JP2006349609A - Sensor node position information acquisition device and sensor node position information acquisition system using it - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a sensor node position information acquisition device which obtains the position of a sensor node in a living room space, or in a small outdoor space, regardless of indoors or outdoors, and also to provide a sensor node position information acquisition system using it. <P>SOLUTION: The sensor node position information acquisition device 30 acquires sensing object detection information that is a detection result in a sensor node 10 through a detection information processing server 20 by releasing a sensing object 31 by a movable part 32 with moving, and also acquires position information of the sensor node 10 by specifying the own position at the time of detection of the sensing object 31 by an own position information generation part 43. The position of the sensor node arranged in a room is specified from these pieces of information. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a sensor node position information acquisition device for acquiring arrangement positions of a human sensor for controlling air conditioning and lighting in a living room space and a small outdoor space, an environmental sensor for detecting ultraviolet light, temperature, and the like, and the like. The present invention relates to a sensor node position information acquisition system using

  Conventionally, in a living room space or a small outdoor space, sensors such as a human sensor for controlling air conditioning and illumination, an environmental sensor for detecting ultraviolet light, temperature, and the like have been arranged at predetermined positions. By arranging the sensor at the specified position, the place where the detection is performed can be recognized, and appropriate control according to the detection result can be performed at the recognized place.

  This sensor position is specified on a map when the target space is outdoors in a wide area, and the sensor itself grasps the position in the space by adding a GPS (Global Positioning System) function to the sensor. be able to.

  However, when the target space is a living room or a small outdoor space, the sensor position is often specified on the design drawing, which requires time and effort to input the sensor position on the design drawing. . Further, when the sensor position changes with time, it is difficult to specify the sensor position.

  Non-Patent Document 1 describes a technique for obtaining position information of a sensor node as a method for obtaining position information of a sensor node, as shown in FIG. 17, by grasping a mutual relationship with other sensors. . In this technique, a known position information from a peripheral node capable of receiving radio waves with respect to a certain sensor node is acquired, and the center of gravity of the acquired position information is used as the position information of the sensor node.

  In FIG. 17, sensor A, sensor F, and sensor G are sensor nodes from which position information has been acquired, and sensor B, sensor C, sensor D, sensor E, sensor H, and sensor I are sensor nodes from which position information has not been acquired. It is.

For example, the sensor E, which is a sensor node from which position information has not been acquired, acquires the sensor position based on the center of gravity obtained from the sensors A, F, and G, which are sensor nodes from which position information has been acquired. The sensor position of the sensor D, which is a sensor node, is acquired from the center of gravity obtained from the sensor A and the sensor G, which are sensor nodes whose position information has been acquired.
“GPS-less low cost outdoor localization for small devices”, IEEE, Personal Communications, October 2000

  However, although the above-described method using GPS can be used appropriately outdoors, there is a problem that measurement is difficult because GPS radio waves received from satellites are weak indoors. Further, there is a problem that it is expensive to provide a GPS for each sensor.

  The method described in Non-Patent Document 1 is also suitable for outdoor use with good communication conditions, but has a problem in that indoor use is likely to cause multiple reflections.

  Furthermore, in the method described in Non-Patent Document 1, it is necessary to arrange sensor nodes with a certain high density in order to acquire known position information from surrounding nodes capable of receiving radio waves, and a certain number of sensors in the initial stage. It was necessary to give position information to the sensor node.

  Therefore, an object of the present invention is to provide a sensor node position information acquisition apparatus capable of grasping the position of a sensor node in a living room space or a small outdoor space, whether indoors or outdoors, and a sensor node position information acquisition system using the same. Is to provide.

  In order to solve the above-mentioned problem, the present invention according to claim 1 is a sensor node position information acquisition device for acquiring position information of sensor nodes arranged in a space, and a sensed object that can be detected by the sensor node, A self-position information is generated from a movable part for moving the self-apparatus, a self-position measuring part for measuring a distance and a direction of the self-apparatus moved by the movable part, and a distance and a direction measured by the self-position measuring part Self-location information generation unit, communication unit for acquiring sensing object detection information generated when a sensing object is detected at the sensor node from a sensor node or an external device connected to the sensor node, and self-location information generation Sensor node position information generation that generates position information of the sensor node from the own position information generated by the communication unit and the detected object detection information acquired by the communication unit. Characterized in that it comprises a part.

  The sensor node position information acquisition apparatus according to claim 1 is a sensor node position information acquisition device according to claim 1, wherein the sensor node includes a digital reactive sensor, and the sensing object detection information includes sensing of the sensor node by movement of a movable part. The detection start time of the sensing object detected when passing through the area, and the detection end time of the sensing object, including the measurement time of the distance and direction in the own position information, the sensor node position information generation unit, The position information of the center of the own position information of the measurement time corresponding to the detection start time and the own position information of the measurement time corresponding to the detection end time is generated as the position information of the sensor node.

