)
[0011]
The position-dependent information processing system according to claim 7, comprising a server and a client communicatively connected via a network, wherein the system performs information processing depending on the position of the client-side user. A direction measuring means provided in the client for measuring an arbitrary direction specified by the user; and a service position provided in at least one of the client and the server and storing position information of a plurality of services existing in the environment. Information database means, provided in at least one of the client or the server, with reference to the location information of the plurality of services stored in the service location information database means, measured by the user location data and the direction measurement means Based on direction data representing an arbitrary direction Wherein each service is characterized in that and a service discovery means for discovering the existence of a service by calculating the probability that exists in the arbitrary direction as a base point to the user position.
Therefore, using the known user position and the direction data in an arbitrary direction indicated by the user using the direction measuring means, it is possible to reliably find the existence of the service by calculating the probability of existence in the direction. it can. For example, the user turns the direction measuring unit in an arbitrary direction without specifying the type of service, thereby discovering the existence of services of all types in the direction, and displaying the existence of the service by a display device or the like provided in the client. Can be notified. When the user specifies a specific service type in the client and turns the direction measuring unit in an arbitrary direction, the presence of a service belonging to the specific service type in the direction may be discovered.
[0012]
Further, in the position-dependent information processing system according to claim 8, the direction measuring means can measure at least one of an azimuth angle and a relative angle, and the direction data includes at least an azimuth angle or a relative angle. It is characterized in that any measurement data is included.
Therefore, the user position calculating means can estimate the two-dimensional position of the user using the direction data including at least the measurement data of either the azimuth angle or the relative angle. Further, the designated target estimating means can estimate the designated target based on a two-dimensional direction represented by direction data including at least measurement data of either the azimuth angle or the relative angle. Further, the service discovery means can discover the presence of a service based on a two-dimensional direction represented by direction data including at least one of azimuth and relative angle measurement data.
[0013]
The position-dependent information processing system according to claim 9, wherein the direction measuring means can further measure an elevation angle, and the direction data includes elevation angle measurement data. I do.
Therefore, the user position calculating means can estimate the three-dimensional position of the user by using the direction data including the measurement data of at least one of the azimuth angle and the relative angle and the elevation angle. The designated object estimating means can estimate the designated object based on at least one of the azimuth angle and the relative angle and the three-dimensional direction represented by the direction data including the measurement data of the elevation angle. Further, the service discovery means can discover the presence of the service based on a three-dimensional direction represented by direction data including at least one of the azimuth angle and the relative angle and the elevation data.
[0014]
Further, a position-dependent information processing server according to claim 10 is a server which is connected to a client via a network and performs information processing depending on a user position on the client side. Target position information database means for storing position information of each of the targets, direction data of two or more targets received from the client via the network, and the target information obtained from the target position information database means User position calculation means for estimating and calculating the user position on the client side based on the position information of each of the two or more targets.
Therefore, when the result of measuring the directions of the two or more landmarks specified by the user is received from the client via the network, the user position calculating means calculates the direction data of the two or more landmarks and the plurality of landmarks existing in the environment. The user position estimation calculation is performed based on the position information of each of the two or more targets acquired from the target position information database means that stores the position information of each target. Therefore, since the user position is estimated and calculated using the direction measurement results of two or more targets and the position information of each target, an extremely inexpensive configuration can be achieved without providing expensive user position measurement equipment on the environment side. Thus, the user position can be reliably measured. In addition, since the user position is estimated and calculated using the direction measurement result, a configuration capable of measuring not only a two-dimensional position but also a three-dimensional position can be provided. Further, since the user position calculating means for estimating the user position having a large processing load and the target position information database means having a large data amount are provided on the server side, a client having an extremely simple and inexpensive configuration is used. be able to.
[0015]
The position-dependent information processing server according to claim 11, wherein the user position calculation means calculates a probability density based on the direction data of the two or more targets and their position information, The method is characterized in that the user position is estimated.
Therefore, since the position where the user will be located is calculated as the probability density, the user position can be estimated with high accuracy and reliability in consideration of the measurement error in the direction measuring means.
[0016]
A position-dependent information processing server according to a twelfth aspect includes an object position information database unit that stores position information of a plurality of objects existing in an environment, and the object position information database unit stores the position information. The position information of the plurality of objects is referred to, and based on the user position data and the direction data of the objects received from the client via the network, the probability that each of the objects is instructed by the user. And a designated object estimating means for estimating the designated object by calculating
Therefore, the designated target estimating unit refers to the position information of the plurality of targets stored in the target position information database unit, and based on the user position data and the direction data of the target received from the client via the network. Then, the designated object is estimated by calculating the probability of each object being instructed by the user. Therefore, when the user desires to provide some kind of service, the designated object can be reliably estimated by transmitting the direction data of the object designated by the user from the client to the server.
[0017]
Further, the position-dependent information processing server according to claim 13 is a service position information database means for storing position information of each of a plurality of services existing in the environment, and the service position information database means stored in the service position information database means. Referring to the position information of a plurality of services, based on user position data and direction data representing an arbitrary direction received from the client via the network, each of the services is based on the user position in the arbitrary direction. And a service finding means for finding the existence of the service by calculating the probability of the existence of the service.
Therefore, by using the known user position and the direction data in an arbitrary direction received from the client via the network, the existence of the service can be reliably detected by calculating the probability of existence in the direction. . For example, if the user sends direction data in any direction to the server without specifying the type of service, the server discovers the existence of services of all types in that direction and sends it to the client. The presence of the service can be notified by a display device or the like provided in the server. When the user specifies a specific service type in the client and sends direction data in an arbitrary direction to the server, the server discovers the existence of a service belonging to the specific service type in the direction. Is also good.
[0018]
A position-dependent information processing server according to claim 14 is a server that is connected to a client via a network and performs information processing depending on a user position of the client, and a plurality of servers that exist in an environment. Object position information database means for storing position information of each of the objects, and referring to the position information of the plurality of objects stored in the object position information database means, and the user position data and the network Designated object estimating means for estimating a designated object by calculating a probability that each object is instructed by a user based on direction data of the object received from the client via It is characterized by.
Therefore, the designated target estimating unit refers to the position information of the plurality of targets stored in the target position information database unit, and based on the user position data and the direction data of the target received from the client via the network. Then, the designated object is estimated by calculating the probability of each object being instructed by the user. Therefore, when the user desires to provide some kind of service, the designated object can be reliably estimated by transmitting the direction data of the object designated by the user from the client to the server.
[0019]
A server for position-dependent information processing according to claim 15 is a server that is connected to a client via a network and performs information processing depending on a user position on the client side. Service location information database means for storing location information for each of the services, and referring to the location information of the plurality of services stored in the service location information database means, from the client via the user location data and the network Service discovery means for finding the existence of a service by calculating the probability that each service exists in the arbitrary direction based on the user position based on the received direction data representing the arbitrary direction. It is characterized by having.
Therefore, by using the known user position and the direction data in an arbitrary direction received from the client via the network, the existence of the service can be reliably detected by calculating the probability of existence in the direction. . For example, if the user sends direction data in any direction to the server without specifying the type of service, the server discovers the existence of services of all types in that direction and sends it to the client. The presence of the service can be notified by a display device or the like provided in the server. When the user specifies a specific service type in the client and sends direction data in an arbitrary direction to the server, the server discovers the existence of a service belonging to the specific service type in the direction. Is also good.
[0020]
A position-dependent information processing server according to claim 16 is characterized in that the direction data includes at least one of azimuth and relative angle measurement data.
Therefore, the user position calculating means can estimate the two-dimensional position of the user using the direction data including at least the measurement data of either the azimuth angle or the relative angle. Further, the designated target estimating means can estimate the designated target based on a two-dimensional direction represented by direction data including at least measurement data of either the azimuth angle or the relative angle. Further, the service discovery means can discover the presence of a service based on a two-dimensional direction represented by direction data including at least one of azimuth and relative angle measurement data.
