JP2005351877A - Self-sustained traveling support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a system for supporting self-sustained traveling of a pedestrian or a robot by detecting the direction to a location of an active tag and the distance between the active tag and a portable terminal with a sufficient accuracy. <P>SOLUTION: The pedestrian directs the directional antenna of the portable terminal 2 to the direction 31 of the directional antenna of the active tag 1, measures the timing, amplitude, frequency, phase, or variation of the combination of these of the high frequency signal received on real time when switching the directional antenna while the active tag 1 is transmitting high frequency signal, and detects the direction to the location of the active tag and the distance between the active tag 1 and the portable terminal, thereby the pedestrian 404 can across safely without deviating out of the extent of the pedestrian crossing 403. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

The present invention relates to an autonomous movement support system for moving objects such as airplanes, automobiles, pedestrians, and robots using ultrasonic waves, radio waves, or light waves, and carries ultrasonic signals, high-frequency signals, or optical signals transmitted from active tags. An ultrasonic signal, a high-frequency signal, or an optical signal received by a terminal using a plurality of directional antennas or transducers or transmitted by switching the plurality of directional antennas or transducers in the active tag is transmitted from the portable terminal. By receiving and measuring the timing, amplitude, frequency or phase of the ultrasonic signal, high frequency signal or optical signal received by the mobile terminal when the plurality of directional antennas or transducers are switched or the combination is changed. The active tag exists Is position or direction or distance or position or combination thereof is present to an apparatus for supporting the flight or movement of the aircraft or mobile can detect.

As a direction detector, there has been a circulation switching type Doppler direction detector as a method for detecting the direction of arrival of radio waves by switching a plurality of antennas, and recently, switching a plurality of antennas as shown in Patent Document 1. Alternatively, there are some which perform digital processing by converting into a digital signal by an A / D converter as shown in Patent Document 2. On the other hand, as a radar apparatus for measuring the azimuth, there is a three-dimensional radar disclosed in Patent Document 1, or a method of performing horizontal and vertical azimuth identification in a time-sharing manner by providing an antenna combining distributor as in Patent Document 2. Or 76 GHz band automotive millimeter wave radar of Non-Patent Document 2 has a method of measuring the horizontal direction by changing the combination of the directivity of a plurality of transmitting side directional antennas and receiving side directional antennas. .

In a conventional Doppler direction detector, a low-frequency signal synchronized with switching scanning is extracted from the Doppler effect generated by sequentially circulating and switching a plurality of antennas arranged on the circumference, and the arrival direction of the received signal from the phase of the low-frequency signal The size of the receiving antenna and the entire device increased, and high-frequency signals with a high frequency of several hundreds of megahertz or higher, radio waves transmitted continuously or in bursts, and spectrum-spread radio waves were transmitted. It is difficult or almost impossible to detect the direction.
On the other hand, in a recent direction finder, if a plurality of antennas are switched as in Patent Document 1, the phase difference must be measured at a high speed. Therefore, if an analog type phase detector is not used, the processing becomes slow. When the phase difference is calculated by converting it into a digital signal as shown in 2, there is a problem that only the method of combining the antennas can be taken because a time delay occurs when processing is performed by switching a plurality of antennas. On the other hand, in the system of FIG. 4 according to the embodiment of the present invention, even when a plurality of antennas are switched and converted into a digital signal for processing, if digital signal processing is performed using the high-frequency logic circuit disclosed in Patent Document 8, real-time processing is performed. Can be processed.
The three-dimensional radar of Patent Document 3 has the disadvantage that it is large, complicated and expensive, and the radar apparatus of Patent Document 4 acquires amplitude information and phase information necessary for detection and azimuth measurement by combining and distributing the transmitting and receiving antennas. When processing, it is difficult to perform real-time processing if converted to digital signal, so the difference between multiple antenna outputs is taken when acquiring phase information, so the output is the lowest at the center of the azimuth and sufficient output However, in FIG. 4 of the embodiment of the present invention, when switching between a plurality of antennas or transducers, individual antennas or transducers or antennas are used. Alternatively, for each transmitter / receiver combination, it is converted into a digital signal, phase vectors are detected, and real-time processing is performed, so the phase is particularly large at the center of the azimuth. The accuracy of the measurement is high.
The 76 GHz band automotive millimeter-wave radar of Non-Patent Document 4 requires real-time processing to prevent a collision and cannot be processed by converting it to a digital signal, so the beam is extremely narrowed to measure the direction. In addition, since the directivity directions of a plurality of transmission antennas and reception antennas are combined, it is difficult to make the combination fine, and the accuracy is about ± 4 °. 4 can achieve an accuracy of ± 1 °.
In the underwater ultrasonic devices of Patent Documents 5 to 7, this must be carried out separately for scanning detection for measuring the direction in which an obstacle or reflector is located and for depth measurement for measuring the depth. In FIG. 1 of the embodiment of the invention, both scanning detection and depth detection for measuring depth can be performed simultaneously.
Special table 2002-529942 gazette JP 09-236646 A JP 2001-42036 A Japanese Patent Laid-Open No. 11-174147 Japanese Patent Laid-Open No. 05-232225 Japanese Patent Laid-Open No. 05-288851 JP 2001-141808 A Japanese Patent Application No. 2004-057508 Kazumi Sakamaki "Digital signal processing that can be seen" published Masaru OGAWA "ELECTRICALLY SCANNED MILLIMETER WAVE AUTOMOTIVE RADAR" MWE2003 Microwave Workshop Digest, [WS4-2], P105-P109, November 26-28, 2003

In conventional methods, when ultrasonic signals, high-frequency signals, or optical signals are converted into digital signals for high-speed processing, it is difficult to process in real time, and a certain amount of delay is allowed, such as a direction finding device Except for the above, it is necessary to process an area that requires high-speed processing with an analog circuit, the accuracy of the orientation measurement is poor, the apparatus is expensive, it is difficult to downsize, and the conventional method cannot be applied.

An autonomous movement support apparatus according to the present invention is made to solve the above-described problems, and the active tag or the portable terminal can be reduced in size. In the active tag or the portable terminal, a plurality of directional antennas or The timing, amplitude, frequency, phase, or combination of ultrasonic signals, high-frequency signals, or optical signals received when the transducer is switched or the combination is changed is detected in real time, and from the detection result to the active tag. The direction, distance, height, or depth can be detected in real time with high accuracy.

In the autonomous movement support apparatus of the present invention, synchronization with a spread spectrum code is established in a short time while periodically switching or changing the combination of a plurality of antennas or transducers of the mobile terminal, and the received ultrasonic wave Signals, high-frequency signals, or optical signals are converted into digital signals, and the timing, amplitude, frequency, phase, or combination of the ultrasonic signals, high-frequency signals, or optical signals are detected in real time, and the phase difference is measured ± 1 °. By carrying out with the accuracy of within, the direction and distance where the active tag is located can be detected in real time with high accuracy.