A sensor node position information acquisition device according to claim 1 is provided, wherein the sensor node has an analog reaction type sensor, and sensing object detection information includes sensing of the sensor node by movement of a movable part. When passing through the area, the detection reaction time at the sensor node exceeds the preset threshold value, the detection start time when the detection of the sensed object is considered to be started, and the threshold value of the sensed object does not exceed Including the detection end time at which detection is considered to have ended, and the self-location information includes the measurement time of the distance and direction,
The sensor node position information generation unit generates position information of the center between the own position information of the measurement time corresponding to the detection start time and the own position information of the measurement time corresponding to the detection end time as the position information of the sensor node. Features.

  A sensor node position information acquisition device according to any one of claims 1 to 3, wherein the sensor node position information generation unit passes the sensing area of the sensor node a plurality of times by moving the movable unit. In this way, a plurality of detection start times and a plurality of detection end times are taken in from the sensor node or an external device connected to the sensor node, and three times are arbitrarily extracted from the plurality of taken-in detection start times and a plurality of detection end times. The position information of the center of gravity of the own position information at the measurement time corresponding to the three extracted times is generated as the position information of the sensor node.

  According to a fifth aspect of the present invention, the sensor node position information acquisition system of the present invention extracts a sensor node that generates sensing information indicating whether or not a sensing object is detected, and sensing information from which the sensing object is detected. A detection information processing server that generates sensing object detection information, a sensing object that can be detected by a sensor node, a movable part for moving the own apparatus, and a distance and direction of movement of the own apparatus by the movable part are measured. A self-position measuring unit, a self-position information generating unit that generates self-position information from the distance and direction measured by the self-position measuring unit, and a target to be generated when a sensing object is detected at a sensor node from a detection information processing server. The communication unit that acquires sensing body detection information, the self-location information generated by the self-location information generation unit, and the sensin that is acquired by the communication unit Characterized in that it comprises a sensor node position information acquisition device having a sensor node position information generating unit from the body detection information to generate position information of the sensor node, the.

  A sensor node position information acquisition system according to claim 5, wherein the sensor node has a digital reactive sensor, and sensing object detection information includes sensing of the sensor node by movement of a movable part. The detection start time of the sensing object detected when passing through the area, and the detection end time of the sensing object, including the measurement time of the distance and direction in the own position information, the sensor node position information generation unit, The position information of the center of the own position information of the measurement time corresponding to the detection start time and the own position information of the measurement time corresponding to the detection end time is generated as the position information of the sensor node.

  A sensor node position information acquisition system according to claim 5, wherein the sensor node has an analog reaction type sensor, and sensing object detection information includes sensing of the sensor node by movement of a movable part. When passing through the area, the detection reaction time at the sensor node exceeds the preset threshold value, the detection start time when the detection of the sensed object is considered to be started, and the threshold value of the sensed object does not exceed It includes a detection end time at which detection is considered to have ended, and the own position information includes a measurement time of distance and direction, and the sensor node position information generation unit detects the own position information of the measurement time corresponding to the detection start time and the detection end The position information of the center with the own position information of the measurement time corresponding to the time is generated as the position information of the sensor node. That.

  Moreover, Claim 8 is the sensor node position information acquisition system of any one of Claims 5-7, Comprising: A sensor node position information generation part passes the sensing area of a sensor node in multiple times by movement of a movable part. In this way, a plurality of detection start times and a plurality of detection end times are taken in from the sensor node or an external device connected to the sensor node, and three times are arbitrarily extracted from the plurality of taken-in detection start times and a plurality of detection end times. The position information of the center of gravity of the own position information at the measurement time corresponding to the three extracted times is generated as the position information of the sensor node.

  According to a ninth aspect of the present invention, there is provided a sensor node position information acquisition system according to the present invention, wherein a sensing module that generates sensing information indicating whether or not a sensing object is detected and sensing information from which the sensing object is detected are extracted and the sensing information is detected. A sensor node having a sensing object detection information generating unit that generates sensing body detection information, a sensing object that can be detected by the sensing module, a movable part for moving the own apparatus, and the own apparatus has moved by the movable part Generated when a sensing object is detected at a sensor node by a local position measuring unit that measures distance and direction, a local position information generating unit that generates local position information from the distance and direction measured by the local position measuring unit, and a sensor node Self-location generated by communication unit and self-location information generation unit that acquires sensing object detection information from sensor node Characterized in that it comprises the information and the sensor node position information generator and a target sensing object detection information obtained by the communication unit to generate position information of the sensor node, the sensor node position information acquisition device having a.

  According to the sensor node position information acquisition apparatus and the sensor node position information acquisition system using the sensor node position information acquisition system according to the present invention, when a sensor node is arranged in a living room space or a small outdoor space, the arrangement position is specified in advance or the design drawing is used. Since the position of the sensor node can be ascertained without input, the time and labor required for the placement work and the placement position change work can be greatly reduced.

