JP2006098214A - Moving body detection system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving body detection system which can relate each position to each identifier of a plurality of moving bodies when the plurality of moving bodies enter an identifier reception area and a position detection area for the identifiers in space having unclear entrances. <P>SOLUTION: The moving body detection system comprises a position detection means 5 for detecting the position of the moving body, a position history management means 6 for managing the position history of the moving body, an identifier reception means 3 for receiving an identifier of the moving body from a portable terminal 2 held by the moving body, an identifier history management means 4 for managing the history of the identifier, and a moving body relating means 7 for relating the position to the identifier of the moving body on the basis of the position history and the identifier history of the moving body. At least part of a position detection area 41 of the position detection means and at least part of an identifier reception area 31 of the identifier reception means overlap one another. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a system for associating a position history of a moving object with an identifier.

  In the conventional moving object detection system, there are two entrances of the detection area entrance A and the detection area entrance B adjacent to the detection area of the position detection means in order to associate the position of the human body, which is a plurality of moving objects, with the identifier. The first radio wave transmitting means and the second radio wave transmitting means are installed in each of them. When a plurality of human bodies possessing personal information terminals with personal information terminal numbers (identifiers) enter the detection area of the position detection means from the detection area entrance A and the detection area entrance B, respectively, A determination result (personal information terminal number and radio wave transmission means number) is transmitted from the information terminal.

  The transmitted determination result is transmitted to the position detection means, and the personal information terminal number corresponding to the human body entering from each of the first radio wave transmission means and the second radio wave transmission means is input to the position detection means.

  From this information, the position detection means can identify who each of the plurality of human bodies detected in the detection area of the position detection means. Thereby, each person's position can be specified (for example, refer to patent documents 1).

JP 2002-148349 A (6th page, FIG. 4)

  In such a moving object detection system, it is necessary to provide a closed space with a clear entrance in order to associate the positions and identifiers of a plurality of moving objects. However, when a plurality of moving objects enter the identifier reception area and the position detection area in various spaces such as a space where the entrance is not clear, it is difficult to associate the positions of the plurality of moving objects with the identifiers. There was a problem.

  The present invention has been made to solve the above-described problems, and its object is to provide a plurality of moving objects in the identifier reception area and the position detection area in various spaces such as a space where the entrance is not clear. A moving object detection system capable of associating positions and identifiers of a plurality of moving objects with each other when entering is obtained.

  A moving object detection system according to the present invention includes a position detection unit that detects a position of a moving object, a position history management unit that manages a position history of the moving object, and an identifier of the moving object from a mobile terminal held by the moving object. Identifier receiving means for receiving the identifier, identifier history managing means for managing the history of the identifier, and moving object associating means for associating the position history of the moving object and the identifier based on the history of the position of the moving object and the identifier history. At least a part of the position detection area of the position detection means and a part of the identifier reception area of the identifier reception means overlap.

  A moving object detection system according to the present invention includes a position detection unit that detects a position of a moving object, a position history management unit that manages a position history of the moving object, and an identifier of the moving object from a mobile terminal held by the moving object. Identifier receiving means for receiving the identifier, identifier history managing means for managing the history of the identifier, moving object associating means for associating the position of the moving object and the identifier based on the history of the position of the moving object and the history of the identifier, Since at least a part of the position detection area of the position detection unit and a part of the identifier reception area of the identifier reception unit overlap, in a space where the entrance is not clear, a plurality of moving objects are placed in the identifier reception area and the position detection area. Even when an intrusion occurs, the position history of the moving object and the identifier can be associated with each other.

Embodiment 1 FIG.
1 is a block diagram showing a moving object detection system according to Embodiment 1 of the present invention. A person 1 as a moving object holds a portable terminal 2 such as an RFID (Radio Frequency Identification), and the portable terminal 2 transmits a radio wave on which the identifier XID of the person 1 is superimposed. The wireless receiving device 3 as an identifier receiving unit receives a radio wave superimposed with the identifier XID transmitted from the portable terminal 2, and the identifier history managing unit 4 manages the history of the received identifier XID. Further, the identifier history management unit 4 deletes the history of the identifier XID after a predetermined time has elapsed after the reception is completed. The identifier reception area 31 is an area where the identifier XID can be received by the wireless reception device 3.