[0021]
The position-dependent information processing server according to claim 17 is characterized in that the direction data includes elevation angle measurement data.
Therefore, the user position calculating means can estimate the three-dimensional position of the user by using the direction data including the measurement data of at least one of the azimuth angle and the relative angle and the elevation angle. The designated object estimating means can estimate the designated object based on at least one of the azimuth angle and the relative angle and the three-dimensional direction represented by the direction data including the measurement data of the elevation angle. Further, the service discovery means can discover the presence of the service based on a three-dimensional direction represented by direction data including at least one of the azimuth angle and the relative angle and the elevation data.
[0022]
A position-dependent information processing apparatus according to claim 18, wherein the position-dependent information processing apparatus performs information processing depending on a user position, and comprises: a direction measuring unit for measuring an arbitrary direction specified by a user; User position calculation means for estimating the user position based on the direction data of the two or more targets measured by the method and the position information of each of the two or more targets. .
Therefore, the direction measuring means measures the directions of two or more targets specified by the user, and the user position calculating means calculates the direction data of the two or more targets measured by the direction measuring means and the two or more directions. The estimation calculation of the user position is performed based on the position information of each of the targets. Therefore, since the user position is estimated and calculated by using the direction measurement result of two or more targets by the direction measurement unit and the position information of each target, without providing expensive user position measurement equipment on the environment side, The user position can be reliably measured with an extremely inexpensive configuration. In addition, since the user position is estimated and calculated using the direction measurement result, a configuration capable of measuring not only a two-dimensional position but also a three-dimensional position can be provided. The position information of a plurality of targets may be stored in the position-dependent information processing apparatus in advance, or the position information of the targets may be acquired from outside via a network or the like.
[0023]
The position-dependent information processing apparatus according to claim 19, further comprising: a target position information database unit that stores position information of each of a plurality of targets existing in the environment; The position information of each of the two or more targets is acquired from a target position information database means.
Therefore, the position information of each of the two or more targets can be acquired from the target position information database means, and the user position calculation means can reliably perform the estimation calculation of the user position.
[0024]
The position-dependent information processing apparatus according to claim 20, wherein the user position calculating means calculates a probability density based on the direction data of the two or more targets and their position information, It is characterized by estimating the user position.
Therefore, since the position where the user will be located is calculated as the probability density, the user position can be estimated with high accuracy and reliability in consideration of the measurement error in the direction measuring means.
[0025]
Further, the position-dependent information processing apparatus according to claim 21 refers to position information of a plurality of objects existing in an environment, and calculates the user position data and the direction data of the object measured by the direction measuring unit. And a designated object estimating means for estimating the designated object by calculating the probability of each object being instructed by the user based on the above.
Therefore, the designated object estimating means refers to the position information of the plurality of objects existing in the environment, and each object is identified by the user based on the user position data and the direction data of the object measured by the direction measuring means. The designated object is estimated by calculating the probability indicated by. Therefore, when the user desires to provide some kind of service, the target object specified by the user using the direction measuring means can be reliably estimated as the specified target object.
[0026]
Further, the position-dependent information processing apparatus according to claim 22 refers to position information of a plurality of services existing in the environment, and user position data and direction data representing an arbitrary direction measured by the direction measuring unit. A service finding means for finding the existence of the service by calculating the probability that each service exists in the arbitrary direction with the user position as a base point based on the service location.
Therefore, using the known user position and the direction data in an arbitrary direction indicated by the user using the direction measuring means, it is possible to reliably find the existence of the service by calculating the probability of existence in the direction. it can. For example, when the user turns the direction measuring unit in an arbitrary direction without specifying the type of service, the user discovers the existence of all types of services in the direction and displays it on a display device or the like, so that the user can You can know the existence of the service. Alternatively, the user may specify a specific service type in the client and turn the direction measuring unit in an arbitrary direction to find a service belonging to the specific service type in the direction.
[0027]
Further, a position-dependent information processing apparatus according to claim 23 is an apparatus for performing information processing depending on a user position, wherein the position-dependent information processing apparatus is provided in a direction measuring means for measuring an arbitrary direction designated by a user, and in an environment. By referring to the position information of a plurality of objects, based on the user position data and the direction data of the objects measured by the direction measuring means, by calculating the probability that each object is instructed by the user And a designated object estimating means for estimating the designated object.
Therefore, the designated object estimating means refers to the position information of the plurality of objects existing in the environment, and each object is identified by the user based on the user position data and the direction data of the object measured by the direction measuring means. The designated object is estimated by calculating the probability indicated by. Therefore, when the user desires to provide some kind of service, the target object specified by the user using the direction measuring means can be reliably estimated as the specified target object. The position information of a plurality of objects may be stored in the position-dependent information processing apparatus in advance, or the position information of the objects may be obtained from outside via a network or the like.
[0028]
The position-dependent information processing apparatus according to claim 24, further comprising: an object position information database unit that stores position information of each of a plurality of objects existing in the environment, wherein the designated object estimation unit includes: The specified target object is estimated with reference to the position information of the plurality of objects stored in the target object position information database means.
Therefore, the designated object estimating means can reliably estimate the designated object by referring to the position information of the plurality of objects stored in the object position information database means.
[0029]
The position-dependent information processing device according to claim 25 is provided in association with each of the objects on a network, and is associated with each of the objects based on a service instruction received via the network. In an environment in which a service providing apparatus that provides a predetermined service exists, a service instruction can be transmitted to the service providing apparatus corresponding to the designated object.
Therefore, when the service instruction is transmitted to the service providing apparatus corresponding to the designated object, the service providing apparatus executes the provision of a predetermined service related to the designated object based on the service instruction received via the network. .
[0030]
A position-dependent information processing apparatus according to claim 26 is an apparatus that performs information processing depending on a user position, and is provided in a direction measuring unit that measures an arbitrary direction specified by a user and in an environment. Each service exists in the arbitrary direction with the user position as a base point based on user position data and direction data representing an arbitrary direction measured by the direction measuring means, with reference to position information of a plurality of services. Service discovery means for finding the existence of the service by calculating the probability of the service being performed.
Therefore, using the known user position and the direction data in an arbitrary direction indicated by the user using the direction measuring means, it is possible to reliably find the existence of the service by calculating the probability of existence in the direction. it can. For example, the user turns the direction measuring unit in an arbitrary direction without specifying the type of service, thereby discovering the existence of services of all types in the direction and displaying the service on a display device, etc. You can know the existence of. Alternatively, the user may specify a specific service type in the client and turn the direction measuring unit in an arbitrary direction to find a service belonging to the specific service type in the direction.
[0031]
The location-dependent information processing apparatus according to claim 27, further comprising: service location information database means for storing location information of each of a plurality of services existing in the environment; The service is found by referring to position information of the plurality of services stored in a database means.
Therefore, the service finding means can surely find the service with reference to the plurality of service position information stored in the service position information database means.
[0032]
Further, in the position-dependent information processing device according to claim 28, the direction measuring means can measure at least one of an azimuth angle and a relative angle, and the direction data includes at least an azimuth angle or a relative angle. It is characterized in that any measurement data is included.
Therefore, the user position calculating means can estimate the two-dimensional position of the user using the direction data including at least the measurement data of either the azimuth angle or the relative angle. Further, the designated target estimating means can estimate the designated target based on a two-dimensional direction represented by direction data including at least measurement data of either the azimuth angle or the relative angle. Further, the service discovery means can discover the presence of a service based on a two-dimensional direction represented by direction data including at least one of azimuth and relative angle measurement data.