  In addition, according to the sensor node position information acquisition device and the sensor node position information acquisition system using the same according to the present invention, the position of the sensor node is grasped without attaching a special sensor for acquiring the position information to the sensor node. Can be designed with a simple configuration.

<First Embodiment>
A sensor node position information acquisition system according to a first embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 is a block diagram illustrating a configuration of a sensor node position information acquisition system 1 according to the present embodiment.

  The sensor node position information acquisition system 1 according to the present embodiment includes a plurality of sensor nodes 10 that detect positions, a detection information processing server 20, and a sensor node position information acquisition device 30 using a wired or wireless communication medium. It is configured to be able to communicate.

  Examples of the wire communication medium that can be used include a LAN line and a power line, and those that can be used as a wireless communication medium include a mobile phone, a PHS, a wireless LAN, a low power wireless line, and a weak wireless line. There are also lines using ZigBee and BLOETOOTH, which are technologies that establish wireless communication.

  The sensor node 10 includes a sensing module 11 and a communication unit 12.

  The sensing module 11 detects a sensing object such as temperature, pressure, magnetism, light, gas, ultrasonic wave, and electromagnetic wave, and has a detection processable range (sensing area) for each sensing module 11. When the sensing module 11 does not detect the sensing object in the sensing area, the sensing result information indicating ON / OFF of the detection is turned OFF, and when the sensing object is detected, it is turned ON, and the sensor ID for identifying the sensor node 10 Sensing information is generated together with the information and the sensing time at which the detection was performed.

  The communication unit 12 transmits the sensing information generated by the sensing module 11 to the detection information processing server 20.

  The detection information processing server 20 includes a communication unit 21, a sensing information storage unit 22, a sensing object detection information generation unit 23, and a sensor node position information storage unit 24.

  The communication unit 21 communicates with the sensor node 10 and the sensor node position information acquisition device 30.

  The sensing information storage unit 22 stores the sensing information received from the sensor node 10 via the communication unit 21.

  The sensing object detection information generation unit 23 extracts sensing information whose sensing result information is ON from the sensing information stored in the sensing information storage unit 22, and generates sensing object detection information.

  The sensor node position information storage unit 24 stores sensor node position information acquired by the sensor node position information acquisition device 30.

  The sensor node position information acquisition device 30 includes a sensed body 31, a movable part 32, a self-position measurement part 33, a self-position information generation part 34, a communication part 35, and a sensor node position information generation part 36. .

  The sensed body 31 is a sensed body source to which the sensor node 10 reacts.

  The movable unit 32 has a function of moving the sensor node position information acquisition device 30. For example, wheels or wings are used.

  The self-position measuring unit 33 has a function of measuring the distance and direction moved by the movable unit 32. For example, a distance meter or a gyro is used.

  The own position information generation unit 34 generates the own position information of the sensor node position information acquisition device 30 from the measurement result measured by the own position measurement unit 33 and the measurement time.

  The communication unit 35 communicates with the detected information processing server 20.

  The sensor node position information generation unit 36 generates sensor node position information from the detected object detection information received from the detection information processing server via the communication unit 35 and the own position information generated by the own position information generation unit 34. To do.

  In the present embodiment, the sensor node 10 and the sensor node position information acquisition device 30 are time synchronized.

  Next, the operation of the sensor node position information acquisition system 1 in this embodiment will be described with reference to the flowchart of FIG. This embodiment demonstrates the case where the digital reaction type human sensitive sensor is installed indoors as the sensor node 10. FIG. The digital reaction type human sensor detects a heat ray (infrared ray) emitted from a person as a sensing object, thereby grasping a person's movement within a sensing range by digital data.

  First, the sensor node position information acquisition device 30 is installed at a predetermined position in the detection target room in which the sensor node is arranged in a state (S1) in which the infrared ray that is the sensed body is emitted from the sensed body 31.

  The sensor node position information acquisition device 30 moves in the room by the wheels of the movable unit 32 (S2), and the distance and direction of movement at the time (t) at a certain time interval are the distance meter and gyro of the own position measuring unit 33. (S3).

  Next, in the own position information generation unit 34, the position coordinates (X of the sensor node position information acquisition device 30 in the detection target room from the measurement result of the movement distance and the movement direction at the time (t) measured by the own position measurement unit 33. , Y) is calculated, and the position information of the sensor node position information acquisition device 30 at time (t) represented by the following equation (1) is generated (S4).

[Equation 1]
(Xt, Yt) (1)
On the other hand, in the sensing module 11 of the sensor node 10, it is determined whether or not a sensing object is detected in the sensing area by sensing at regular time intervals (S5).

  Here, when the sensor node position information acquisition device 30 is outside the sensing area of the sensor node 10, the sensing object is not detected by the sensing module 11, and the sensing result information indicating ON / OFF of the detection is OFF. Set to In the sensing module 11, sensing information is generated from the sensing result information, sensor ID information for identifying the sensor node 10, and sensing time at which the detection was performed (S6).