  The position detection device 5 by the image sensor is a position detection means for the person 1 and detects the position of the person 1 and continuously tracks the position. The position history management means 6 manages the position history YP of the person 1 detected by the position detection device 5. Further, the position history management means 6 deletes the position history YP of the person 1 that has passed a predetermined time after the detection is completed. The position detection area 41 is an area in which the position of the person 1 can be detected by the position detection device 5. At least a part of the position detection area 41 of the position detection apparatus 5 and a part of the identifier reception area 31 of the wireless reception apparatus 3 overlap each other. In the drawings, the same reference numerals denote the same or corresponding parts, and this is common throughout the entire specification. Furthermore, the description of the constituent elements appearing in the whole specification is merely an example, and is not limited to these descriptions.

  FIG. 2 is a diagram showing the relationship between the identifier reception area 31 and the position detection area 41 of the moving object detection system according to the first embodiment. In the first embodiment, the identifier reception area 31 and the position detection area 41 substantially overlap.

  Based on the identifier XID history obtained from the identifier history management means 4 and the position history YP of the person 1 obtained from the position history management means 6, the moving object associating means 7 determines the relationship between the position history YP of the person 1 and the identifier XID. Perform the association.

FIG. 3 shows the history of the position history YP and the identifier XID. 3, when a simple associating the order position history YP identifier XID that receives the detected forward and identifier XID the position of the person 1, at the time of the reception start time _{t XIDS11} identifier _{XID 11,} an identifier _{XID 11} The position history YP ₁₁ is associated. However, the start of detection of the position history _{YP 12} at time _{t YPS12,} the difference between the detection start time _{t YPS11} reception start time _{t XIDS11} the position history _{YP 11} identifier _{XID 11} is large, the reception start time t identifier _{XID 11} when the difference between the detection start time _{t YPS12} of _XIDS11 the position history _{YP 12} is small, the identifier _{XID 11} should be associated with the location history _{YP 12.} Therefore, in the case of FIG. 3, the identifier XID ₁₁ and the position history YP ₁₁ should not be simply associated with each other.

  FIG. 4 is a flowchart showing an association processing method of the moving object association means 7 of the moving object detection system according to the first embodiment of the present invention. Below, the matching processing method of the moving object matching means 7 is demonstrated.

First, it is checked whether there is an identifier XID that has not been associated with the position history YP from among the identifiers XID managed by the identifier history management means 4 (S1). If there is no identifier XID that has not been associated with the position history YP, the process ends. If there is an identifier XID that has not been associated with the position history YP, the identifier XID _X received first is extracted (S2).

Next, it is checked whether there is a position history YP that has not been associated with the identifier XID from the position history management means 6 (S3). If there is no position history YP that has not been associated with the identifier XID, the process ends. If there is a position history YP that has not been associated with the identifier XID, the first detected position history YP _X is extracted (S4).

The difference between the detection start time _{t YPSX} the reception start time _{t XIDSX} the position history YP _X of extracted identifier XID _X is determined whether within a predetermined time _{T D1} (S5). When the difference between the detection start time _{t YPSX} the reception start time _{t XIDSX} the position history YP _X identifier XID _X is within the predetermined time _{T D1} associates the position history YP _X and identifier XID _X (S6). Here, the difference between the detection start time _{t YPSX} the reception start time _{t XIDSX} the position history YP _X identifier XID _X, refers to the absolute value of the absolute value and _t YPSX _{-t XIDSX} of _t XIDSX _{-t YPSX.} If the difference between the reception start time t _XIDSX of the identifier XID _X and the detection start time t _YPSX of the position history YP _X exceeds the predetermined time T _D1 in step S5, the process returns to step S3, and other identifiers XID Whether or not there is a position history YP that has not been subjected to the association process is checked, and the same process is performed. After associating the identifier XID _X with the position history YP _{X in} step S6, the process returns to step S1 and the same processing is repeated.

  By adopting such a configuration and function, in various spaces such as a space where the entrance is not clear, the identifiers XID of a plurality of moving objects that enter the identifier reception area 31 and the position detection area 41 from various directions at various timings. And the position history YP can be associated with each other reliably. Also, when a position history YP of a moving object that does not have the portable terminal 2 and a position history YP of a moving object that has the portable terminal 2 are detected, or when only the identifier XID from the portable terminal 2 is received. The identifier XID and the position history YP can be associated with each other with certainty.

In the first embodiment, in step S1, the identifier XID _X that has not been associated with the position history YP is first extracted, but the position history YP that has not been previously associated with the identifier XID. _X may be extracted.

  In the first embodiment, RFID is used as the mobile terminal 2, but an IC tag, a wireless LAN, a mobile phone, a keyless entry key, a mobile IP phone, or the like may be used. The wireless reception device 3 may use a device corresponding to the mobile terminal 2.