The autonomous movement support apparatus according to the present invention is composed of an active tag and a portable terminal, and the active tag is mainly installed on a road surface, a sidewalk, a streetlight pole, an electric pole, a traffic signal, etc. And intermittently transmit ultrasonic signals or high-frequency signals or optical signals that are modulated by the measurement code or spread spectrum, and the mobile terminal is built in a mobile phone so that a mobile object such as a pedestrian or robot can be carried or worn The active tag is identified by the identification code, and autonomous movement is supported by detecting the direction, distance, or position of the active tag with high accuracy by the measurement code.

An embodiment of the present invention will be described below with reference to FIG. In FIG. 1, 1 is an active tag, 2 is a mobile terminal, 31 is a directivity pattern of the antenna of the active tag 1, 401 is a traffic signal, 402 is a pillar for installing a traffic signal, 403 is a pedestrian crossing, and 404 is walking It is a person.
Here, the portable terminal 2 is equipped with two directional antennas separated by an interval r (m), and d (m) from the direction of the directional antenna of the active tag at a distance of D (m) from the active tag 1. ) It shall be in a shifted position. The active tag 1 radiates a high-frequency signal spread with a spread spectrum code in the direction of the directivity 31, and the mobile terminal 2 receives the high-frequency signal while periodically switching between two directional antennas. Shall.
If the spreading phase difference of a high frequency signal transmitted from the active tag 1 or the propagation phase difference of a carrier wave is measured in order to detect the direction in which the active tag tag 1 is located when viewed from the mobile terminal 2, the propagation phase difference Δφ is Δφ = (2π / λ) {r × (d / D)} Considering the case where the propagation phase difference Δφ is measured by the phase difference of the carrier wave of the high-frequency signal, if the radio frequency is 2.4 GHz band, λ = 0.125 m, r = 0.03 m, d = 0.1 m, When D = 10 m, Δφ = 50.24 {0.03 × (0.1 / 10)} = 0.015 radians = 0.9 °. Since the measurement accuracy of the propagation phase difference Δφ of the carrier wave can be realized as 1 / 100th of π / 4 radians, that is, ± 0.008 radians = ± 0.45 °, the measurement accuracy is about ± 3 cm after 10 m. . That is, when the distance between the two directional antennas of the mobile terminal 2 is 3 cm, the position of the active tag 1 10 m ahead can be detected with an accuracy of ± 3 cm.
Next, considering the case where the propagation phase difference Δφ is measured by the phase difference of the spreading code, if the propagation speed of the spreading code is 4 Mbps, λ = 75 m, and r = 0.4 m, d = 1 m, and D = 10 m. Then, Δφ = 0.084 {0.4 × (1/10)} = 0.0036 radians = 0.2 °. The measurement accuracy of the propagation phase difference Δφ of the spread code is slightly better than measuring the phase difference of the carrier wave, and ± 0.006 radians = ± 0.34 ° can be realized, so the measurement accuracy is about ± 45 cm after 10 m. Become. That is, when the distance between the two directional antennas of the mobile terminal 2 is 40 cm, the position of the active tag 1 10 m ahead can be detected with an accuracy of ± 45 cm.
The above case is an ideal case in which the influence of surrounding reflectors is not considered, but actually the measurement accuracy deteriorates due to the influence of reflectors. As a countermeasure, the influence of reflectors can be reduced by using circularly polarized directional antennas for the active tag 1 and the portable terminal 2, and the phase difference is measured at a high speed of 1 ms / time and the moving average of 100 times is taken. Thus, the measurement accuracy can be increased by 10 times to ± 0.045 °.
Also, if the directionality of the antenna of the active tag 1 is considered to be along the sidewalk, the deviation d (m) from the sidewalk is detected, so that it is output as an alarm and the walking direction is corrected. Can do.
Also, it controls the rough direction by measuring the phase difference of the spread spectrum code, complements each other by controlling the precise direction by measuring the phase difference of the carrier wave, or geomagnetic sensor or acceleration sensor The accuracy of direction or position detection can be improved by measuring the absolute azimuth or accumulating the movement distance using the above as an auxiliary.
As another method for detecting the distance, a plurality of carriers, a plurality of subcarriers, or a plurality of modulations that are hopped, synchronized, or orthogonal between a plurality of carrier frequencies that are synchronized or orthogonal in the active tag 1 are used. Generate a plurality of high-frequency signals with different frequencies by a signal or a combination thereof, or perform amplitude modulation, double-sideband modulation, single-sideband modulation, or orthogonal frequency division multiplexing with an arbitrary signal to generate a plurality of high-frequency signals with different frequencies Generated and transmitted simultaneously or alternately, and the portable terminal 2 detects the phase difference between the plurality of high frequency signals of different frequencies, thereby receiving the distance D (m) between the active tag 1 and the portable terminal 2 as reception timing. It is possible to detect with much higher accuracy than detecting from
For example, the phase of the carrier wave of the high-frequency signal received from the mobile terminal 2 is hopped from f0 to (f0 + Δf), and the frequency of the high-frequency signal transmitted from the active tag 1 is S1 = ASin {2πf0t + φ0 + 2πD / λ0}, S2 = BSin {2π (f0 + Δf) t + φ0 + 2πD / (λ0−Δλ)}. When the phases of S1 and S2 are detected, Φ1 = {φ0 + 2πD / λ0} and Φ2 = {φ0 + 2πD / (λ0−Δλ)}, so that Φ2−Φ1 = 2πD {1 / (λ0−Δλ) −1 / λ0} ≈ (2πD / λ0) {(1 + Δλ) -1} = 2πD (Δλ / λ0), and by detecting the phase difference (Φ2-Φ1), the distance D is D = (Φ2-Φ1) / {2π (Δλ / Λ0)}, and when hopping at 20 MHz, a phase difference of about 1 ° is generated per about 30 cm, and a distance of about 100 m can be detected before a phase difference of 360 ° is generated.
If the direction and the distance of the active tag 1 can be detected in the mobile terminal 2, the pedestrian carrying the mobile terminal 2 or the robot 404 detects that the pedestrian is out of the range of the pedestrian crossing 403 when crossing the pedestrian crossing 403. Alternatively, it is possible to assist the pedestrian or the robot 404 to cross safely by announcing a warning to the robot 404 by voice or the like.
Furthermore, if the measurement accuracy of the phase difference can be improved to ± 0.03 °, a long scale (100 m unit or the like) using the spread spectrum code generated by the active tag 1 is used, and hopping is performed by the active tag 1. A short scale (1 cm unit or the like) is used, and distances up to 100 m can be detected in 1 cm units with the same feeling as a normal tape measure. The distance exceeding 100 m can be further extended in units of 100 m using the spread spectrum code.
In the active tag 1, instead of hopping the frequency from f0 to (f0 + Δf), a plurality of synchronized or orthogonal high-frequency signals are transmitted simultaneously or alternately, and the plurality of high-frequency signals are transmitted on the mobile terminal 2 side. The same effect can be obtained even if the phase difference between them is detected.
In addition, instead of connecting and switching a plurality of antennas to the mobile terminal 2, switching and connecting a plurality of antennas to the active tag 1, the mobile terminal 2 can receive the same effect using a single antenna. Is obtained.
In addition to pedestrians crossing pedestrian crossings, the same effect is also applied to pedestrians walking on sidewalks or barrier-free roads, mobile objects such as cars or robots, flying objects such as satellites or landing planes. Is obtained.
In addition, when the active tag 1 is installed in the vicinity of the traffic signal 301, it is under construction by linking the traffic signal 301 to information such as progress, caution, and stop or by temporarily installing the active tag 1. Since temporary information such as detour can be transmitted, the pedestrian 404 can safely cross the pedestrian crossing 403 and can safely walk on other barrier-free roads.