[0033]
The position-dependent information processing apparatus according to claim 29, wherein the direction measuring means can further measure an elevation angle, and the direction data includes elevation angle measurement data. I do.
Therefore, the user position calculating means can estimate the three-dimensional position of the user by using the direction data including the measurement data of at least one of the azimuth angle and the relative angle and the elevation angle. The designated object estimating means can estimate the designated object based on at least one of the azimuth angle and the relative angle and the three-dimensional direction represented by the direction data including the measurement data of the elevation angle. Further, the service discovery means can discover the presence of the service based on a three-dimensional direction represented by direction data including at least one of the azimuth angle and the relative angle and the elevation data.
[0034]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of a position-dependent information processing system, server, and apparatus embodying the present invention will be described with reference to the drawings.
First, the overall configuration of the position-dependent information processing system 1 according to the present embodiment will be described with reference to FIG.
[0035]
The position-dependent information processing system 1 is a system for a user to obtain various information depending on a position in an arbitrary place, to give an instruction regarding a service, and the like (these are called position-dependent services). is there. As shown in FIG. 1, the location-dependent information processing system 1 includes a client terminal 10, a location information management server 20, a base station 30, an application service providing device 40, and a network 50 as main components. Have been. Note that the client terminal 2 constitutes a client of the present invention, the position information management server 20 constitutes a server, and the application service providing device 40 constitutes a service providing device.
[0036]
The client terminal 10 is a portable terminal device carried by a user, and has a display 13 and a plurality of operation buttons 14 provided on a front part as shown in FIG. More specifically, as shown in the block diagram of FIG. 3, the client terminal 10 includes a communication module 11, a direction sensor 12, a display 13, a plurality of operation buttons 14, and a control unit 15 for controlling these units. It is composed of
The communication module 11 is a module having a communication function for connecting to a wireless LAN (Local Area Network). The communication module 11 accesses the network 50 by wirelessly connecting to a base station (access point) 30 and communicates with the location information management server 20. Can communicate between In addition, it is preferable that the client terminal 10 is specifically realized as a PDA (Personal Digital Assistants), a mobile phone, or the like.
[0037]
The direction sensor 12 is a device for measuring a pointing direction when a user points at a target such as a landmark or a marker or a target. The direction sensor 12 is specifically configured by combining a magnetic sensor and an acceleration sensor, and measures the direction of a geomagnetic vector using two or more axes of magnetic sensors and the direction of a gravity vector using two or more axes of acceleration sensors. The direction sensor 12 outputs the indicated direction, that is, the yaw angle (azimuth angle / declination angle), the pitch angle (elevation angle / tilt angle), and the roll angle (rotation angle / operation angle). However, in the following description, an example using only the yaw angle (azimuth angle) will be described for simplification of the description. In the present embodiment, the azimuth is represented by a counterclockwise angle with the north direction as a reference direction (0 degree). Therefore, as shown in FIG. 4, the west has 90 degrees, the south has 180 degrees, and the east has 270 degrees. As the direction sensor 12, specifically, a direction sensor device such as 3DM (trade name) manufactured by Microstrain or a 3D motion sensor (trade name) manufactured by NEC TOKIN can be used. Further, in order to accurately indicate a target, a configuration may be provided in which an elongated rod-shaped guide, a laser pointer, or the like is provided.
[0038]
Here, the landmark is a mark that is pointed out by the client terminal 2 when measuring the user position, and corresponds to a characteristic topography such as a building such as a tower or a high-rise building or a mountain top. I do. The user selects and inputs a landmark name when pointing to a landmark on the client terminal 10. Similarly, the marker is a mark pointed by the client terminal 10 when the user measures the position, and is a mark artificially installed indoors or outdoors. The markers are colored red, blue, yellow, or the like, and the user selects and inputs the marker color when pointing to the marker at the client terminal 10. The marker is realized, for example, by attaching a colored sheet to a wall, a telephone pole, or the like. Note that the landmark and the marker are both common in that they are a target pointed by the client terminal 10 in order to measure the user position. They will be collectively described as landmarks / markers.
[0039]
In addition, the target object is a target to which the user points using the client terminal 10 in order to receive the provision of the application service, and is a building such as a store, a restaurant, an accommodation facility, or an application service providing device (for example, Ceiling lights, large displays on the walls of buildings, etc.). The application service is a service that the user can receive by pointing to the target object. The application service is, for example, remote control of the indicated device when the object is an application service providing device, and when the object is a store or the like, information on the indicated store is transmitted to the client terminal. 10 to receive and display the screen.
[0040]
The display 13 is configured by a liquid crystal display or the like, and can display various information on a screen. The display 13 preferably has a GUI (Graphical User Interface) function for inputting a marker color and using an application service described later.
The operation button 14 is an operation means for performing selection input of a landmark / marker, activation of the direction sensor 12, selection of an application service, and the like, and is used to move a cursor displayed on the display 13 up, down, left, and right. It is composed of buttons, buttons for determining the selected content, and the like.
The control unit 15 includes a CPU 15a, a ROM 15b, a RAM 15c, a rewritable nonvolatile memory 15d, and the like, and controls the operation of each unit described above. Various programs and data are stored in the ROM 15b. The non-volatile memory 15d stores information for displaying a list of landmarks / markers.
[0041]
The position information management server 20 is a server computer that is connected to the network 50 and manages landmarks / markers, objects, position information of the base station 30, etc., estimates user positions, estimates objects, and the like. . More specifically, the position information management server 20 includes a CPU 21, a ROM 22, a RAM 23, a program storage device 24, and a database storage device 25, as shown in FIG. Note that the program storage device 24 and the database storage device 25 are specifically configured by a hard disk device or the like. The database storage device 25 constitutes a target object position information database unit, an object position information database unit, and a service position information database unit of the present invention.
[0042]
The program storage device 24 stores a user position calculation program 24a, an object estimation program 24b, and a service discovery program 24c. The user position calculation program 24a is a computer-readable program that calculates a position probability density for estimating a user position based on direction measurement data for a plurality of landmarks / markers transmitted from the client terminal 10 via the network 50. Processing program. Further, the object estimation program 24b determines which object is the specified object based on the known user position and the direction measurement data for the object received from the client terminal 10 via the network 50. This is a computer-readable processing program for estimating by calculating a probability density. The service discovery program 24c is based on a known user position and direction measurement data in an arbitrary direction received from the client terminal 10 via the network 50 to discover the existence of a service in the direction by calculating a probability density. Computer-readable processing program. The user position calculation program 24a, the object estimation program 24b, and the service discovery program 24c are read from the program storage device 24 by the CPU 21 and executed. The details of the processing contents of the user position calculation program 24a, the object estimation program 24b, and the service discovery program 24c will be described later. Further, the user position calculation program 24a functions as a user position calculation means of the present invention, the object estimation program 24b functions as a designated object estimation means, and the service discovery program 24c functions as a service discovery means.
[0043]
The database storage device 25 stores a landmark / marker position information database 25a and an object / service position information database 25b. As shown in FIG. 6, the landmark / marker position information database 25a stores information such as the latitude, longitude, altitude, usable area, and base station of each landmark / marker in association with the landmark / marker name. Is stored. 7, the service type, latitude, longitude, altitude, available area, base station, and applied service of each object are stored in the object / service position information database 25b in association with the object name, as shown in FIG. Information such as information (contents of available application services) is stored.