  Further, when the sensor node position information acquisition device 30 is moved by the movable part 32 and enters the sensing area of the sensor node 10, the sensing object sent from the sensing object 31 is detected by the sensing module 11. .

  When the sensing object is detected, the sensing module 11 switches the sensing result information to ON, and similarly generates sensing information together with the sensor ID information and the sensing time (S6).

  Each time the sensing information is generated, it is transmitted to the detected information processing server 20 via the communication unit 12 (S7).

  In the detection information processing server 20, sensing information is received via the communication unit 21 and stored in the sensing information storage unit 22 (S8).

  When the sensing result information of the stored sensing information is ON and the position information of the sensor node identified by the sensor ID information is unknown, the sensing object detection information generation unit 23 generates the sensing object detection information. (S9).

This sensing object detection information includes a detection start time (t ₁ ) that is a sensing time when the sensing result information is switched from OFF to ON, that is, when the sensor node position information acquisition device 30 enters the sensing area, Thereafter, when the sensing position result information is switched from ON to OFF, that is, based on the detection end time (t ₂ ), which is the sensing time when the sensor node position information acquisition device 30 comes out of the sensing area.

FIG. 3 is an explanatory diagram showing the detection start position P and the detection end position Q of the sensing object of the sensor node position information acquisition device 30 in the sensing area a of the sensor node S. As shown in FIG. 3, when the sensor node position information acquisition device 30 moves the sensing area a of the sensor node S in the direction of the arrow, the time of the detection start position P of the sensed body is (t ₁ ) The time at the end position Q is (t ₂ ).

FIG. 4 is a graph showing a sensing target detection reaction in sensing result information. The horizontal axis of the graph indicates the elapsed time, and the vertical axis indicates the reaction level at the time of detection. In the digital reaction type sensor, the reaction level detected in the sensing area of the same sensor node is the same value. As shown in FIG. 4, the sensing object is detected between the detection start time (t ₁ ) and the detection end time (t ₂ ), and the sensing result information is ON.

  The generated sensing object detection information is transmitted to the sensor node position information acquisition device 30 via the communication unit 21 (S10).

  In the sensor node position information acquisition device 30, the sensing object detection information is received via the communication unit 35, and is sent to the sensor node position information generation unit 36 (S11).

In the sensor node position information generation unit 36, the acquired sensing object detection information (detection start time (t ₁ ) and detection end time (t ₂ )) and the own position information (Xt) generated in the own position information generation unit 34. , Yt) and the coordinates of the own position at the detection start time (Xt ₁ , Yt ₁ ) and the coordinates of the own position at the detection end time (Xt ₂ , Yt ₂ ) are specified. The generated sensor node position information is generated (S12).

[Equation 2]
(1/2 (Xt ₁ + Xt ₂ ), (1/2 (Yt ₁ + Yt ₂ )) (2)
The generated sensor node position information is transmitted to the detected information processing server 20 via the communication unit 35 (S13). The detected information processing server 20 receives the sensor node position information via the communication unit 21 and stores it in the sensor node position information storage unit 24 (S14).

  According to the first embodiment described above, the sensor node position information acquisition device acquires the detection result at the sensor node by releasing the sensed body while moving, and the sensor node position information acquisition apparatus when the detected object is detected. Since the position information of the sensor node can be acquired by specifying the position, it is possible to specify the position of the sensor node already arranged in the room.

  Further, if the sensing object is changed in accordance with the sensor node for which position information is desired to be acquired, it is possible to cope with the acquisition of position information of various types of sensor nodes.

Second Embodiment
A sensor node position information acquisition system according to a second embodiment of the present invention will be described with reference to FIGS. 1, 2, and 5 to 9. Since the configuration of the sensor node position information acquisition system 1 according to the present embodiment in FIG. 1 is the same as that of the first embodiment, detailed description thereof is omitted.

  In addition, the operation of the sensor node position information acquisition system 1 in the present embodiment according to the present embodiment in FIG. 2 is the operation in which the own position information is generated in the sensor node position information acquisition device 30, and the sensing information is generated in the sensor node 10. Steps S1 to S8, in which sensing information is received and stored by the detected information processing server 20, are the same as those in the first embodiment, and thus detailed description thereof is omitted.

  The difference from the first embodiment is that the sensor node position information acquisition device 30 is operated so as to pass twice or more with respect to the sensing area a of the same sensor node S.

  Here, the case where the sensor node position information acquisition apparatus 30 passes twice with respect to the sensing area of the same sensor node will be described with reference to FIGS.

  When a plurality of sensor nodes A to H having a radius ds of the same distance are arranged in a room, the sensor node position information acquisition device 30 is linear as shown by an arrow at intervals of a distance d shorter than the radius ds of the sensor node. By being operated to move, the sensor node position information acquisition device 30 passes through each sensing area twice.