  Furthermore, in the first embodiment, the position detection device 5 is an image sensor, but the same effect can be obtained even when a stereo camera sensor, an infrared sensor, a distance measuring sensor, an ultrasonic sensor, or the like is used. it can.

  In the first embodiment, the person 1 is shown as the moving object. However, the same effect can be obtained for other moving objects such as animals and vehicles.

Embodiment 2. FIG.
FIG. 5 shows the history of the position history YP and the identifier XID. 5, when the difference between the detection start time _{t YPS22} the reception start time _{t XIDS21} the position history _{YP 22} identifier _{XID 21} is small, in either an identifier _{XID 21} and position history _{YP 21} and position history _{YP 22} It is difficult to determine whether to associate. However, as shown in FIG. 5, when the identifier XID ₂₁ is received after the detection end time t _YPE21 of the position history YP ₂₁ and the position history YP ₂₂ is detected, the identifier XID ₂₁ The position history YP ₂₂ should be associated.

FIG. 6 is also a history of the position history YP and the identifier XID. Also in FIG. 6, when the difference between the detection start time t _YP31 of the position history YP ₃₁ and the reception start time t _{XIDS 32} of the identifier XID ₃₂ is small, the identifier XID ₃₁ , the identifier XID ₃₂ and the position history YP ₃₁ , the position history YP It is difficult to determine how to associate ₃₂ with each other. However, as shown in FIG. 6, also in the reception end time _{t XIDE31} after identifier _{XID 31,} identifier _{XID 32} are received, and if the position history _{YP 31} has been detected, the identifier _{XID 32} position The history YP ₃₁ should be associated. _Further , when the difference between the detection end time t _{TYPE 32} of the position history YP ₃₂ and the reception end time t _{XIDE 31} of the identifier XID ₃₁ is small, the identifier XID ₃₁ and the position history YP ₃₂ should be associated with each other.

  FIG. 7 is a flowchart of the association release and reassociation processing method in which the moving object association unit 7 according to the second embodiment performs association evaluation. Hereinafter, the association cancellation and reassociation processing method of the moving object association unit 7 will be described. The configuration of the moving object detection system is the same as that of the first embodiment.

A combination of the identifier XID _X and the position history YP _X that are already associated is extracted (S11). It is determined whether the identifier XID _X has been received but the position history YP _X has not been detected for a predetermined time T _D2 or more (S12). _{If it} is determined in step S12 that the position history YP _X has not been detected for a predetermined time T _D2 or more, the association between the identifier XID _X and the position history YP _X is released (S13).

Next, it is determined whether there is a position history YP _Y that has not been associated with an identifier XID other than the position history YP _X (S14). If there is no position history YP _Y that has not been associated with an identifier XID other than the position history YP _X , the process proceeds to step S21 (S14). If there is a position history YP _Y that is not associated with an identifier XID other than the position history YP _X , the process proceeds to step S15 (S14).

A position history YP _Y that has not been associated with an identifier XID other than the position history YP _X is extracted (S15). The difference between the detection start time _{t YPSY} the reception start time _{t XIDSX} the position history YP _Y identifier XID _X determines whether within a predetermined time _{T D1} (S16). Is determined in step S16, if the difference between the detection start time _{t YPSY} the reception start time _{t XIDSX} the position history YP _Y identifier XID _X exceeds the predetermined time _{T D1,} the process proceeds to step S21. When the difference between the detection start time _{t YPSY} the reception start time _{t XIDSX} the position history YP _Y identifier XID _X is within the predetermined time _{T D1} is re-association with the location history information YP _Y and identifier XID _X (S17).

If it is determined as a result of the determination in step S12 that the position does not apply, it is determined whether or not the position history YP _X has been detected, but the identifier XID _X has not been received for a predetermined time T _D2 (S18). As a result of the determination in step S18, if it is determined that the identifier XID _X has not been received for the predetermined time T _D2 or more, the process proceeds to step S13, and the association between the identifier XID _X and the position history YP _X is released (S13). Subsequent steps S14 to S17 are as described above.

As a result of the determination in step S18, if it is determined that it is not applicable, another position history YP other than the position history YP _{X in} which the difference between the reception start time t _XIDSX of the identifier XID _X and the detection start time t _YPZZ is within the predetermined time T _{D1. It} is determined whether there is _Z (S19). If the difference between the reception start time _{t XIDSX} identifier XID _X and the detection start time _{t YPSZ} determines that there is a position history YP _Z other than the position history YP _X is within the predetermined time _{T D1} at step S19, the identifier XID _X and position The association with the history YP _X is released (S20). When the association between the identifier XID _X and the position history YP _X is released, the process proceeds to step S21.