[0044]
Here, the available area defines an area that can be used for each landmark / marker, target object, and base station 30. That is, when considering the use of the system of the present embodiment in a wide range, it is necessary to consider a range in which landmarks / markers and an object can be seen. For example, objects that exist in a particular direction from a particular location will actually be innumerable. However, for example, it is considered that the user does not point to an invisible object such as a street lamp 1 km ahead. The usable area of the landmark / marker / object is a range of a position where the landmark / marker / object can be seen. As a result, a landmark / marker / object that can be seen from a certain position can be specified, and a marker selection model and an object selection model described later can be specifically calculated. The usable area of the base station 30 is a range of a position where radio waves of the base station 30 can reach. This represents coarse position information obtained by acquiring the currently connected base station 30, and is used to limit the position where the user can exist.
[0045]
As a model of the available area, for example, the following can be considered.
When the system is operated in a narrow area such as one room, the available area may be the entire area.
-Circle area: A circle area centered on the position of the object. For example, a radio wave arrives from the base station 30 within a radius of 100 m, a landmark / marker / object is specified from a radius of 10 m, and the like.
A set of unit areas: The position space is divided in advance into a plurality of unit areas (for example, units such as rooms, streets, and squares). An available area is realized by this set of unit areas.
[0046]
FIG. 8 shows a definition example of the usable area. FIG. 8 is a model of a circular area centered on the position of the object. By specifying the base station 30 to which the client terminal 10 is connected, it is possible to specify that the user is currently within the usable area of the base station 30. Therefore, for example, when A, B, C, and D are markers, the marker D is not indicated (no matter where the user is in the available area of the base station 30). Only when the available area of the marker overlaps the available area of the base station 30, the marker is regarded as a designated target. Therefore, in consideration of the color arrangement of the markers, if at least the markers existing in this range are arranged in different colors, the markers can be uniquely specified even if the markers outside the range have the same color. Next, it is assumed that the position of the user can be calculated. For example, assuming that A, B, C, and D are objects, only the objects A and B where the user position and the available area in the figure overlap each other are designated objects. Only when the available area of the object overlaps the position range where the user can exist (the part with a high probability density of the position), the object is regarded as the designated target. Thus, the invisible object is not estimated as the specified object.
[0047]
Information to the landmark / marker position information database 25a and the object / service position information database 25b is registered by a service provider or a general user. The position of the landmark / marker / base station is acquired and registered by the registrant by a position measurement method different from the method in the present embodiment. For example, the registrant may specify a point on the map, or the registrant may go to the position of the object and acquire the position using another position acquisition sensor (such as a GPS). The position of the object may be acquired in the same manner as in the case of the landmark / marker, or if the landmark / marker / base station or the like has been prepared, the landmark / marker can be obtained based on this embodiment. The position may be measured by pointing, and the position (using the maximum likelihood point or the center of gravity of the probability density) may be used. If the object itself has a built-in position measurement sensor, the object itself may autonomously register with the server by using the sensor.
[0048]
The method of inputting the available area differs depending on the model of the available area.
-All areas: No need to enter anything.
-Circle area: Enter the radius. The radius may be determined in advance depending on the type of the object (landmark / marker, object, base station).
A set of unit areas: A method of selecting and inputting a plurality of unit areas displayed on a map is conceivable. Assuming that all the available areas of the objects (of the same type) existing in the same unit area are equal, the available area may be defined in advance for each unit area to which the object belongs, and the input operation for each object may be omitted. it can. In addition, an approach is also conceivable in which a usable area is automatically calculated by simulation from map data or structural data of a building.
In the landmark / marker position information database 25a, when the CPU 21 executes the user position calculation program 24a, the object / service position information database 25b causes the CPU 21 to execute the object estimation program 24b or the service discovery program 24c. Each time.
[0049]
The base station 30 is a wireless LAN base station connected to the network 50. The client terminal 10 can acquire the ID (static address or the like) of the currently connected base station 10.
The application service providing device 40 is a device that is connected to the network 50 and provides an application service related to the object after the user points to the object with the client terminal 10. Specifically, a computer for providing information on a store or the like, a computer for providing a reservation service for a restaurant or an accommodation facility, an outdoor display device mounted on a wall surface of a building, and the like are applicable. When the target is a device, the device itself may function as the application service providing device 5.
[0050]
Next, the flow of the location-dependent service realized in the location-dependent information processing system 1 having the above-described configuration and the operation of each unit described above will be described with reference to FIG. First, a flow of processing and an operation of each unit will be described for an example of a case where measurement of a user position, estimation of a designated object, and service instruction to the designated object are performed.
[0051]
(1) Landmark / Marker Direction Measurement (Client Terminal 10)
First, the direction of a landmark / marker as a target is measured by a user carrying the client terminal 10. That is, the user operates the operation button 14 on the client terminal 10 to select the first landmark / marker and performs an operation of pointing the landmark / marker at the tip of the client terminal 2. Then, the direction sensor 12 incorporated in the client terminal 10 measures the azimuth, and the first measurement result is stored in the RAM 15c in association with the selected landmark / marker. For example, in the example shown in FIG. 11, by selecting the red marker with the operation button 14 for the first time and pointing the red marker, the first time such as “first / marker (red) / 220 degrees” is performed. The direction measurement result is stored on the RAM 15c. Subsequently, a landmark / marker different from the first selected landmark / marker is selected on the client terminal 2, and an operation of pointing the second landmark / marker at the tip of the client terminal 2 is performed. Then, the direction sensor 12 measures the azimuth, and the second measurement result is stored in the RAM 15c in association with the selected landmark / marker. For example, in the example shown in FIG. 9, by selecting the blue marker with the operation button 14 for the second time and pointing the blue marker, the second time such as “second time / marker (blue) / 110 degrees” is performed. The direction measurement result is stored on the RAM 15c.
[0052]
(2) Transmission of landmark / marker direction measurement data (from client terminal 10 to position information management server 20)
Next, the user uses the operation buttons 14 to perform an operation for requesting the position information management server 20 to perform the estimation calculation of the user position. Then, the client terminal 10 causes the communication module 11 to transmit the position calculation request and the first and second direction measurement results for the landmark / marker to the information management server 20.
[0053]
(3) User location calculation (location information management server 20)
When the position information management server 20 receives the position calculation request and the first and second direction measurement results for the landmark / marker via the base station 30 and the network 50, the CPU 21 sends the position calculation program from the program storage device 24. 24a is read and executed. Hereinafter, processing performed by the execution of the position calculation program 24a will be described.
In theory, when the directions of two or more landmarks / markers are known, as shown in FIG. 11, the intersection of the half line drawn from each landmark / marker is the position of the user. However, in practice, since the measurement of the direction involves an error, there is a case where a solution does not exist only by finding the intersection. For example, a case where two half lines do not intersect or a case where three or more measurements are performed. Even if a solution is obtained, it is not known how accurate the obtained position is (ie, the accuracy). In this embodiment, the measurement error in the direction is modeled, and the position of the user is calculated as the probability density.
[0054]
First, the calculation processing of the probability density variable of the position of the user and the probability function of the designated object will be described. Note that the realized value of each random variable is represented by lowering the variable. For example, the realized value of the random variable P is represented by p. Further, f represents a probability density function (in a continuous case), a probability function (in a discrete case) of one or a plurality of random variables, or a function of a mixed type thereof.
As described above, when a user measures the direction of a landmark / marker, an error is involved. Direction measurement error model f _e (X) is a probability density indicating how much the measurement value of the direction sensor deviates (relative angle) with respect to the true direction of the measurement target, and is used in later calculations. Possible causes of the error include a displacement of the arm at the time of measurement, a drift of the direction sensor, a disturbance of the terrestrial magnetism, and the like.
[0055]
In the present embodiment, a normal distribution with an average value of 0 is used as the simplest model. Measurement error model f using normal distribution with mean 0 _e (X) is as shown in Expression 1. The standard deviation σ is a parameter of the model and is adjusted according to the user's proficiency. Since this model is defined only in the [-π, π] section, strictly, a value as shown in the following Expression 1 should be used. Where f _{N <m, σ>} Is the probability density function of a normal distribution with mean m and variance σ2.