FIG. 2 is a conceptual diagram showing another embodiment of the present invention, wherein 1a to 1d are active tags, 31a to 31d are antenna directivity patterns of active tags 1a to 1d, and 403a to 403e are crosswalks or sidewalks. Boundaries 404a and 404b are pedestrians, 405a and 405b are traveling directions, 406a and 406b are active tags 1a and 1b, center lines connecting 1c and 1d, and 407a to 407d are pedestrians 404a and 404b from active tags 1a to 1d. It is a direction line toward
In FIG. 2, active tags 1a to 1d are installed in the vicinity of boundary lines 403a to 403d, and states such as walking, caution, and stop are transmitted in conjunction with a traffic signal, and antenna directivity of the active tags 1a to 1d is transmitted. The patterns 31a to 31d are directed along the pedestrian crossing boundaries 403a to 403d, and a high-frequency signal spread by a spread spectrum code is emitted in the direction of the directivity patterns 31a to 31d.
On the other hand, mobile terminals carried by pedestrians 404a and 404b are equipped with two antennas spaced apart from each other, and can be activated by receiving high-frequency signals while periodically switching or changing the combination using an antenna switching synthesizer. The identification numbers of the tags 1a to 1d can be detected, and the direction and distance in which the high-frequency signal has arrived can be detected with high accuracy.
Since the portable terminal carried by the pedestrian 404a can receive high-frequency signals transmitted from the active tags 1a and 1b through the direction lines 31a and 31b, and can detect the direction and distance of the active tags 1a and 1b. When it is on the center line 406a connecting the active tags 1a and 1b, it can be detected that the direction of the active tag 1a is right and the direction of the active tag 1b is left (opposite left and right) but the distances are equal. When inside the boundary lines 403a and 403b of the pedestrian crossing, the active tag 1a is viewed to the right and the active tag 1b is viewed to the left. In this state, the pedestrian 404a confirms the traffic signal status. However, it is possible to walk safely in the direction of 405a.
In the portable terminal carried by one pedestrian 404b, high-frequency signals transmitted from the active tags 1c and 1d can be received through the direction lines 31c and 31d, and the direction and distance of the active tags 1c and 1d can be detected. Therefore, when the user is on the center line 406b connecting the active tags 1c and 1d, it can be detected that the direction of the active tag 1c is left and the direction of the active tag 1d is right (the left and right are opposite) but the distances are equal. When inside the pedestrian crossing boundaries 403c and 403d, the active tag 1c is seen to the left and the active tag 1d is seen to the right. In this state, the pedestrian 404b confirms the traffic signal status. However, it is possible to walk safely in the direction of 405b.
When the point where the pedestrian 404b is closest to the active tags 1c and 1d and is turned to the left is announced by voice, a high-frequency signal from the next active tag 1a and 1b can be received and the boundary line 403a of the next pedestrian crossing Therefore, the pedestrian 404b can turn left and continue walking safely.
The same effect can be obtained by installing and switching a plurality of antennas in the active tags 1a to 1d at intervals instead of installing and switching a plurality of antennas in the portable terminal.
In addition, the directional antennas of the active tags 1a to 1h are installed in the center of a sidewalk, a pedestrian crossing, a roadway, a roadway lane, a barrier-free road, or a movable body, and a plurality of antennas of the mobile terminal. Is detected at the center or at both ends of the width of the pedestrians 404a and 404b, and the difference between the direction in which the center of the width of the pedestrians 404a and 404b faces and the direction in which the active tags 1a to 1h are installed is detected. The movement can be supported by controlling or guiding the movement range when the persons 404a and 404b move.
In addition, two antennas of the portable terminal are provided on both sides in the traveling direction or the rearward direction at intervals of the width of the pedestrians 404a and 404b, or on both shoulders or chests of the pedestrians 404a and 404b, in the horizontal direction or in the vertical direction The same effect can be obtained by providing an arbitrary interval.
Moreover, if a directional antenna is installed facing the directional patterns 31a to 31d of the active tags 1a to 1d, the pedestrians 404a and 404b can safely walk in the reverse direction on the return path.

FIG. 3 is a block diagram showing an embodiment of an active tag according to the present invention. 1 is an active tag, 11a and 11b are directional antennas, 12 is an antenna switch, 13 is a power amplifier, 14 is an orthogonal frequency hopping generation circuit, 15 Is a synthesizer, 16 is a reference oscillator, 17 is a spread code generation unit and control unit, 31a and 31b are directivity patterns, 105 is a capacitor for storage, 106 is a solar cell, and 107 is a light emitter.
The directional antennas 11a and 11b are installed outside the active tag 1 and connected by a coaxial cable, or one is sealed inside the active tag 1 and the other is provided outside and connected by a coaxial cable. Directivity patterns 31 a and 31 b are provided and connected to the power amplifier 13 via the antenna switch 12.
A 2.4 GHz band or 5 GHz band signal is generated by the synthesizer 15 based on the clock signal generated by the reference oscillator 16, and single sideband modulation is performed while switching a plurality of orthogonal subcarrier signals by the orthogonal frequency hopping generation circuit 14. Then, orthogonal frequency hopping is performed and the signal is spread by a spread spectrum code to supply an output signal to the power amplifier 13.
The active tag 1 is intermittently transmitted under the control of the control unit 17. For example, if the active tag 1 is transmitted for 2 ms at a cycle of 100 ms, the load factor is 2%, and the power consumption can be extremely saved. If the electric power generated by the solar battery 106 is stored in the storage capacitor 105, it can be installed semi-permanently in a place where sunlight or artificial lighting can be obtained. In addition, if the active tag 1 is housed in a waterproof case and has pressure resistance, impact resistance, and vibration resistance, it can be installed embedded on the road surface, sidewalk surface, or floor surface. Used in street light poles, power line poles, communication line poles, walls, ceilings or other structures.
Further, two or more directional antennas to be connected can be connected and switched by time division, and a high-frequency signal can be transmitted by changing the identification number for each directional antenna.
In addition, when the active tag 1 is configured in a thin plate shape including a single antenna to be installed as a substitute for the nameplate of an ordinary house, the service area is set to about 5 m on the road and the power consumption at the time of transmission is minimized. If the load factor is reduced to about 0.2% as an intermittent transmission of about 2 ms per second, and the current consumption at the time of transmission is suppressed to about 10 mA, the average current consumption becomes 10 μAH, and even the reflected light of the sun rays is sufficient Can function.
The light emitting element 107 mounted on the active tag 1 is an option, and the location or operating state of the active tag 1 can be confirmed by intermittently lighting it at night.