  FIG. 6 is a graph showing a sensing target detection reaction in the sensing result information of FIG. The horizontal axis of the graph indicates the elapsed time, and the vertical axis indicates the reaction level at the time of detection. In FIG. 6, A (1) indicates a detection reaction when the sensor node position information acquisition device 30 passes the sensor area of the sensor node A for the first time, and A (2) indicates that the sensor node position information acquisition device 30 is a sensor. The detection reaction when passing through the sensor area of node A for the second time is shown. The same applies to B (1) to H (2) below.

In addition, the time at which detection of the detection reaction A (1) starts is defined as a first detection start time (t ₁ ), and the time at which detection of the detection reaction A (1) is terminated is defined as a first detection end time (t ₂ ). The time at which detection of the detection reaction A (2) is started is defined as a second detection start time (t ₃ ), and the time at which detection of the detection reaction A (2) is completed is defined as a first detection end time (t ₄ ).

FIG. 7 shows a first detection start position P, a first detection end position Q, a second detection start position R, and a second detection position of the sensing object of the sensor node position information acquisition device 30 in the sensing area a of the sensor node S. It is explanatory drawing which shows the detection end position U. FIG. As shown in FIG. 7, when the sensor node position information acquisition device 30 moves the sensing area a of the sensor node S in the direction of the arrow, the time of the first detection start position P of the sensed body is (t ₁ ). The time at the first detection end position Q is (t ₂ ), the time at the second detection start position R is (t ₃ ), and the time at the second detection end position U is (t ₄ ).

FIG. 8 is a graph showing a sensing target detection reaction in sensing result information. The horizontal axis of the graph indicates the elapsed time, and the vertical axis indicates the reaction level at the time of detection. In the digital reaction type sensor, the reaction level detected in the sensing area of the same sensor node is the same value. As shown in FIG. 8, between the first detection start time (t ₁ ) and the first detection end time (t ₂ ), and from the second detection start time (t ₃ ) to the second detection end time (t ₄ ). The sensing object is detected during, and the sensing result information is ON.

In this way, when the sensor node position information acquisition device 30 passes twice with respect to the sensing area a of the same sensor node S, the sensed body detection information includes the first detection start time (t ₁ ), the first The detection end time (t ₂ ), the second detection start time (t ₃ ), and the second detection end time (t ₄ ) are generated (S9).

  The generated sensing object detection information is transmitted to the sensor node position information acquisition device 30 via the communication unit 21 (S10).

  In the sensor node position information acquisition device 30, the sensing object detection information is received via the communication unit 35, and is sent to the sensor node position information generation unit 36 (S11).

In the sensor node position information generation unit 36, first, the first detection start time (t ₁ ), the first detection end time (t ₂ ), and the second detection start time (t ₃ ) that are the acquired sensing object detection information. , And the second detection end time (t ₄ ), any three times are extracted. Here, it is assumed that the first detection start time (t ₁ ), the first detection end time (t ₂ ), and the second detection start time (t ₃ ) are extracted.

Next, the sensor node position information generation unit 36 extracts the first detection start time (t ₁ ), the first detection end time (t ₂ ), the second detection start time (t ₃ ), and the own position information. From the own position information (Xt, Yt) generated by the generation unit 34, the coordinates of the own position at the first detection start time (Xt ₁ , Yt ₁ ) and the coordinates of the own position at the first detection end time (Xt ₂ , Yt) ₂ ) and the coordinates (Xt ₃ , Yt ₃ ) of the own position at the second detection start time are specified.

Since these three coordinates (coordinates (Xt ₁ , Yt ₁ ), coordinates (Xt ₂ , Yt ₂ ), and (Xt ₃ , Yt ₃ )) are points on the arc of the same sensor area a, FIG. As shown in FIG. 5, the outer periphery (Xs, Ys) of the triangle having the three points as vertices is obtained, and this outer center (Xs, Ys) is generated as sensor node position information by the sensor node position information generating unit 36. .

  According to the second embodiment described above, since there are three coordinates for generating sensor node position information, it is possible to generate sensor node position information with higher accuracy than in the first embodiment.

<Third Embodiment>
A sensor node position information acquisition system according to a third embodiment of the present invention will be described with reference to FIGS. 10 and 11. Since the configuration of the sensor node position information acquisition system 1 according to this embodiment is the same as that of the first embodiment and the second embodiment, detailed description thereof is omitted.

  In this embodiment, an analog reaction type sound pressure sensor is installed indoors as the sensor node 10.

In the present embodiment, as shown in FIG. 10, the sensing result information includes the detection start time (t ₁ ) that is the sensing time when the sensor node position information acquisition device 30 enters the sensing area, and the sensing result information goes out of the sensing area. It is generated by the detection end time (t ₂ ) that is the sensing time at that time.

In the case of an analog reaction type sensor, as shown in FIG. 11, when the reaction level exceeds the threshold value (α), the sensor node position information acquisition device 30 is regarded as entering the sensing area a, and the time is The detection start time (t ₁ ). Further, the time when the reaction level becomes smaller than the threshold value (α) is regarded as the time when the sensor node position information acquisition device 30 goes out of the sensing area a, and is set as the detection end time (t ₂ ).