(Equation 1)

[0056]
Next, a process of calculating a position where a user will be located as a probability density will be described. To formulate the problem, we introduce the following random variables. However, in the following description, the user indicates a marker for simplification of the description, and the designated marker means the marker indicated in the i-th measurement.
Here, P represents the position (two-dimensional vector) of the user. A _i Represents a measured value (real number) in the direction of the designated marker. C _i Represents the color (discrete value) of the designated marker. Multiple markers may have the same color. M _i Is an identifier (discrete value) of the designated marker, and indicates which marker the user has pointed to. Each identifier corresponds to a unique marker.
[0057]
As described above, the user repeats the operation of selecting and indicating a marker and inputting its color (or the operation of selecting and inputting a color and then selecting and indicating a marker) a plurality of times. Let n be the total number of measurements. A _i , C _i , M _i Is the result of one measurement. However, the system can directly know _i , C _i Only, M _i Is not entered.
When the position P of the user is fixed, the i-th measurement is not affected by other measurement results (other than the i-th measurement). That is, each measurement result (A _i , C _i ) Are conditionally independent of P. That is, it is assumed that the following equation 2 holds.
(Equation 2)

[0058]
In practice, it is rare to point to the same marker in succession, so this is a slightly contrary assumption. However, by assuming independence, the calculation of the location probability density can be simplified.
The position probability density to be obtained is obtained by _i , A _i A posteriori probability f (p | c ₁ , A ₁ , C ₂ , A ₂ , ..., c _n , A _n ), And is represented by Equation 3.
[Equation 3]

[0059]
Also, f (c ₁ , A ₁ , C ₂ , A ₂ , ..., c _n , A _n , P) is represented by Equation 4.
(Equation 4)

[0060]
Also, f (c _i , A _i | P) is represented by Equation 5.
(Equation 5)

[0061]
Here, f (c _i | A _i , M _i , P), f (a _i | M _i , P), f (m _i | P) and f (p) are given as follows.
f (c _i | A _i , M _i , P): marker color C _i Is A _i , P, so that f (c _i | M _i ). Marker m _i Color is c _i In the case of f (c _i | M _i ) = 1, otherwise f (c _i | M _i ) = 0.
f (a _i | M _i , P): Since the position of the marker is known, the marker identifier m _i And the true direction of the marker is determined from the user's position p. Therefore, f (a _i | M _i , P) can be calculated from the measurement error model of the direction sensor. That is, if the true direction of the marker is b, f (a _i | M _i , P) = f _e (A _i -B).
f (m _i | P): Marker selection model of the user. That is, it is a random variable indicating which marker is selected by the user at the position p at the time of the ith measurement. For example, a uniform distribution for all markers visible from the position p is used.
f (p): Prior probability of the position of the user. For example, use a uniform distribution over the available area of the system.
[0062]
As described above, the probability density of the user position can be calculated. FIG. 12 shows a calculation example when the position is estimated by measuring the directions of the two markers. The user points a marker in the first 45-degree direction in the vicinity of the center of the square section and a marker in the right 45-degree direction the second time. Then, the prior probability f (p) and the probability density f (c) in the first measurement result ₁ , A ₁ | P) and the probability density f (c) in the second measurement result ₂ , A ₂ | P), and multiply this by f (c ₁ , A ₁ , C ₂ , A ₂ ) And normalization, the posterior probability f (p | c ₁ , A ₁ , C ₂ , A ₂ ). FIG. 12 is a plot of each probability density on the position space, where a white portion is a portion with a high probability value. Looking at the posterior probabilities, it can be seen that the user can be estimated to be near the center of the square.
[0063]
(4) Transmission of user position data (from position information management server 20 to client terminal 10)
Next, the location information management server 20 transmits the user location information obtained by the above-described processing to the client terminal 10. Upon receiving the user position information, the client terminal 10 stores it in the RAM 15c (or the nonvolatile memory 15d). At the same time, a process of displaying a map near the user position on the display 13 and displaying a mark at a location corresponding to the user position on the map is performed. This allows the user to check his / her current position on the map.
[0064]
(5) Object direction measurement (client terminal 10)
Subsequently, the user indicates the direction of the object for which service is desired to be provided by the tip of the client terminal 10 and measures the direction with the direction sensor 12.
[0065]
(6) Transmission of user position + object direction measurement data (from client terminal 10 to position information management server 20)
Then, the previously acquired user position and object direction measurement data are transmitted from the client terminal 10 to the position information management server 20.
[0066]
(7) Estimation of designated object (location information management server 20)
The CPU 21 of the position information management server 20 reads out and executes the object estimation program 24b from the program storage unit 24. That is, upon receiving the previously acquired user position and target direction measurement data via the base station 30 and the network 50, the target having a high possibility of being the target specified by the user (ie, the specified target) The object is retrieved from the object / service position information database 25b. In addition, by estimating the designated object using not only the azimuth angle but also the elevation angle as the direction measurement data, for example, the outdoor display provided on the high floor of the building and the outdoor display provided on the low floor are distinguished. be able to.
Here, a process of calculating the probability that a certain object is a specified object in order to estimate the specified object will be described. To formulate the problem, we introduce the following random variables. P is the position (two-dimensional vector) of the user. A is a measured value (real number) in the direction of the designated object. T is an identifier (discrete value) of the designated object, and indicates which object the user has pointed to. Each identifier corresponds to a unique object.
The probability to be found is f (t | a) or f (a | t), which can be calculated from f (a, t). For example, (t | a) is represented by Expression 6.
(Equation 6)

[0067]
Further, f (a, t) is represented by Expression 7.
(Equation 7)

[0068]
Further, f (a, t, p) is represented by Expression 8.
(Equation 8)

[0069]
Here, f (a | t, p), f (t | p) and f (p) are given as follows.
f (a | t, p): Since the position of the object is known, the true direction of the object is determined from the identifier t of the object and the position p of the user. Therefore, similarly to the case of the position probability density, it can be calculated from the measurement error model of the direction sensor.
f (t | p): a user's target object selection model. That is, it is a probability function indicating which object the user points at the position p. For example, a uniform distribution for all objects viewed from the position p is used.
f (p): probability density of the user position. This is the position probability density obtained by the above calculation.
As described above, the probability that each object is the designated object is calculated, and the designated object is estimated based on the calculation result.
[0070]
(8) Transmission of specified object estimation result (from position information management server 20 to client terminal 10)
The position information management server 20 transmits the specified target object estimation result estimated by the above-described processing to the client terminal 2. When the number of designated objects is one, only information on one designated object is transmitted, and when there are a plurality of designated objects, list information on a plurality of designated objects is transmitted. Then, when the client terminal 10 receives the specified target object estimation result via the network 50 and the base station 30, the estimated name of the specified target object is displayed on the display 13. Alternatively, a list of a plurality of designated object candidates estimated as designated objects is displayed.
[0071]
(9) Confirmation of designated object (client terminal 10)
Subsequently, the operation of confirming the designated object displayed on the display 13 is performed using the operation button 14 of the client terminal 10. For example, when only the “outdoor display C” is displayed as the designated object on the display 13, an operation of confirming the “outdoor display C” as the designated object is performed. On the other hand, when a list of a plurality of designated object candidates is displayed, an operation of selecting one of them (for example, “outdoor display C”) is performed using the operation buttons 14.
[0072]
(10) Transmission of available service request (from client terminal 10 to location information management server 20 and application service providing device 40)
When the designated object is confirmed or selected in the client terminal 10, the available service and the identification information of the designated object are transmitted to the position information management server 20. Further, an available service request is transmitted from the position information management server 20 to the application service providing device 40 corresponding to the target object, as needed. For example, in the example described above, an available service request for “outdoor display C” is transmitted.