FIG. 4 is a block diagram showing an embodiment of the portable terminal of the present invention. 2 is a portable terminal, 21a and 21b are directional antennas, 22 is an antenna switching combiner, 23 is a receiver, 24 is a signal detector, 25 Is an operation display unit, 61 is an analog-digital converter, 62 is a signal detector, 63 is a reference oscillator, and 201, 202 and 203 are connection terminals.
The antenna switching unit 22 is for switching between the antennas 21a and 21b while receiving the measurement spreading code transmitted from the active tag. The antenna switching unit 22 is driven by the signal detector 62 through the connection terminal 202, and the receiver 23 receives the signal. After the converted high frequency signal is converted to an intermediate frequency signal or a baseband signal, a reception output signal is output to the signal detection control unit 24 via the connection terminal 201.
The received output signal is converted into a digital signal by the analog-digital converter 61 in synchronization with the reference oscillator 63 and input to the signal detector 62. In the signal detector 62, the correlation with the fixed correlator for one period is taken, and the amplitude spectrum and the phase spectrum are detected by the product-sum operation with the lookup table of Sin, Cos, the fast Fourier transform, or other methods. From the amplitude spectrum and the phase spectrum, the signal detector 62 can detect the timing, amplitude, frequency, phase, or combination thereof in real time.
The amplitude of a signal having a large correlation with the fixed correlator is detected in the received output signal from the amplitude spectrum, and the phase of the carrier wave is detected from the phase spectrum. Therefore, if the phase spectrum is detected when the amplitude spectrum exceeds the threshold while the interval between the directional antennas 21a and 21b is set to one wavelength or less of the carrier wave of the high-frequency signal transmitted from the active tag and the amplitude spectrum exceeds the threshold, the antennas 21a and 21b The direction in which the active tag is located can be detected from the phase difference between the two.
Here, the analog / digital converter is about 4 bits, and the difference between the advance signal and the delay signal of the spread code for each antenna is 1/100 or more by obtaining the moving average value of several tens of measurements. Therefore, if the length of one bit of each spreading code is 0.25 μs, the phase difference can be detected with an accuracy of 0.25 ns (7.5 cm) or less, and the frequency of the carrier wave is 2 .4 GHz, the wavelength length λ = 12.5 cm, so that the phase difference of the carrier wave can be detected with an accuracy of about 0.01 radians (0.2 mm), and an analog / digital converter 61 of 8 bits or more can be detected. By using it, the accuracy can be further improved.
Further, the direction of the directional antenna of the mobile terminal 2 is greatly swung left and right or up and down to detect the amplitude spectrum, thereby detecting the direction in which the magnitude of the input power received from the active tag is maximized. The function of measuring the phase difference can be supplemented.
Further, the AGC function is mounted on the receiver 23, and the gain of the receiver 23 can be suppressed so that the amplitude spectrum is not saturated.
When the receiver of the portable terminal 2 is the Lower IF method or the direct conversion method, the signal detector 62 converts the output signal of the receiver into an intermediate frequency having the same frequency as the transmission rate of the spread code. Calculation can be facilitated.
In addition, when a digital signal processor is used to process the output signal of a receiver as in the past, power consumption increases, but real-time analysis is possible by using a high-frequency logic circuit that operates at high frequencies. The battery life can be extended.
In addition, a high-frequency logic circuit that operates at a high speed necessary for detecting a frequency spectrum is provided, and a product-sum operation is performed using the high-frequency logic circuit, a fast Fourier transform is performed, or an amplitude is calculated from the digital signal. The spectrum or phase spectrum or both are detected, or an average is calculated for an arbitrary period, or a window function is provided for calculation, or the detection results are displayed in time series for each arbitrary sampling number or arbitrary sampling period. Alternatively, time stamps can be output or combined.
A digital signal obtained by converting the output signal of the receiver in synchronization with the reference oscillator is stored in a multi-stage shift register, and at least four stages are selected from the shift register at an integer interval to form a set. Selects an integer to generate multiple sets of digital signals, or synchronizes the output signal of the receiver with a reference oscillator to convert it into digital signals at multiple types of sampling cycles, accumulates them in the shift register at each sampling cycle, and stores multiple A set of digital signals can be generated and a product-sum operation or a fast Fourier transform can be performed on the plurality of sets of digital signals to ensure the necessary resolution.
The high-frequency logic circuit operating at high speed is composed of at least a four-stage shift register, an exclusive OR circuit, and an adder, and can perform a product-sum operation between the digital signal and the Sin and Cos lookup tables. .
Also, the Sin lookup table used to detect the timing, amplitude, frequency, phase, or combination thereof in real time is 0, 1, 0, -1, or 1, 1, -1, -1, or these It is an integer multiple of 1 or a repetition of an integer, or the Cos lookup table is 1, 0, −1, 0 or 1, −1, −1, 1, or an integer multiple of these or a repetition of an integer Or, multiplication of −1 when performing a product-sum operation can obtain the complement of the digital signal, or the combination of these can simplify the high-frequency logic circuit.