If appropriate position history YP _Z is not a step S19, the process proceeds to step S21 (S19). In step S21, it is determined whether there is a correspondence between the identifier XID that has not been evaluated and the position history YP (S21). If there is an association between the identifier XID that has not yet been evaluated and the position history YP, the process returns to step S11 and the same processing is repeated. If there is no association between the identifier XID that has not yet been evaluated and the position history YP, the process ends.

  As described above, by evaluating the association between the identifier XID and the position history YP, even if the association between the identifier XID and the position history YP is wrong, it is possible to return to the correct association. it can. In addition, even when the wireless reception device 3 and the position detection device 5 cannot be detected correctly due to disturbance, the association error is suppressed to the minimum, the association between the position history YP of the moving object and the identifier XID, and the position of the moving object Tracking can be reinstated. Furthermore, when the association between the identifier XID and the position history YP is not clear, the association can be suspended. Further, it is possible to cope with the case where the position of a moving object that does not have the portable terminal 2 and the position of the moving object that has the portable terminal 2 is detected, or when only the identifier XID from the portable terminal 2 is received. .

Embodiment 3.
FIG. 8 shows how the moving object associating means 7 associates and associates the position history YP with the identifier XID _X when a plurality of persons 1 enter the identifier receiving area 31 and the position detecting area 41 within a short time. It is a flowchart which shows the processing method of a holding | maintenance. The configuration of the moving object detection system is the same as that of the first embodiment.

First, from step S31 to step S33, the process proceeds in the same manner as step S1 to step S3 shown in FIG. After extracting the position history YP which correspondence is not the identifier XID in step S34, the difference between the reception start time _{t XIDSX} the detection start time _{t YPSX} identifier XID _X is within the predetermined time _{T D1} position history YP _It is determined whether _X is present (S35). If there is no position history YP _{X in} which the difference between the detection start time t _YPSX and the reception start time t _XIDSX of the identifier XID _X is within the predetermined time T _D1 , the process ends. When there is a position history YP _{X in} which the difference between the detection start time t _YPSX and the reception start time t _XIDSX of the identifier XID _X is within the predetermined time T _D1 , the reception start time t of the detection start time t _YPSX and the identifier XID _X difference between _XIDSX to determine whether there are a plurality location history YP _X is within the predetermined time _{T D1} (S36).

If the difference between the reception start time _{t XIDSX} the detection start time _{t YPSX} identifier XID _X is only one position history YP _X is within the predetermined time _{T D1} associates the position history YP _X and identifier XID _X ( S39). If the position history YP _X difference is within the predetermined time _{T D1} between the received start time _{t XIDSX} the detection start time _{t YPSX} identifier XID _X there is more than one association between an identifier XID _X and position history YP _X Hold (S37).

After the process of step S37, it is determined whether or not the identifier XID _X has been received and only one position history YP _X has been detected (S38). If it is determined in step S38 that the identifier XID _X has been received and only one position history YP _X has been detected, the identifier XID _{X is associated} with the position history YP _X. (S39). When the identifier XID _{X is associated} with the position history YP _X , the process returns to step S31 and the same process is repeated.

If it does not correspond to step S38, the identifier XID _X is not received, and the position history YP _{X in} which the difference between the detection end time t _YPEX and the reception end time t _XIDEX of the identifier XID _X is within the predetermined time T _D3 is _generated. It is determined whether there is (S40). If the identifier XID _X is not received and there is a position history YP _{X in} which the difference between the detection end time t _YPEX and the reception end time t _XIDEX of the identifier XID _X is within the predetermined time T _D3 , the position history YP _X The identifier XID _X is associated (S39).

Identifier XID _X is no longer received, when the difference between the reception end time _{t XIDEX} detection end time _{t YPEX} identifier XID _X there is no position history YP _X is within the predetermined time _{T D3} returns to step S31, similarly Repeat the process.

  With such a configuration and function, the position history of a plurality of moving objects that enter the identifier receiving area 31 and the position detecting area 41 from various directions at various timings in various spaces such as a space where the entrance is not clear. YP and identifier XID can be reliably associated. Also, when a position history YP of a moving object that does not have the portable terminal 2 and a position history YP of a moving object that has the portable terminal 2 are detected, or when only the identifier XID from the portable terminal 2 is received. The identifier XID and the position history YP can be associated with each other with certainty.