[0073]
(11) Transmission of available service list (from location information management server 20, application service providing device 40 to client terminal 10)
Subsequently, the location information management server 20 transmits to the client terminal 10 a list of available services related to the selected or confirmed designated object. The available service list is obtained by searching from the object / service position information database 25b of the position information management server 20 or by accessing the application service providing device 40 corresponding to the object. When the client terminal 10 receives the list of available services for the designated object via the network 50 and the base station 30, the client terminal 10 displays the list of available services on the display 13. For example, in the example described above, “power ON” and “power OFF” are transmitted as a list of available services in “outdoor display C”. When the designated object is “restaurant A”, “display lunch menu” and “display dinner menu” are transmitted as a list of available services.
[0074]
(12) Selection of service (client terminal 10)
The user selects a service to be provided from the list of available services displayed on the display 13 of the client terminal 10 using the operation buttons 14. In the example of “outdoor display C” described above, for example, “power ON” is selected.
In the above (8), only the estimation result of the designated object is transmitted from the location information management server 20 to the client terminal 10. , (9), the confirmation / selection of the designated object and the service selection of (12) may be performed at one time.
[0075]
(13) Service instruction (from the client terminal 10 to the location information management server 20 and the application service providing device 40)
When an available service is selected in the client terminal 10, an instruction related to the selected service (hereinafter, referred to as a service instruction) is transmitted to the location information management server 20. The location information management server 20 transmits the service instruction received via the base station 30 and the network 50 to the application service providing device 40 corresponding to the designated object. In the example of the “outdoor display C” described above, the service instruction related to “power ON” selected in (12) is transmitted to the application service providing device 40.
[0076]
(14) Provision of service (applied service providing device 40)
Upon receiving the service instruction from the location information management server 20, the applied service providing apparatus 40 provides a service based on the service instruction. In the example described above, the power supply of the outdoor display C, which is the application service providing device 40, is turned on. Thus, the user can easily remotely control the outdoor display device provided on the wall surface of the building by using the client terminal 10.
Alternatively, when the specified object is “Restaurant A” and “Lunch Menu Display” is selected as a service, the application service providing device 40 (for example, a server computer on the network 50 that manages information on the restaurant A) The lunchtime menu information is transmitted to the client terminal 10. Then, the client terminal 2 receives the lunch menu of “Restaurant A” via the network 50 and the base station 30 and displays it on the display 13. Thus, the user can see the lunch menu on the display 13 of the client terminal 2 before actually arriving at “restaurant A”.
[0077]
Next, an example of a case where a service existing in the environment is found will be described with reference to FIG. In addition, since (1) the direction measurement of the landmark / marker and (4) the transmission of the user position data are the same as in the above-described example, the description is omitted.
[0078]
(5 ′) Measurement in any direction (client terminal 10)
The user indicates an arbitrary direction in which he or she wants to find some service with the tip of the client terminal 10, and performs direction measurement by the direction sensor 12.
[0079]
(6 ′) Transmission of user position data + direction measurement data in any direction (from client terminal 10 to position information management server 20)
Then, the previously acquired user position data and measurement data in an arbitrary direction are transmitted from the client terminal 10 to the position information management server 20.
[0080]
(7 ') Service discovery (location information management server 20)
The CPU 21 of the location information management server 20 reads out and executes the service discovery program 24c from the program storage unit 24. That is, by referring to the position information of a plurality of service types stored in the target / service position information database 25b, the probability density of each service is calculated based on the user position data and the direction measurement data in an arbitrary direction, The existence of a service in the direction represented by the direction measurement data is found from the user position as a base point (for the calculation of the probability density, refer to the above-described “estimation of specified target”). For example, when the user indicates the direction of the nearest station from the client terminal 10, the presence of all types of services (such as “restaurants” and “clothing stores”) existing from the user's current position toward the station is determined. Discover. Alternatively, a desired specific service type (for example, “restaurant”) is specified in the client terminal 10 and transmitted at (6 ′), and a service existing in the specified direction and corresponding to the specific service type (for example, You may make it discover the existence of "restaurants").
[0081]
(8 ') Transmission of the discovered service list (from the location information management server 20 to the client terminal 10)
Subsequently, the location information management server 20 transmits the service list found in (7 ') to the client terminal 10. Alternatively, probability density data indicating the existence of the discovered service may be transmitted to the client terminal 10.
[0082]
(9 ') Display of service list (client terminal 10)
The client terminal 10 displays on the display 13 a service list received from the location information management server 20 via the network 50. Alternatively, the presence of the service may be notified to the user by sound, vibration, light, or the like. Furthermore, when the probability density data indicating the existence of the service is received, the strength of the vibration, the loudness of the sound, the content of the image, and the like corresponding to the magnitude of the probability density are output to determine the possibility of the existence of the service. It may be expressed.
[0083]
As is clear from the above description, the position-dependent information processing system 1 of the present embodiment includes the position information management server 20 and the client terminal 10 communicatively connected via the network 50, and A direction sensor 12 provided in the client terminal 10 for measuring an arbitrary direction designated by the user, and a target position information provided in the position information management server 20. The database storage device 25 stores the database 25a, the direction data of two or more targets measured by the direction sensor 12, and the position information of each of the two or more targets acquired from the target position information database 25a. User position functioning as a user position calculating means for estimating a user position based on the user position Characterized by comprising a calculation program 24a.
Therefore, since the user position is estimated and calculated by using the direction measurement results of two or more targets by the direction sensor 12 and the position information of each target, without providing expensive user position measurement equipment on the environment side, The user position can be reliably measured with an extremely inexpensive configuration. In addition, since the user position is estimated and calculated using the azimuth and elevation angle measurement results, not only a two-dimensional position but also a three-dimensional position can be measured. Therefore, for example, it is possible to distinguish between a case where the user position is on a high floor and a case where the user position is on a low floor.
[0084]
In addition, according to the present embodiment, the position where the user will be located is calculated as the probability density, so that the user position can be accurately and reliably estimated in consideration of the measurement error in the direction sensor 12.
Further, according to the present embodiment, the database device 25 provided in the position information management server 20 and storing the object / service position information database 25b, and the plurality of objects stored in the object / service position information database 25b Function as designated target estimating means for estimating the designated target by calculating the probability that each target is instructed by the user based on the user position data and the direction data of the target with reference to the position information of the target. Since the target object estimation program 24b is provided, when the user desires to provide some kind of service, the target object specified by the user with the client terminal 10 having the built-in direction sensor 12 is reliably estimated as the specified target object. can do. Then, by transmitting the information on the designated object estimated by the location information management server 20 to the client terminal 10, the information on the designated object is displayed on the display 13 of the client terminal 10. Can be obtained.
[0085]
Further, according to the present embodiment, a service provision is provided in association with each object on the network 50 and provides a predetermined service related to each object based on a service instruction received via the network 50. An application service providing device 40 is provided as a device, and the client terminal 10 is configured to be able to transmit a service instruction to the application service providing device 40 corresponding to the designated object. Accordingly, when the client terminal 10 transmits a service instruction to the application service providing device 40 corresponding to the designated object, the application service providing device 40 associates the service instruction with the designated object based on the service instruction received via the network 50. And providing the specified service. Thus, the user can obtain information on the target, give a service instruction to the target, and the like at a location away from the target by a very simple operation on the client terminal 10.