FIG. 5 is a diagram showing the basic configuration of the signal detector according to the present invention, in which 51 is a spell spread code transmitted by active tags in a burst form, 52 is a shift register, and 53 is one cycle of a spread spectrum code generated by a portable terminal. Fixed register of minutes, 54 is a ΣSin product-sum calculator, 55 is a ΣCos product-sum calculator, 56 is a delay time between the active tag and the portable terminal, 57 is an amplitude spectrum detector, 58 is a phase spectrum detector, 59, 60 Is an output terminal.
It is assumed that one cycle or one code length of the spread spectrum code 51 transmitted in the active tag is composed of, for example, 8 chips of M series.
The spread code 51 is transmitted, received by the portable terminal, converted into a digital signal, and then sequentially input to the shift register 52 and branched into two outputs. In the fixed correlator 53 for one cycle, the digital signal input to the shift register 52 is correlated with each clock cycle, and the result is multiplied by the Sin lookup table by the ΣSin product-sum calculator 54 and added. Furthermore, the ΣCos product-sum calculator 55 multiplies the result by the Cos lookup table and adds the result.
The output of the ΣSin product-sum operation unit 54 and the output of the ΣCos product-sum operation unit 55 are, for example, squared and added by the amplitude spectrum detector 57 to obtain a square root, or add each absolute value, or add each absolute value. By adding the peak values, an amplitude spectrum is detected and output from the connection terminal 59, and a phase spectrum is calculated and output from the connection terminal 60 by obtaining a ratio between them by the phase spectrum detector 58.
The delay time 56 between the active tag and the portable terminal is mainly caused by the delay time of the portable terminal until one period of the spread spectrum code 51 transmitted by the active tag is input to the shift register 52 of the portable terminal. A plurality of spread spectrum codes received by being reflected by some reflection object or diffracted by an obstacle must always be one cycle of the spread spectrum code 51 of the active tag for each obstacle or reflection object. Since the correlation output is maximized when the input is completed for one period, the delay time due to the obstacle or the reflection object can be detected in units of the chip length of the spread code.
Thus, a multipath is generated by being reflected or diffracted from any obstacle or reflector, and in accordance with the vector from the ΣSin product-sum calculator 54 and the ΣCos product-sum calculator 55 according to the spread spectrum code 51 received sequentially. Since the outputs are sequentially output, the time when the reflected wave or diffracted wave arrives can be measured by counting the number of clocks until the output exceeds the threshold value of the amplitude spectrum detector 57 and then exceeds the threshold value, and the amplitude The intensity of reflection or diffraction can be detected from the output of the spectrum detector 57, and the direction, height, or depth of the obstacle or reflector can be detected from the output of the phase spectrum detector 58 when the antenna is switched.
Here, the chip length of the spread spectrum code 51 and the wavelength of the carrier wave, subcarrier wave, or intermediate frequency signal of the high frequency signal are compared, and the cycle of whichever frequency is higher is twice or more (4 times the cycle is desirable). ) To convert to a digital signal.

FIG. 6 is a perspective view showing a configuration example of a mobile terminal according to the present invention, 2 is a mobile terminal, 21a and 21b are directional antennas mounted for the mobile terminal 2, and 21c, 21d, 21e and 21d are provided outside. Directional antennas 301, coaxial cables for connection, 302, radomes, 303a, 303b, and 303c, intervals between directional antennas, 304, bone conduction speakers, and 305, an antenna for mobile phones.
The mobile terminal 2 is built in the housing of the mobile phone, and the directional antennas 21a and 22b for the mobile terminal 2 are provided in the forward direction when the display unit of the mobile phone is viewed separately from the mobile phone antenna 305. As an option, directional antennas 21c to 21f are housed in a radome 301 connected by a coaxial cable, and the directional antennas 21a and 21b or 21c to 21f are oriented in the same direction. The antenna switching synthesizer is periodically switched or the combination is changed, and is connected to a receiver built in the portable terminal 2.
The distance 303b between the directional antennas 21a and 21d and the distances 303b and 303c between the directional antennas 21c to 21f are, for example, slightly longer than the length of a quarter of the carrier wave of the high-frequency signal received by the mobile terminal 2. It is set shorter.
When the directivity direction of the directional antennas 21a to 21d is directed to the direction of the active tag existing in the vicinity, the center line of the directional antennas 21a, 21b or 21c to 21f matches the direction of the active tag. At times, the phase of the carrier wave of the high-frequency signal input to each of the directional antennas 21a, 21b or 21c to 21f is completely the same, and the phase difference of the carrier wave of the high-frequency signal received by switching these directional antennas is very small. However, if the center line is shifted from the direction of the active tag, the phase difference of the carrier wave when the directional antennas 21a, 21b or 21c to 21f are switched increases.
For example, when the center line is shifted from the direction of the active tag in the left-right direction, the phase difference of the carrier wave between the directional antennas 21a and 21b or between the external directional antennas 21c and 21f and 21d and 21e is increased. growing. Since the interval between the four directional antennas connected to the outside is set to a quarter wavelength of the high-frequency signal, when the direction of the center line is shifted ± 90 ° in the left-right direction from the direction of the active tag The phase difference of the carrier wave between the directional antennas is shifted by ± 90 °.
Conversely, when the center line is shifted up and down from the direction of the active tag, the phase difference of the high-frequency signal between the directional antennas 21a and 21b is small, but the external directional antennas 21c, 21d, and 21f The phase difference of the carrier wave with respect to 21e increases. Since the interval between the four directional antennas connected to the outside is set to a quarter wavelength of the high-frequency signal, when the direction of the center line is shifted ± 90 ° vertically from the direction of the active tag, The phase difference of the carrier wave is shifted by ± 90 °.
In addition, in order to detect an azimuth accurately, it has been confirmed through experiments that the accuracy of measurement can be increased by increasing the isolation between the antennas 21a and 21b of the mobile terminal 2.
On the other hand, the phase difference of the carrier wave is greatly increased between the directional antennas 21c and 21e on the diagonal line or between 21f and 21d regardless of which direction is left and right or up and down.
When measuring the phase difference of the carrier wave of the high-frequency signal, if the phase difference exceeds ± 90 °, it becomes difficult to specify the direction of the center line, so it is necessary not to exceed this range. When arranged, this range does not exceed this range unless the carrier wave comes from behind. When the carrier wave comes from behind, it can be determined using a geomagnetic sensor or the like as an auxiliary.
When the pedestrian searches the front of the portable terminal 2 of the present invention in the manner of illuminating the flashlight, the direction in which the active tag is present can be measured with high accuracy, and the directivity of the antenna of the active tag is directed along a safe sidewalk. Then, since the pedestrian can walk accurately in the direction of the active tag along the direction of the directivity of the active tag, a safe walking can be secured.
When the interval between the directional antennas is larger than a quarter of the wavelength of the carrier wave to be, for example, a half wavelength, when the direction of the center line and the direction of the active tag are ± 30 °, the carrier wave Since the phase difference becomes ± 90 °, it is possible to measure with higher accuracy.
The result detected by the portable terminal 2 is displayed on the display unit or announced by the bone conduction speaker 304.
Here, if the 2.4 GHz band is used as the frequency of the carrier wave of the high-frequency signal, the diameter of the radome will be about 6 cm even when four directional antennas are attached, and it will be the same size as a large flashlight. A device for supporting pedestrians that can be carried and used by a person with great convenience can be realized.
In addition, when the active tag is in the intermittent transmission state, it is possible to effectively use the radio wave, reduce the power consumption of the active tag, and drive it by a solar cell or the like. When transmitting in bursts for 2 ms at intervals of 100 ms, current consumption can be reduced by a factor of 50.
Further, there is a merit that extra attention can be omitted when carrying the portable terminal by identifying a built-in gravity sensor in the portable terminal 2 and identifying the one located in the horizontal direction of the directional antenna and the one located in the vertical direction. Out.
In addition, it is possible to facilitate handling or operation by phase-combining a plurality of antennas of the mobile terminal 2 and controlling the antenna directivity to search the direction of the active tag.
Further, instead of providing a plurality of antennas on the portable terminal 2, a plurality of antennas are provided on the active tag side and switched by an antenna switching synthesizer to transmit a high-frequency signal, and the portable terminal 2 uses a single or a plurality of antennas. It is also possible to detect the direction in which the active tag is installed by measuring the phase difference of the high-frequency signal between the plurality of antennas on the active tag side.
In addition, when switching a plurality of antennas of the mobile terminal 2, the switching order is always switched from 21f to 21c instead of 21c instead of 21c, and the detected phase difference is subtracted alternately. Thus, it is possible to eliminate a basic error caused by a change in the frequency of the reference oscillator or a change in the transmission time or transmission phase of the circuit.
In addition, when the antenna of the active tag is installed along the sidewalk or in the safety zone of the pedestrian crossing, the right side is dangerous and the left side is safe. So visually impaired people can safely walk.
In addition, a reference direction preset in a display device or audio device provided or connected to the portable terminal 2 is set as a direction in which the moving subject that owns or installs the portable terminal 2 is currently facing. The moving subject can easily change the direction by displaying, pointing, or announcing the direction to be traveled for the purpose.
Further, the mobile terminal 2 can be used in a hand-free manner by being mounted on the head in the form of a headlamp or by being mounted on the chest vest.
In addition, when two antennas of the mobile terminal 2 are arranged, in the case of 2.4 GHz, the width is about 3 cm and the length is about 6 cm, which is about the size of glasses. Is also possible.