Embodiment 4 FIG.
FIG. 9 is a diagram showing the relationship between the identifier reception area 31 and the position detection area 41 according to Embodiment 4 of the present invention. An area 41-1 is a common area of the identifier reception area 31 and the position detection area 41. An area 41-2 is the position detection area 41 and is an area outside the identifier reception area 31. The configuration of the moving object detection system is the same as that of the first embodiment shown in FIG.

  FIG. 10 is a flowchart showing an association processing method of the moving object association unit 7 of the moving object detection system. Below, the matching processing method of the moving object matching means 7 is demonstrated.

  First, it is determined from the position history YP whether the position when the detection of the person 1 is started is not the area 41-1 but the area 41-2 (S41). As a result of step S41, when the position when the detection of the person 1 is started is not the area 41-2 but the area 41-1, the process proceeds to step S45. If the position when the detection of the person 1 is started is the area 41-2, has the person 1 moved from the area history YP to the area 41-1 which is the identifier receiving area? It is determined whether or not (S42). If the person 1 has not moved from the area 41-2 to the area 41-1, the process is terminated.

When the person 1 moves from the area 41-2 to the area 41-1, the reception start time t _XIDSX of the identifier XID _X that has not been associated with the position history YP and the person 1 are identifiers from the area 41-2. time moved to a reception area regions 41-1, i.e. the person 1 is within a difference of the predetermined time T _D1 between the time T _M of the position detecting device 5 that has entered the area 41-1 is an identifier receiving area is detected Is determined (S43). When the _difference between the reception start time t _XIDSX of the identifier XID _X and the time T _M when the position detection device 5 detects that the person 1 has entered the area 41-1 which is the identifier reception area exceeds a predetermined time T _D1 Then, the process ends. When the _difference between the reception start time t _XIDSX of the identifier XID _X and the time T _M when the position detection device 5 detects that the person 1 has entered the area 41-1 which is the identifier reception area is within the predetermined time T _D1. Associates the position history YP _X with the identifier XID _X (S44). When the position history YP _X and the identifier XID _X are associated with each other, the process ends.

As a result of step S41, if the position when the detection of the person 1 is started is not the area 41-2 but the area 41-1, reception of the identifier XID _X that has not been associated with the position history YP the difference between the detection start time _{t YPSX} start time _{t XIDSX} the position history YP _X is determined whether within a predetermined time _{T D1} (S45). As a result of the determination in step S45, the difference between the reception start time t _XIDSX of the identifier XID _X that has not been _associated with the position history YP and the detection start time t _YPSX of the position history YP _X exceeds the predetermined time T _D1. If so, the process ends. If the difference between the reception start time _{t XIDSX} identifier XID _X to the correspondence processing it has not been a detection start time _{t YPSX} the position history YP position history YP _X is within the predetermined time _{T D1,} and location history YP _X The identifier XID _X is associated (S44). When the position history YP _X and the identifier XID _X are associated with each other, the process ends.

  With such a configuration and function, even if the identifier reception area 31 and the position detection area 41 are only partially in common, the correspondence between the position history YP and the identifier XID and the position of the continuous moving object Tracking is possible. Further, since the position history YP and the identifier XID are associated with each other and the position of the moving object is tracked using the position history of the moving object, it corresponds to various installation patterns of the wireless reception device 3 and the position detection device 5. It becomes possible. Further, even when the reception of the identifier XID by the wireless reception device 3 and the detection of the position of the moving object by the position detection device 5 become unstable, the correspondence between the continuous position history YP and the identifier XID and the position of the moving object Tracking is possible.

  Although the relationship between the identifier reception area 31 and the position detection area 41 is shown in FIG. 9 in the fourth embodiment, the same effect can be obtained even in the relation shown in FIG.

Embodiment 5. FIG.
FIG. 12 is a block diagram showing a moving object detection system according to Embodiment 5 of the present invention. The configuration is the same as that shown in the first embodiment except that there are three radio receiving apparatuses 3a, 3b, and 3c. In FIG. 12, the person 1, the portable terminal 2, the identifier receiving areas 31a, 31b, 31c and the position detecting area 41 are omitted.

  FIG. 13 is a diagram showing the relationship between identifier reception areas 31a, 31b, 31c and position detection area 41 of the moving object detection system according to the fifth embodiment of the present invention. The area 31a is an identifier reception area of the radio reception apparatus 3a, the area 31b is an identifier reception area of the radio reception apparatus 3b, and the area 31c is an identifier reception area of the radio reception apparatus 3c. An area 41 is a position detection area of the position detection device 5. The areas 31 a-1, 31 b-1, and 31 c-1 are common areas for the identifier receiving area 31 and the position detection area 41. Areas 31 a-2, 31 b-2, and 31 c-2 are identifier reception areas 31 and areas outside the position detection area 41.