[0086]
Further, according to the present embodiment, a database device 25 which is provided in the location information management server 20 and stores an object / service location information database 25b which stores respective location information for a plurality of services existing in the environment; With reference to the position information of a plurality of service types stored in the product / service position information database 25b, each service is determined based on the user position data and the direction data transmitted from the client terminal 10 indicating an arbitrary direction. And a service discovery program 24c functioning as a service discovery means for finding the presence of the service by calculating the probability of existence in the arbitrary direction based on the user. 12 in any direction designated by the client terminal 10 with the built-in By using the data, each service stored in an object / service location information database 25b can be reliably discover the existence of services by calculating the probability that exists in the direction. Then, by transmitting the list of services discovered by the location information management server 20 to the client terminal 10, the service list is displayed on the display 13 of the client terminal 10, so that the user can be sure of the existence of the service in the specified direction. You can know.
[0087]
Further, according to the present embodiment, the direction sensor 12 can measure the azimuth and the elevation, and the direction data transmitted to the position information management server 20 includes the measurement data of the azimuth and the elevation. It is characterized by the following.
Therefore, the three-dimensional position of the user can be estimated by executing the user position calculation program 24a. Further, by executing the designated object estimation program 24b, the designated object can be estimated based on the three-dimensional direction. Further, by executing the service discovery program 24c, it is possible to discover the existence of the service based on the three-dimensional direction.
[0088]
Next, a second embodiment of the present invention will be described with reference to the drawings. The same components as those in the first embodiment described above are denoted by the same reference numerals, and detailed description thereof will be omitted.
The position-dependent information processing system 1 according to the first embodiment performs communication between the client terminal 10 and the position information management server 20 via the network 50 to provide various types of information depending on the user position and the target information. Although the configuration is such that a position-dependent service such as a service instruction for an object is realized, the position-dependent information processing apparatus 101 of the present embodiment realizes provision of a position-dependent service by itself without connecting to a network. .
[0089]
As shown in FIG. 13, the position-dependent information processing apparatus 101 includes a communication module 11, a direction sensor 12, a display 13, an operation button 14, and a control unit 15 for controlling these units.
The control unit 15 includes a CPU 15a, a ROM 15b, a RAM 15c, a nonvolatile memory 15c, and the like, and controls the above-described units. The ROM 15b stores a user position calculation program 24a, an object estimation program 24b, and a service discovery program 24c. The nonvolatile memory 15d stores a landmark / marker position information database 25a and an object / service position information database 25b. Here, each program described above is the same as that of the first embodiment. On the other hand, the landmark / marker position information database 25a and the object / service position information database 25b have extremely limited storage capacity of the non-volatile memory, and thus can be used in a specific area such as a building or a theme park. Is limited. Since these databases are stored in the rewritable nonvolatile memory 15c, the contents of the databases can be updated at any time.
[0090]
In the present embodiment, in addition to the processing contents in the client terminal 10 in the first embodiment described above, the processing executed in the position information management server 20 is also executed inside the position-dependent information processing apparatus 101, so that the user Measurement of a position, estimation of an object, acquisition of information on the object, discovery of a service, etc. can be performed. When a service instruction is issued to the application service providing device 40, the communication module 11 connects to the network and transmits the service instruction. However, when a service instruction is not issued, the communication module 11 may be omitted.
[0091]
Note that the present invention is not limited to the above-described embodiments, and various changes can be made without departing from the gist of the present invention.
For example, in each of the above embodiments, the direction sensor 12 measures the azimuth and the elevation by detecting terrestrial magnetism and gravity, but may be configured to use only the azimuth (two-dimensional direction). Further, instead of the absolute direction (azimuth angle, elevation angle), for example, the relative direction between two or more markers (for example, the direction of marker B with reference to marker A) is measured using an angular velocity sensor, and A configuration for estimating and calculating the user position from the measurement result of the direction may be adopted.
[0092]
In the first embodiment, the user position calculation program 24a, the object estimation program 24b, the service discovery program 24c, the landmark / marker position information database 25a, and the object / service position information database 25b are stored in the position information management server 20. Although the configuration is provided on the side, all or a part of them may be provided on the client terminal 2.
Further, in each of the above-described embodiments, an example has been described in which the direction measurement is performed in both the case where the user position is measured and the designated target object is found (or the service instruction is given). , The user may directly input the user position, and measure the direction only when the specified object is found. Furthermore, an example has been described in which the presence of a service in the direction measured using the client terminal 10 or the position-dependent information processing apparatus 101 incorporating the direction sensor 12 is found. , A range from north to west), and the existence of a service within the range may be detected.
[0093]
【The invention's effect】
As described in detail above, according to the present invention, the user position is estimated and calculated by using the direction measurement results of two or more targets by the direction measurement unit and the position information of each target, so that the environment is expensive. The user position can be reliably measured with an extremely inexpensive configuration without providing any user position measuring equipment. In addition, since the user position is estimated and calculated using the direction measurement result, a configuration capable of measuring not only a two-dimensional position but also a three-dimensional position can be provided.
Further, according to the present invention, it is possible to reliably estimate the designated target by calculating the probability that each target is instructed by the user based on the user position data and the direction data of the target.
Further, according to the present invention, the existence of a service is calculated by calculating the probability that each service exists in the direction using the user position and direction data in an arbitrary direction indicated by the user using the direction measuring means. Can be reliably found.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating an overall configuration of a position-dependent information processing system according to a first embodiment of the present invention.
FIG. 2 is an external configuration diagram of a client terminal.
FIG. 3 is a block diagram showing a system configuration of a client terminal.
FIG. 4 is a diagram illustrating a yaw angle (azimuth angle) obtained by a direction sensor.
FIG. 5 is a block diagram illustrating a system configuration of a location information management server.
FIG. 6 is a diagram illustrating an example of a landmark / marker position information database.
FIG. 7 is a diagram showing an example of an object / service position information database.
FIG. 8 is an explanatory diagram showing a definition example of a usable area.
FIG. 9 is a diagram illustrating a flow of an example of position-dependent service (estimation of a designated object).
FIG. 10 is a diagram illustrating the flow of another example of the location-dependent service (service discovery).
FIG. 11 is a diagram illustrating a principle of estimating a user position using a marker.
FIG. 12 is a diagram illustrating a calculation example of a probability density of a user position.
FIG. 13 is a block diagram illustrating a system configuration of a position-dependent information processing apparatus according to a second embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Position-dependent information processing system, 10 ... Client terminal (client), 12 ... Direction sensor (direction measurement means), 20 ... Position information management server (server), 15a, 21 ... CPU (User position calculation means, object) Estimating means, service finding means), 24: program storage means, 24a: user position calculating program (user position calculating means), 24b: object estimating program (object estimating means), 24c: service finding program (service finding means) 25 database storage means (target object position information database means, object position information database means, service position information database means), 25a landmark / marker position information database, 25b object / service position information database, 40 ... Applied service provision equipment (service provision Location).