In the above description, the numerically controlled oscillator is used, but the same effect can be obtained by an equivalent method such as using a digital PLL circuit.
Although the digital method has been described as the autocorrelator, the same effect can be obtained even if the analog method is used.
In addition, an ultrasonic signal is transmitted from the active tag using an ultrasonic transducer or an ultrasonic transmitter, and an ultrasonic signal is received using an ultrasonic transducer or an ultrasonic receiver in the portable terminal. Alternatively, the same effect can be obtained by transmitting an optical signal using a light emitting diode or laser diode in the active tag and receiving the optical signal using a photodiode in the portable terminal. In the present application, the ultrasonic transducer or ultrasonic transducer and the light emitting diode, laser diode or photodiode are collectively referred to as a transducer.
Further, the same effect can be obtained by measuring the phase difference of the carrier wave of the high-frequency signal that is not modulated or modulated by the analog signal or the digital signal without performing the spread spectrum.
Further, instead of switching a plurality of antennas, a similar effect can be obtained by separately providing portable terminals corresponding to the plurality of antennas and measuring a phase difference between the portable terminals.
In addition, if there are obstacles such as pedestrians around the mobile terminal, the ultrasonic signal, high-frequency signal or optical signal transmitted from the active tag may be blocked or reflected to cause an error due to multipath. Therefore, it is desirable to use a directional antenna with a sharp directivity for the active tag and to set the directivity so that it is installed at a relatively high position and blows down from above.
In addition, multiple antennas or transducers are connected in series or in parallel by cables, or constitute a leaky cable, installed along the direction of travel of pedestrians or moving objects, or installed in the periphery of specific areas. Guidance or specific area guidance can be effectively performed.
Further, the direction and distance can be detected by modulating the optical signal generated in the active tag using the high-frequency signal as a subcarrier, radiating it to the space, and demodulating the high-frequency signal from the optical signal received in the mobile terminal.
In addition, the active tag is integrated with a solar cell and a capacitor for storage, and is housed in a thin waterproof casing so that it is embedded on the road surface and affixed to the surface of a building or transported object such as a building. It can be installed instead of a house nameplate.
Further, the same effect can be obtained even when either the active tag or the portable terminal is mounted on, mounted on, or carried by a flying object including a satellite or a moving object including an automobile, a pedestrian, or a robot.
A similar effect can also be obtained by outputting the plurality of antennas divided into at least two groups by a switching synthesizer and obtaining the correlation between the two groups.
In addition, when the portable terminal, the active tag, the relay means, or any combination thereof has a plurality of antennas, when a plurality of antennas of one means are switched, a plurality of antennas of other means are fixed. The direction or distance can be easily detected or the detection accuracy can be maintained.

It is a conceptual diagram which shows one Example of this invention. It is a conceptual diagram which shows the other Example of this invention. It is a block diagram which shows the Example of the active tag of this invention. It is a block diagram which shows the Example of the portable terminal of this invention. It is a block diagram which shows the Example of the signal detector of this invention. It is a perspective view which shows the structural example of the portable terminal of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 1a-1d Active tag 2 Portable terminal 11a, 11b Directional antenna 21a, 21b, 21c-21f of active tag 1 Directional antenna 12, 22 of portable terminal 2 Antenna switching combiner 13 Power amplifier 14 Orthogonal frequency hopping generation circuit DESCRIPTION OF SYMBOLS 15 Synthesizer 16 Reference oscillator 17 Spreading code production | generation part and control part 23 Receiver 24 Signal detection control part 25 Operation display part 31a-31d Directional pattern 51 of the antenna of the active tag 1 Spelltle spreading code 52 which the active tag 1 produces | generates Shift register 53 Fixed correlator for one cycle 54 ΣSin product-sum operation unit 55 ΣCos product-sum operation unit 56 Delay time 57 between active tag and portable terminal Amplitude spectrum detector 58 Phase spectrum detector 59, 60 Connection terminal 61 Analog to digital conversion 62 Signal detector 3 Reference Oscillator 105 Power Condenser 106 Solar Cell 107 Light-Emitting Diodes 201, 202, 203 Connection Terminal 301 Coaxial Cable 302 for Connection Antenna Radome 303a, 302b, 303c Antenna Distance 304 Bone Conduction Speaker 305 Cell Phone Antenna 401 Traffic Signal 402 Pillars 403, 403a to 403d for attaching traffic signals, pedestrian crossing boundaries 404, 404a, 404b Pedestrians or robots