  The sensing object detection information is generated from the sensing information obtained as described above in the same manner as in the first embodiment, and further sensor node position information is generated.

  According to the third embodiment described above, the present invention can also be applied to an analog reaction type sensor, and the same effect as in the first embodiment can be obtained.

  Further, by changing the value of the threshold (α), it is possible to detect a sensor node or the like having a weak detection reaction.

<Fourth embodiment>
A sensor node position information acquisition system according to a fourth embodiment of the present invention will be described with reference to FIGS. Since the configuration of the sensor node position information acquisition system 1 according to this embodiment is the same as that of the first to third embodiments, detailed description thereof is omitted.

  In this embodiment, an analog reaction type sound pressure sensor is installed indoors as the sensor node 10 as in the third embodiment.

  Furthermore, in the present embodiment, the sensor node position information acquisition device 30 is operated so as to pass twice or more with respect to the sensing area a of the same sensor node S as in the second embodiment.

  As shown in FIG. 5, the sensor node position information acquisition device 30 follows the path indicated by the arrow as in the second embodiment in a room where a plurality of analog reaction type sound pressure sensors A to H having the same radius ds are arranged. The sensing object detection reaction when moved is shown in the graph of FIG.

  The horizontal axis of the graph indicates the elapsed time, and the vertical axis indicates the reaction level at the time of detection. In FIG. 14, a waveform having a peak at A (1) (hereinafter referred to as “peak A (1) waveform”) is obtained when the sensor node position information acquisition device 30 passes through the sensor area of the sensor node A for the first time. A waveform indicating a detection reaction and having a peak of A (2) (hereinafter referred to as “peak A (2) waveform”) is obtained when the sensor node position information acquisition device 30 passes the sensor area of the sensor node A for the second time. The detection reaction of is shown. The same applies to B (1) to H (2) below.

Further, when the energy value exceeds the threshold value (α) indicated by the dotted line in the peak A (1) waveform, it is considered that the sensor node position information acquisition device 30 has entered the sensing area a, and the time of the first detection is started. The time (t ₁ ) is assumed, and the time when the energy value is lower than the threshold value (α) is regarded as the time when the sensor goes out of the sensing area a, and that time is set as the first detection end time (t ₂ ). Further, when the energy value exceeds the threshold value (α) indicated by the dotted line in the peak A (2) waveform, it is considered that the sensor node position information acquisition device 30 has entered the sensing area a for the second time, and the time is 2 is the detection start time (t ₃ ), and the time when the energy value is lower than the threshold value (α) is considered to be out of the sensing area a, and that time is the second detection end time (t ₄ ).

  Sensing object detection information is generated from the sensing information obtained in this manner, as in the second embodiment, and sensor node position information is further generated.

  According to the above fourth embodiment, even in an analog reaction type sensor, highly accurate sensor node position information can be generated as in the second embodiment.

  Further, by changing the value of the threshold (α), it is possible to detect a sensor node or the like having a weak detection reaction.

<Fifth Embodiment>
A sensor node position information acquisition system 2 according to a fifth embodiment of the present invention will be described with reference to FIG. FIG. 15 is a block diagram illustrating a configuration of the sensor node position information acquisition system 2 according to the present embodiment.

  The sensor node position information acquisition system 2 in this embodiment includes a sensor node position information acquisition device 30 and a sensor node 40.

  Since the configuration of the sensor node position information acquisition device 30 is the same as that of the first to fourth embodiments, detailed description thereof is omitted.

  The sensor node 40 includes a sensing module 41, a sensing information storage unit 42, a sensed body detection information generation unit 43, and a communication unit 44.

  The sensing module 41 detects a sensing object such as temperature, pressure, magnetism, light, gas, ultrasonic wave, and electromagnetic wave, and has a detection processable range (sensing area) for each sensing module 11. When the sensing module 11 does not detect the sensing object in the sensing area, the sensing result information indicating ON / OFF of the detection is turned OFF, and when the sensing object is detected, it is turned ON, and the sensor ID for identifying the sensor node 10 Sensing information is generated together with the information and the sensing time at which the detection was performed.

  The sensing information storage unit 42 stores sensing information generated by the sensing module 41.

  The sensing object detection information generation unit 43 generates sensing object detection information when a sensing object is detected in the sensing information stored in the sensing information storage unit 42.

  The communication unit 44 communicates with the sensor node position information acquisition device 30.

  In the present embodiment, the sensor node 40 and the sensor node position information acquisition device 30 are time synchronized.

  Next, the operation of the sensor node position information acquisition system 2 in this embodiment will be described with reference to the flowchart of FIG.

  First, in a state where the sensing object is released from the sensing object 31, the sensor node position information acquisition device 30 is installed at a predetermined position in the detection target room where the sensor node is arranged (S21).