Claims (29)

A system comprising a server and a client communicatively connected via a network, and performing information processing depending on the position of the client-side user,
A direction measuring unit provided in the client, for measuring an arbitrary direction instructed by a user,
A target position information database means provided in at least one of the client or the server and storing respective position information for a plurality of targets existing in the environment,
Provided in at least one of the client or the server, the direction data of two or more targets measured by the direction measurement unit, and each of the two or more targets obtained from the target position information database unit Based on the position information, a user position calculating means for estimating the user position,
A position-dependent information processing system comprising: The said user position calculation means estimates the said user position by calculating probability density based on the direction data of the said 2 or more target objects, and those position information. The said user position is characterized by the above-mentioned. Location-dependent information processing system. Object position information database means provided in at least one of the client or the server and storing respective position information for a plurality of objects existing in the environment,
An object which is provided in at least one of the client and the server and refers to the position information of the plurality of objects stored in the object position information database means, and the user position data and the object measured by the direction measuring means Based on the direction data, the specified object estimating means for estimating the specified object by calculating the probability of each object is instructed by the user,
The position-dependent information processing system according to claim 1 or 2, further comprising: Service location information database means provided in at least one of the client or the server and storing respective location information for a plurality of services existing in the environment;
It is provided in at least one of the client and the server, refers to the location information of the plurality of services stored in the service location information database unit, and represents user location data and an arbitrary direction measured by the direction measurement unit. Service finding means for finding the existence of a service by calculating a probability that each service exists in the arbitrary direction with the user position as a base point based on the direction data;
The position-dependent information processing system according to any one of claims 1 to 3, further comprising: A system comprising a server and a client communicatively connected via a network, and performing information processing depending on the position of the client-side user,
A direction measuring unit provided in the client, for measuring an arbitrary direction instructed by a user,
Object position information database means provided in at least one of the client or the server and storing respective position information for a plurality of objects existing in the environment,
An object which is provided in at least one of the client and the server and refers to the position information of the plurality of objects stored in the object position information database means, and the user position data and the object measured by the direction measuring means Based on the direction data, the specified object estimating means for estimating the specified object by calculating the probability of each object is instructed by the user,
A position-dependent information processing system comprising: A service providing apparatus provided on the network in association with each of the objects, and providing a predetermined service related to each of the objects based on a service instruction received via the network,
The position-dependent information processing system according to claim 3, wherein the client is configured to be able to transmit a service instruction to the service providing apparatus corresponding to the designated object. A system comprising a server and a client communicatively connected via a network, and performing information processing depending on the position of the client-side user,
A direction measuring unit provided in the client, for measuring an arbitrary direction instructed by a user,
Service location information database means provided in at least one of the client or the server and storing respective location information for a plurality of services existing in the environment;
It is provided in at least one of the client and the server, refers to the location information of the plurality of services stored in the service location information database unit, and represents user location data and an arbitrary direction measured by the direction measurement unit. Service finding means for finding the existence of a service by calculating a probability that each service exists in the arbitrary direction with the user position as a base point based on the direction data;
A position-dependent information processing system comprising: The direction measuring means can measure at least one of an azimuth angle and a relative angle,
The position-dependent information processing system according to claim 1, wherein the direction data includes at least one of azimuth and relative angle measurement data. The direction measuring means can further measure an elevation angle,
9. The position-dependent information processing system according to claim 8, wherein the direction data includes elevation angle measurement data. A server that is connected to a client via a network and performs information processing depending on a user position on the client side,
Target position information database means for storing position information of each of a plurality of targets existing in the environment,
Based on the direction data of the two or more targets received from the client via the network and the position information of each of the two or more targets obtained from the target position information database means, the client side User position calculating means for estimating the user position;
A position-dependent information processing server comprising: The said user position calculation means estimates the said user position by calculating probability density based on the direction data of the said 2 or more target objects, and those positional information. The said user position is characterized by the above-mentioned. Location-dependent information processing server. Object position information database means for storing position information of each of a plurality of objects existing in the environment,
Referring to the position information of the plurality of objects stored in the object position information database means, based on the user position data and the direction data of the object received from the client via the network, each of the A designated target estimating means for estimating the designated target by calculating the probability that the target is instructed by the user;
The position-dependent information processing server according to claim 10 or 11, further comprising: Service location information database means for storing location information for each of a plurality of services existing in the environment;
With reference to the location information of the plurality of services stored in the service location information database means, based on user location data and direction data representing an arbitrary direction received from the client via the network, each of the services Service discovery means for finding the existence of a service by calculating the probability of existence in the arbitrary direction with the user position as a base point,
The position-dependent information processing server according to claim 10, further comprising: A server that is connected to a client via a network and performs information processing depending on a user position on the client side,
Object position information database means for storing position information of each of a plurality of objects existing in the environment,
Referring to the position information of the plurality of objects stored in the object position information database means, based on the user position data and the direction data of the object received from the client via the network, each of the A designated target estimating means for estimating the designated target by calculating the probability that the target is instructed by the user;
A position-dependent information processing server comprising: A server that is connected to a client via a network and performs information processing depending on a user position on the client side,
Service location information database means for storing location information for each of a plurality of services existing in the environment;
With reference to the location information of the plurality of services stored in the service location information database means, based on user location data and direction data representing an arbitrary direction received from the client via the network, each of the services Service discovery means for finding the existence of a service by calculating the probability of existence in the arbitrary direction with the user position as a base point,
A position-dependent information processing server comprising: 16. The position-dependent information processing server according to claim 10, wherein the direction data includes at least one of azimuth and relative angle measurement data. The position-dependent information server according to claim 16, wherein the direction data includes elevation angle measurement data. An apparatus for performing information processing depending on a user position,
Direction measuring means for measuring an arbitrary direction instructed by the user,
Based on the direction data of the two or more targets measured by the direction measurement unit and the position information of each of the two or more targets, a user position calculation unit that performs an estimation calculation of the user position,
A position-dependent information processing apparatus comprising: Target position information database means for storing position information of each of a plurality of targets existing in the environment,
With
19. The position-dependent information processing apparatus according to claim 18, wherein the user position calculation unit acquires position information of each of the two or more targets from the target position information database unit. 20. The user position calculating unit according to claim 18, wherein the user position calculating unit estimates the user position by calculating a probability density based on the direction data of the two or more target objects and their position information. The position-dependent information processing apparatus described in the above. With reference to the position information of a plurality of objects existing in the environment, based on the user position data and the direction data of the objects measured by the direction measuring means, the probability that each of the objects is instructed by the user is calculated. A designated object estimating means for estimating the designated object by calculating;
21. The position-dependent information processing apparatus according to claim 18, further comprising: Referring to the position information of a plurality of services present in the environment, based on the user position data and direction data representing an arbitrary direction measured by the direction measurement unit, each of the services based on the user position as the base point Service discovery means for finding the existence of a service by calculating the probability of existence in an arbitrary direction,
The position-dependent information processing apparatus according to any one of claims 18 to 21, further comprising: An apparatus for performing information processing depending on a user position,
Direction measuring means for measuring an arbitrary direction instructed by the user,
With reference to position information of a plurality of objects existing in the environment, a probability that each of the objects is instructed by a user is calculated based on user position data and direction data of the object measured by the direction measuring means. Designated object estimating means for estimating the designated object by performing
A position-dependent information processing apparatus comprising: Object position information database means for storing position information of each of a plurality of objects existing in the environment,
With
24. The method according to claim 21, wherein the designated object estimating means estimates the designated object by referring to position information of the plurality of objects stored in the object position information database means. The position-dependent information processing apparatus described in the above. Provided in association with each of the objects on the network, under an environment where there is a service providing apparatus that provides a predetermined service related to each of the objects based on a service instruction received via the network, 25. The position-dependent information processing apparatus according to claim 21, wherein a service instruction can be transmitted to the service providing apparatus corresponding to the designated object. An apparatus for performing information processing depending on a user position,
Direction measuring means for measuring an arbitrary direction instructed by the user,
With reference to the position information of a plurality of services present in the environment, based on the user position data and direction data representing an arbitrary direction measured by the direction measuring means, each of the services is based on the user position based on the user position. Service discovery means for finding the presence of a service by calculating the probability of existence in any direction;
A position-dependent information processing apparatus comprising: Service position information database means for storing position information of each of a plurality of services existing in the environment,
With
27. The location-dependent information according to claim 22, wherein the service discovery unit finds the service by referring to location information of the plurality of services stored in the service location information database unit. Processing equipment. The direction measuring means can measure at least one of an azimuth angle and a relative angle,
28. The position-dependent information processing apparatus according to claim 18, wherein the direction data includes at least one of azimuth and relative angle measurement data. The direction measuring means can further measure an elevation angle,
The position-dependent information processing apparatus according to claim 28, wherein the direction data includes elevation angle measurement data.

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