Claims (20)

In autonomous movement support system using ultrasonic signal, high frequency signal or optical signal,
An active tag for transmitting an ultrasonic signal or a high-frequency signal or an optical signal spread by a spread spectrum code from an arbitrary number of antennas or transducers in a continuous or burst form, and an ultrasonic signal transmitted from the active tag Alternatively, it is composed of a portable terminal for receiving a high-frequency signal or an optical signal by an arbitrary number of antennas or transducers,
The spread spectrum code generated in the active tag mainly includes a short-cycle code sequence for establishing synchronization in a short time and a relatively long-cycle code sequence for measurement or a plurality of times of a short-cycle code sequence. Consists of repetitions,
The number of receivers necessary for the portable terminal to directly amplify the input signal or convert it to at least a subcarrier signal, an intermediate frequency signal, or a baseband signal and the output signal of the receiver are synchronized with the reference oscillator of the portable terminal. And a correlator for correlation with a spread spectrum code which is fixedly prepared in the portable terminal after being converted into a digital signal or generated in synchronization with a reference oscillator of the portable terminal, or the portable terminal A correlator for converting to a digital signal in synchronization with the portable terminal after obtaining a correlation with a spread spectrum code that is fixedly prepared in the terminal or generated in synchronization with the reference oscillator of the portable terminal; From the output signal of the correlator, the timing, amplitude, frequency, phase, or combination thereof is real-time. In has a signal detector for detecting,
The synchronization code transmitted from the active tag and the signal detector are fixedly prepared, or the synchronization between the spreading code generated in synchronization with the reference oscillator is detected or the synchronization is established and output to the correlator. Detect the included identification signal to identify the active tag, and detect the distance or position or height or position of the active tag from the detection result detected in real time for each required combination of the antenna or transducer Autonomous movement support device characterized by detecting depth or a combination thereof
In autonomous movement support system using ultrasonic signal, high frequency signal or optical signal,
An active tag for transmitting an ultrasonic signal or a high-frequency signal or an optical signal spread by a spread spectrum code from an arbitrary number of antennas or transducers in a continuous or burst form, and an ultrasonic signal transmitted from the active tag Alternatively, it is composed of a portable terminal for receiving a high-frequency signal or an optical signal by an arbitrary number of antennas or transducers,
The spread spectrum code generated in the active tag mainly includes a short-cycle code sequence for establishing synchronization in a short time and a relatively long-cycle code sequence for measurement or a plurality of times of a short-cycle code sequence. Consists of repetitions,
The active tag or the portable terminal or both have a switching synthesizer for periodically switching a plurality of antennas or transducers or changing them to any combination,
The number of receivers necessary for the portable terminal to directly amplify the input signal or convert it to at least a subcarrier signal, an intermediate frequency signal, or a baseband signal and the output signal of the receiver are synchronized with the reference oscillator of the portable terminal. A correlator for correlation with a spread spectrum code that is fixedly prepared in the portable terminal after being converted into a digital signal or generated in synchronization with a reference oscillator of the portable terminal, or the portable terminal And a correlator for converting to a digital signal in synchronization with the portable terminal after obtaining a correlation with a spread spectrum code that is prepared in a fixed manner or generated in synchronization with the reference oscillator of the portable terminal Real-time timing, amplitude, frequency, phase, or a combination of these from the correlator output signal Has a signal detector for detecting,
The synchronization code transmitted from the active tag and the signal detector are fixedly prepared, or the synchronization between the spreading code generated in synchronization with the reference oscillator is detected or the synchronization is established and output to the correlator. The identification signal included is detected to identify the active tag, and from the detection result detected in real time for each required combination of the output signal of the correlator and the antenna or the transducer, Autonomous movement support apparatus characterized by detecting distance, direction, height, depth, or a combination thereof
In autonomous movement support system using ultrasonic signal, high frequency signal or optical signal,
An active tag for transmitting an ultrasonic signal or a high-frequency signal or an optical signal spread by a spread spectrum code from an arbitrary number of antennas or transducers in a continuous or burst form, and an ultrasonic signal transmitted from the active tag Alternatively, it is composed of a portable terminal for receiving a high-frequency signal or an optical signal by an arbitrary number of antennas or transducers,
A plurality of antennas or transducers connected to the active tag are installed at intervals, or a plurality of active tags connected to any number of antennas or transducers are installed at intervals. Alternatively, from the transmitter / receiver or the plurality of active tags, a carrier frequency, a subcarrier frequency, a modulated signal, a spread spectrum code, an identification code, or an ultrasonic signal, a high frequency signal, or an optical signal having different combinations are simultaneously or alternately or Send randomly,
The number of receivers necessary for the portable terminal to directly amplify the input signal or convert it to at least a subcarrier signal, an intermediate frequency signal, or a baseband signal and the output signal of the receiver are synchronized with the reference oscillator of the portable terminal. And a correlator for correlation with a spread spectrum code which is fixedly prepared in the portable terminal after being converted into a digital signal or generated in synchronization with a reference oscillator of the portable terminal, or the portable terminal A correlator for converting to a digital signal in synchronization with the portable terminal after obtaining a correlation with a spread spectrum code that is fixedly prepared in the terminal or generated in synchronization with the reference oscillator of the portable terminal; From the output signal of the correlator, the timing, amplitude, frequency, phase, or combination thereof is real-time. In has a signal detector for detecting,
The synchronization code transmitted from the active tag and the signal detector are fixedly prepared, or the synchronization between the spreading code generated in synchronization with the reference oscillator is detected or the synchronization is established and output to the correlator. Detect the included identification signal to identify the active tag, and detect the distance or position or height or position of the active tag from the detection result detected in real time for each required combination of the antenna or transducer Autonomous movement support device characterized by detecting depth or a combination of these and supporting movement of pedestrians by display or message
In the active tag, the spread spectrum code is directly transmitted as an ultrasonic signal, a high frequency signal, or an optical signal, or is spread spectrum, frequency hopped, time hopped, or chirp modulated by the spread spectrum code. Alternatively, an optical signal is transmitted or an orthogonal frequency hopped or orthogonal frequency division multiplexed ultrasonic signal, a high frequency signal or an optical signal is transmitted, or a combination thereof is transmitted, or a code sequence or code of the spread spectrum code The autonomous movement support apparatus according to any one of claims 1 to 3, wherein the transmission is performed by fixing or changing a length, a transmission speed, a phase, or a combination thereof.