  The sensor node position information acquisition apparatus 30 moves in the room by the wheels of the movable part 32 (S22), and the distance and direction of movement at the time (t) at a certain time interval are the distance meter and gyro of the own position measuring part 33. (S23).

  Next, in the own position information generation unit 34, the position coordinates (X of the sensor node position information acquisition device 30 in the detection target room from the measurement result of the movement distance and the movement direction at the time (t) measured by the own position measurement unit 33. , Y) is calculated, and the own position information of the sensor node position information acquisition device 30 at the time (t) represented by the following equation (1) is generated (S24).

[Equation 3]
(Xt, Yt) (1)
On the other hand, the sensing module 41 of the sensor node 40 determines whether or not a sensing object is detected in the sensing area by sensing at regular time intervals (S25).

  Here, when the sensor node position information acquisition device 30 is outside the sensing area of the sensor node 40, the sensing object is not detected by the sensing module 41, and the sensing result information indicating ON / OFF of the detection is OFF. Set to Then, in the sensing module 41, sensing information is generated from the sensing result information, sensor ID information for identifying the sensor node 40, and sensing time at which detection was performed (S26).

  In addition, when the sensor node position information acquisition device 30 is moved by the movable unit 32 and enters the sensing area of the sensor node 40, the sensing object sent from the sensing object 31 is detected by the sensing module 41. .

  When the sensing object is detected, the sensing module 41 switches the sensing result information to ON, and similarly generates sensing information together with the sensor ID information and the sensing time (S26).

  The sensing information is stored in the sensing information storage unit 42 every time it is generated.

  When the sensing result information of the stored sensing information is ON and the position information of the sensor node identified by the sensor ID information is unknown, the sensing object detection information generation unit 43 generates the sensing object detection information. (S27).

This sensing object detection information includes a detection start time (t ₁ ) that is a sensing time when the sensing result information is switched from OFF to ON, that is, when the sensor node position information acquisition device 30 enters the sensing area, Thereafter, when the sensing position result information is switched from ON to OFF, that is, based on the detection end time (t ₂ ), which is the sensing time when the sensor node position information acquisition device 30 comes out of the sensing area.

  The generated sensing object detection information is transmitted to the sensor node position information acquisition device 30 via the communication unit 44 (S28).

  In the sensor node position information acquisition device 30, sensing object detection information is received via the communication unit 35 (S 29), and is sent to the sensor node position information generation unit 36.

In the sensor node position information generation unit 36, the acquired sensing object detection information (detection start time (t ₁ ) and detection end time (t ₂ )) and the own position information (Xt) generated in the own position information generation unit 34. , Yt) and the coordinates of the own position at the detection start time (Xt ₁ , Yt ₁ ) and the coordinates of the own position at the detection end time (Xt ₂ , Yt ₂ ) are specified. It is generated as sensor node position information shown (S30).

[Equation 4]
(1/2 (Xt ₁ + Xt ₂ ), (1/2 (Yt ₁ + Yt ₂ )) (2)
According to the fifth embodiment described above, by providing the sensing information storage unit 42 and the sensing object detection information generation unit 43 in the sensor node 40, the sensor node position information acquisition device 30 performs the sensor without providing a separate server device. Node position information can be acquired.

  In the first to fifth embodiments described above, the case where there is one kind of sensing object has been described. However, as long as the substances do not affect the detection, the sensor node position information acquisition apparatus has a plurality of sensing objects. It is also possible to provide the body at the same time. By providing a plurality of sensing objects, it is possible to acquire various sensor node positions with one sensor node position information acquisition device.

  Further, by performing the method described in the first to fifth embodiments a plurality of times and taking the average of the generated sensor node position information, it is possible to obtain more accurate sensor node position information.