  FIG. 14 is a flowchart showing an association processing method of the moving object association means 7 of the moving object detection system according to the fifth embodiment of the present invention. Hereinafter, the association processing method of the moving object association unit 7 will be described.

It is determined whether or not the position history YP _X that has not been associated with the identifier XID is first detected in the area 31a-1 (S51). If the position history YP _X that has not been associated with the identifier XID is first detected in the area 31a-1 as a result of the determination in step S51, the area 31a is detected before the position history YP _X is detected. It is determined whether there is a received identifier XID _X (S52). If there is no identifier XID _X received in the area 31a before the position history YP _X is detected, the process is terminated.

If the position history YP _X is an identifier XID _X being received in the region 31a before being detected, the difference between the detection start time _{t YPSX} the reception start time _{t XIDSX} the position history YP _X identifier XID _X is It is determined whether it is within the predetermined time _TD4 (S53). If the difference between the detection start time _{t YPSX} the reception start time _{t XIDSX} the position history YP _X identifier XID _X exceeds the predetermined time _{T D4,} the processing is terminated (S53). When the difference between the detection start time _{t YPSX} the reception start time _{t XIDSX} the position history YP _X identifier XID _X is within the predetermined time _{T D4} performs correspondence between the identifier XID _X and the position history YP _X ( S54).

  In the fifth embodiment, the association processing method in the area 31a is shown, but the same operation is performed in the other areas 31b and 31c.

  With such a configuration and function, even if the relationship between the identifier reception area 31 and the position detection area 41 is complicated, it is possible to associate the position history YP with the identifier XID and track the position of a continuous moving object. It becomes possible. Since the history of the identifier XID and the position history YP received in the plurality of identifier reception areas 31 are used to associate the position history YP with the identifier XID and track the position of the moving object, the wireless receiver 3 and the position detection It is possible to deal with various installation patterns of the device 5. Further, even when the reception of the identifier XID by the wireless reception device 3 and the detection of the position of the moving object by the position detection device 5 become unstable, the association between the continuous position history YP and the identifier XID and the position of the moving object Can be tracked.

Embodiment 6 FIG.
FIG. 15 is a diagram showing the relationship between identifier reception areas 31a, 31b, 31c and a position detection area 41 of a moving object detection system according to Embodiment 6 of the present invention. The area 31a is an identifier reception area of the radio reception apparatus 3a, the area 31b is an identifier reception area of the radio reception apparatus 3b, and the area 31c is an identifier reception area of the radio reception apparatus 3c. An area 41 is a position detection area of the position detection device 5.

  The areas 31 a-1, 31 b-1, and 31 c-1 are common areas for the identifier receiving area 31 and the position detection area 41. Areas 31 a-2, 31 b-2, and 31 c-2 are identifier reception areas 31 and areas outside the position detection area 41. Further, the area 41-2 is the position detection area 41 and is an area outside the identifier reception area 31. The configuration of the apparatus and means is the same as in the fifth embodiment.

  FIG. 16 is a flowchart showing an association processing method of the moving object association means 7 of the moving object detection system according to the sixth embodiment of the present invention. Below, the matching processing method of the moving object matching means 7 is demonstrated.

It is determined whether or not the position history YP _X that has not been associated with the identifier XID is first detected in the area 41-2 (S61). When the position history YP _X that has not been associated with the identifier XID is first detected in the area 41-2, the person 1 from the position history YP _X is the area 31a that is the identifier receiving area from the area 41-2. It is determined whether or not it has moved to -1 (S62). If the person 1 has not moved from the area 41-2 to the area 31a-1 that is the identifier receiving area, the process is terminated. When the person 1 moves from the area 41-2 to the area 31a-1, the association processing with the position history YP is not performed, and the reception start time t _XIDSX of the identifier XID _X received in the area 31a The difference between the time when the person 1 moves from the area 41-2 to the area 31a-1 which is the identifier receiving area, that is, the time T _M when the position detecting device 5 detects that the person 1 enters the area 31a-1 which is the identifier receiving area. There it is determined whether within a predetermined time _{T D1} (S63).

If the difference between the time _{T M} of reception start time _{t XIDSX} and the person 1 is a position detecting device 5 and enters the area 31a-1 is the identifier receiving area detected identifier XID _X exceeds the predetermined time _{T D1} is The process is terminated. If the difference between the time _{T M} of reception start time _{t XIDSX} and the person 1 is a position detecting device 5 and enters the area 31a-1 is the identifier receiving area detected identifier XID _X is within the predetermined time _{T D1} is The position history YP _X is associated with the identifier XID _X (S64).