Transmit or synchronize an ultrasonic signal, a high frequency signal or an optical signal hopped between a plurality of carrier frequencies or a plurality of subcarrier frequencies or a plurality of modulation frequencies or spreading code speeds synchronized or orthogonal in the active tag A plurality of orthogonal carrier signals, a plurality of subcarrier signals, a plurality of modulation signals, an ultrasonic signal composed of a plurality of spreading codes, a high frequency signal or an optical signal are transmitted simultaneously or alternately, or an amplitude is obtained by an arbitrary modulation signal A modulated or single sideband modulated or double sideband modulated ultrasonic signal, high frequency signal or optical signal is transmitted, or a plurality of transmission tags or code sequences or both of which are synchronized or orthogonal in the active tag. of The autonomous movement according to any one of claims 1 to 4, wherein the mobile terminal detects a distance between the active tag and the mobile terminal by transmitting the signals simultaneously or alternately using a spread spectrum code. Support device
The active tag transmits from an arbitrary number of antennas or transducers, and the mobile terminal receives a plurality of antennas or transducers while switching or changing the combination, or the active tag includes a plurality of antennas or transducers. The direction, height, or depth at which the antenna or transducer of the active tag is located is detected by transmitting by switching or changing the combination and receiving by an arbitrary antenna or transducer in the portable terminal. 6. The autonomous movement support apparatus according to claim 1, wherein
In order to detect synchronization with the spreading code transmitted from the active tag, the signal detector is provided with a matched filter, and the amplitude is obtained by performing a product-sum operation on the output signal of the matched filter and the lookup table of Sin and Cos. The autonomous movement support apparatus according to any one of claims 1 to 6, wherein a spectrum and a phase spectrum are obtained and the timing, amplitude, frequency, phase, or combination thereof is detected in real time.
The Sin lookup table used to detect the timing, amplitude, frequency, phase, or combination thereof in real time is 0, 1, 0, -1, or 1, 1, -1, -1 or an integer thereof. Double or 1 / integer repetition or Cos lookup table is 1, 0, −1, 0 or 1, −1, −1, 1 or an integer multiple or 1 / integer repetition The autonomous movement support apparatus according to any one of claims 1 to 7, wherein multiplication of -1 when performing a product-sum operation is to obtain a complement of the digital signal or a combination thereof.
A carrier signal, subcarrier signal, or baseband transmitted from the active tag in the front-rear direction, the left-right direction, the up-down direction, the symmetric direction, or a combination thereof. The signal or spreading code is arranged at intervals of about one wavelength or less or about one chip or less, or the interval between the plurality of antennas or transducers can be extended when used, or the plurality of antennas or transducers can be accommodated. The autonomous movement support apparatus according to any one of claims 1 to 8, wherein the autonomous movement support apparatus is a structure or a combination thereof.
The antenna or transducer of the active tag has a relatively sharp directivity, and the antenna or transducer is installed at an appropriate interval in an area where a pedestrian can safely move or the directivity is Direction and / or distance in which the antenna or transmitter / receiver is installed by the mobile terminal installed in a form along the area, or in a form facing each other between two specific points, or a combination thereof The autonomous movement support apparatus according to any one of claims 1 to 9, wherein a range in which the pedestrian can safely move is detected by detecting the pedestrian or the pedestrian moves.
The active tag antenna or transducer is a cable that continuously leaks the ultrasonic signal, high-frequency signal, or optical signal through multiple radiating elements, and the cable is installed in the periphery of an area where pedestrians can safely move Or a range where the pedestrian can safely move by detecting the direction and / or distance where the cable is installed by the mobile terminal installed between two specific points, or the pedestrian The autonomous movement support apparatus according to any one of claims 1 to 10, wherein the movement support apparatus is supported.
The portable terminal is equipped with a geomagnetic sensor, an acceleration sensor, a gravity sensor, a GPS receiver, or a combination thereof, and is combined with the direction and distance detection results detected by the signal detector or complements the detection results or is automatically announced. The pedestrian carrying the device or the display device and carrying or equipped with the portable terminal is used as a reference, or the direction in which the active tag is located is used as a reference, or the antenna of the portable terminal or the direction of the transducer The direction or angle to be corrected by the pedestrian is indicated by an arrow, the distance is indicated by the length of the arrow, or the voice is announced based on the direction in which the sex beam is currently directed. The autonomous movement support apparatus according to any one of items 1 to 11
When the active tag transmits the ultrasonic signal, the high-frequency signal, or the optical signal in a burst shape, or transmits in a burst shape while switching a plurality of antennas or transducers, or switches the plurality of antennas or transducers Transmitting while changing the spreading code or adopting a matched filter in the mobile terminal to reduce the time required for detection of synchronization or establishment of synchronization, thereby shortening the burst transmission time or reducing the burst transmission time The autonomous movement according to any one of claims 1 to 12, wherein by shortening, the probability of mutual collision occurring when a plurality of active tags are installed in the vicinity is reduced, or a combination thereof is combined. Support device
The antenna or transmitter / receiver of the active tag is incorporated in a traffic signal, traffic display board, street light, signboard, traffic regulation device or device, and the rear case of the device or device serves as a reflector. The autonomous movement support device according to any one of claims 1 to 13, wherein the front part serves as a converging lens or a radome.
The active tags are installed at a plurality of distances and are connected to each other by a communication line or connected to a central device, and the mobile terminal is connected to the antenna or the transducer of the active tag. Detects height or depth or a combination of these and receives information on the characteristics of a specific point, location, route, range, area, or necessary service information or real-time information transmitted over the communication line 15. The autonomous movement support apparatus according to claim 1 to 14, wherein
The active tag is an integral structure of a solar cell and a storage capacitor, and the entire active tag is housed in a waterproof housing or an impact-resistant housing and is installed on the road surface, sidewalk surface, or exposed to the outdoors. 16. An autonomous movement support apparatus according to claim 1, wherein the autonomous movement support apparatus operates with receiving energy from sunlight or artificial illumination light.
The active tag is an integrated structure with a solar cell and a capacitor for storage, and is housed in a thin flat waterproof case. The interval between intermittent transmissions is set long enough to allow pedestrians to keep the load factor low. The autonomous movement support device according to any one of claims 1 to 16, wherein power consumption can be reduced and the device can be installed instead of a nameplate of a general house.
The active tag has a structure that is easy to attach and detach, and is attached to or in the vicinity of the illuminator or the luminaire, or is supplied with power, and the number of the luminaire or the installation location or the characteristics of the corresponding point, place or area 18. The autonomous movement support apparatus according to claim 1, wherein an identification number is transmitted.
The plurality of antennas of the portable terminal are shared with the diversity antenna of the mobile radio station, or the plurality of antennas or transducers are connected to the outside of the portable terminal. Autonomous movement support device described in
The autonomous movement support according to any one of claims 1 to 19, further comprising relay means for receiving and retransmitting an ultrasonic signal, a high frequency signal, or an optical signal transmitted from the active tag. apparatus

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