If the position history YP _X that has not been associated with the identifier XID is not first detected in the area 41-2 as a result of the determination in step S61, the position that has not been associated with the identifier XID It is determined whether the history YP _X is first detected in the area 31a-1 (S65). When the position history YP _X that has not been associated with the identifier XID is first detected in the region 31a-1, the association processing with the position history YP is not performed, and the position history YP _X is It is determined whether there is an identifier XID _Y received in the area 31a before the detection (S66).

Not associated with the location history YP, and if the position history YP _X is an identifier XID _Y being received in the region 31a before being detected, the identifier XID _Y reception start time _{t XIDSY} and location history the difference between the detection start time _{t YPSX} of YP _X to determine whether it is within the predetermined time _{T D4} (S67). Is determined in step S67, the when the difference between the detection start time _{t YPSX} the reception start time _{t XIDSY} the position history YP _X identifier XID _Y is within a predetermined time _{T D4} is the position history YP _X and identifier XID _Y Are associated with each other (S68). As a result of the determination from step S65 to step S67, if there is no corresponding item, the process is terminated.

  By adopting such a configuration and function, even when the relationship between the identifier reception area 31 and the position detection area 41 is complicated, the correspondence between the position history YP and the identifier XID and the continuous tracking of the position of the moving object are performed. Is possible. In addition, since the movement from the area other than the identifier reception area to the identifier reception area 31 is detected and the position history YP and the identifier XID are associated with each other, it corresponds to various installation patterns of the wireless reception device 3 and the position detection device 5. It becomes possible. Furthermore, even when reception by the wireless reception device 3 and detection by the position detection device 5 are unstable, it is possible to associate the continuous position history YP with the identifier XID and track the position of the moving object.

Embodiment 7 FIG.
FIG. 17 is a block diagram showing a moving object detection system according to Embodiment 7 of the present invention. The image detection device 51 detects an image of the person 1 as a moving object using a camera or the like. Based on the position history YP and identifier XID of the person 1 obtained from the moving object association unit 7, the moving object image management unit 52 stores and manages the image obtained from the image detection device 51 in association with the identifier XID. . Further, the moving object image management means 52 stores and manages an image of the person 1 for whom the identifier XID cannot be obtained as having no identifier XID. Other configurations are the same as those in the first embodiment.

  With such a configuration, it is possible to record an image with the identifier XID of the moving object. Moreover, it becomes easy to search for the video corresponding to the specific identifier XID later based on the identifier XID of the moving object. Furthermore, it becomes possible to easily search for an image without an identifier XID.

  In the seventh embodiment, the image detection device 51 is separated from the position detection device 5, but an image sensor or a stereo camera sensor may be used as the position detection device 5, and the image detection device 51 and the position detection device 5 may be integrated. Similar effects can be obtained.

Embodiment 8 FIG.
FIG. 18 is a block diagram showing a moving object detection system according to Embodiment 8 of the present invention. The moving object management means 61 manages the position history YP of the person 1 as the moving object to which the identifier XID obtained from the moving object association means 7 is assigned. Other configurations are the same as those in the first embodiment.

  With such a configuration, it is possible to manage the position history YP of the moving object associated with the identifier XID, and it is possible to easily grasp who is performing what kind of action.

Embodiment 9 FIG.
FIG. 19 is a block diagram showing a moving object detection system according to Embodiment 9 of the present invention. User management means 71 manages users who are permitted to use or pass the system. The moving object authentication unit 72 detects whether the person 1 uses the system or passes through a gate or the like based on the position history YP of the person 1 obtained from the moving object association unit 7. Further, the moving object authentication means 72 refers to the user management means 71 based on the identifier XID associated with the position history YP of the person 1 and authenticates the use of the person 1 system or gate traffic. The use of the moving object system or the detection of gate traffic based on the position history YP of the person 1 is detected by an action such as the person 1 approaching the target system or the gate. Other configurations are the same as those in the first embodiment.

  The moving object authentication unit 72 refers to the user management unit 71 to perform the system use of the person 1 or the authentication of the passage of the gate, but the use of the system included in the identifier XID obtained from the moving object association unit 7 or The use of the person 1 system or the authentication of the passage of the gate may be performed with reference to the gate passage permission / non-permission signal.

  With this configuration and function, it detects moving objects that are approaching and handles moving objects in systems such as door opening / closing authentication, transportation automatic ticket gates, elevator use authentication, and parking use authentication. Since the attached identifier XID is referenced, it is possible to authenticate the use of the moving object system or the gate traffic. In addition, since the position history YP and identifier XID of the moving object are referred to, an action such as stopping the moving object and holding the card containing the identifier XID over the card reader in the door opening / closing authentication, the automatic ticket gate of transportation, etc. It is possible to authenticate and allow or deny traffic simply by approaching without passing.

1 is a configuration diagram of a moving object detection system shown in Embodiment 1. FIG. 6 is a diagram illustrating a relationship between an identifier reception area and a position detection area of the moving object detection system illustrated in Embodiment 1. FIG. This is a history of the position history YP and the identifier XID shown in the first embodiment. 3 is a flowchart of a correspondence processing method of a moving object association unit shown in the first embodiment. This is a history of the position history YP and the identifier XID shown in the second embodiment. This is a history of the position history YP and the identifier XID shown in the second embodiment. 6 is a flowchart of a method for canceling association and reassociation by a moving object association unit according to the second embodiment. 14 is a flowchart illustrating a processing method of association and association suspension by the moving object association unit illustrated in the third embodiment. FIG. 10 is a diagram illustrating a relationship between an identifier reception area and a position detection area of the moving object detection system illustrated in the fourth embodiment. 10 is a flowchart of an association processing method of a moving object association unit in the moving object detection system shown in the fourth embodiment. FIG. 10 is a diagram illustrating a relationship between an identifier reception area and a position detection area of the moving object detection system illustrated in the fourth embodiment. FIG. 10 is a configuration diagram of a moving object detection system shown in a fifth embodiment. FIG. 10 is a diagram illustrating a relationship between an identifier reception area and a position detection area of the moving object detection system shown in the fifth embodiment. 10 is a flowchart of an association processing method of a moving object association unit in the moving object detection system shown in the fifth embodiment. FIG. 20 is a diagram illustrating a relationship between an identifier reception area and a position detection area of the moving object detection system illustrated in the sixth embodiment. 18 is a flowchart of an association processing method of a moving object association unit in the moving object detection system shown in the sixth embodiment. FIG. 10 is a configuration diagram of a moving object detection system shown in a seventh embodiment. FIG. 10 is a configuration diagram of a moving object detection system shown in an eighth embodiment. FIG. 10 is a configuration diagram of a moving object detection system shown in a ninth embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Person, 2 Portable terminal, 3, 3a, 3b, 3c Wireless receiver, 4 Identifier history management means, 5 Position detection apparatus, 6 Position history management means, 7 Moving object matching means, 31, 31a, 31b, 31c Identifier Receiving area, 31a-1, 31b-1, 31c-1 common area of identifier receiving area and position detecting area, 31a-2, 31b-2, 31c-2 identifier receiving area, and outside the position detecting area 41, a position detection area, 41-1 a common area between the identifier reception area 31 and the position detection area 41, 41-2 a position detection area 41, and an area outside the identifier reception area 31, 51 an image detection device, 52 Moving object image recording means, 61 Moving object management means, 71 User management means, 72 Moving object authentication means.

Claims (6)

Position detecting means for detecting the position of the moving object;
Position history management means for managing the position history of the moving object;
Identifier receiving means for receiving an identifier of the moving object from a mobile terminal held by the moving object;
Identifier history management means for managing the history of the identifier;
A moving object associating means for associating the moving object position history with the identifier based on the moving object position history and the identifier history;
At least a part of the position detection area of the position detection means and a part of the identifier reception area of the identifier reception means overlap each other. When the difference between the time when the position detecting unit starts detecting the position of the moving object and the time when the identifier receiving unit starts receiving the identifier is within a predetermined time, the moving object associating unit The moving object detection system according to claim 1, wherein a position history is associated with the identifier. When the difference between the time when the position detection unit detects that the moving object has entered the identifier reception area and the time when the identifier reception unit starts receiving the identifier is within a predetermined time, the moving object association unit The moving object detection system according to claim 1, wherein a position history of the moving object is associated with the identifier. 2. The moving object detection system according to claim 1, further comprising image management means for managing the image by associating an image of the moving object with an identifier. The moving object detection system according to claim 1, further comprising moving object management means for managing a position history of the moving object associated with the identifier. 2. The moving object detection system according to claim 1, further comprising moving object authentication means for performing authentication of passage of the moving object or use of the system based on the position history of the moving object associated with the identifier and the identifier.

Images