1 is a block diagram showing a sensor node position information acquisition system according to a first embodiment of the present invention. It is a flowchart which shows operation | movement of the sensor node position information acquisition system by 1st Embodiment of this invention. In the sensor node position information acquisition system by 1st Embodiment of this invention, it is explanatory drawing which shows the state which the sensor node position information acquisition apparatus passed the sensing area. In the sensor node position information acquisition system by a 1st embodiment of the present invention, it is a graph which shows a reaction level when a sensor node position information acquisition device passes a sensing area. In the sensor node position information acquisition system by 2nd Embodiment of this invention, a sensor node position information acquisition apparatus is explanatory drawing which shows the state which passed the some sensing area. In the sensor node position information acquisition system by a 2nd embodiment of the present invention, it is a graph which shows a reaction level when a sensor node position information acquisition device passes a plurality of sensing areas. In the sensor node position information acquisition system by 2nd Embodiment of this invention, it is explanatory drawing which shows the state which the sensor node position information acquisition apparatus passed the sensing area. In the sensor node position information acquisition system by 2nd Embodiment of this invention, it is a graph which shows the reaction level when a sensor node position information acquisition apparatus passes a sensing area. It is explanatory drawing which shows the positional information on the sensor node produced | generated by the sensor node positional information acquisition apparatus in the sensor node positional information acquisition system by 2nd Embodiment of this invention. It is explanatory drawing which shows the state which the sensor node position information acquisition apparatus passed the sensing area in the sensor node position information acquisition system by 3rd Embodiment of this invention. In the sensor node position information acquisition system by 3rd Embodiment of this invention, it is a graph which shows the reaction level when a sensor node position information acquisition apparatus passes a sensing area. In the sensor node position information acquisition system by 4th Embodiment of this invention, it is explanatory drawing which shows the state which the sensor node position information acquisition apparatus passed the sensing area. In the sensor node position information acquisition system by 4th Embodiment of this invention, it is a graph which shows the reaction level when a sensor node position information acquisition apparatus passes a sensing area. In the sensor node position information acquisition system by a 4th embodiment of the present invention, it is a graph which shows a reaction level when a sensor node position information acquisition device passes a plurality of sensing areas. It is a block diagram which shows the sensor node position information acquisition system by 5th Embodiment of this invention. It is a flowchart which shows operation | movement of the sensor node positional information acquisition system by 5th Embodiment of this invention. It is explanatory drawing which shows the system which acquires the positional information on the conventional sensor node.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Emotion information exchange part 2 ... Sensor node position information acquisition system 10 ... Sensor node 11 ... Sensing module 12 ... Communication part 20 ... Detection information processing server 21 ... Communication part 22 ... Sensing information storage part 23 ... Sensing object detection information generation Unit 24 ... Sensor node position information storage unit 30 ... Sensor node position information acquisition device 31 ... Object to be sensed 32 ... Movable unit 33 ... Own position measurement unit 34 ... Own position information generation unit 35 ... Communication unit 36 ... Sensor node position information generation Unit 40 ... Sensor node 41 ... Sensing module 42 ... Sensing information storage unit 43 ... Sensing object detection information generation unit 44 ... Communication unit

Claims (9)

A sensor node position information acquisition device for acquiring position information of sensor nodes arranged in a space,
A sensing object that can be detected by the sensor node;
A movable part for moving the device itself;
A self-position measuring unit that measures a distance and a direction in which the device moves by the movable unit;
A self-position information generating unit that generates self-position information from the distance and direction measured by the self-position measuring unit;
A communication unit that acquires sensing object detection information generated when the sensor object is detected at the sensor node from the sensor node or an external device connected to the sensor node;
A sensor node position information generation unit that generates position information of a sensor node from the own position information generated by the own position information generation unit and the detected object detection information acquired by the communication unit;
A sensor node position information acquisition apparatus comprising: The sensor node has a digital responsive sensor;
The sensed object detection information includes a detection start time of the sensed object detected when passing through a sensing area of the sensor node by movement of the movable part, and a detection end time of the sensed object,
The self-location information includes the measurement time of the distance and direction,
The sensor node position information generation unit obtains the position information of the center of the self-position information of the measurement time corresponding to the detection start time and the self-position information of the measurement time corresponding to the detection end time. The sensor node position information acquisition apparatus according to claim 1, wherein the sensor node position information acquisition apparatus is generated as information. The sensor node comprises an analog reactive sensor;
The sensed object detection information includes detection of a sensed object when a detection reaction level in the sensor node exceeds a preset threshold when passing through a sensing area of the sensor node by movement of the movable part. A detection start time that is considered to have started, and a detection end time that is considered to have ended detection of the sensing object by not exceeding the threshold,
The self-location information includes the measurement time of the distance and direction,
The sensor node position information generation unit obtains the position information of the center of the self-position information of the measurement time corresponding to the detection start time and the self-position information of the measurement time corresponding to the detection end time. The sensor node position information acquisition apparatus according to claim 1, wherein the sensor node position information acquisition apparatus is generated as information. The sensor node position information generation unit passes a plurality of detection start times and a plurality of detection end times to the sensor node or the sensor node by passing the sensing area of the sensor node a plurality of times by moving the movable unit. Three times are arbitrarily extracted from the plurality of detection start times and the plurality of detection end times taken in from the connected external device, and the self-location information of the measurement time corresponding to the three extracted times is extracted. The sensor node position information acquisition apparatus according to claim 1, wherein position information of the center of gravity is generated as position information of the sensor node. A sensor node that generates sensing information indicating whether or not a sensing object is detected;
A detection information processing server for generating sensing object detection information by extracting the sensing information in which the sensing object is detected;
A sensing object that can be detected by the sensor node, a movable part for moving the own device, a self-position measuring unit that measures a distance and a direction of movement of the self-device by the movable part, and a self-position measuring unit. A self-position information generating unit that generates self-position information from the measured distance and direction, and sensing object detection information generated when the sensing object is detected at the sensor node from the detection information processing server. A communication department;
Sensor node position information including a sensor node position information generation unit that generates position information of a sensor node from the own position information generated by the own position information generation unit and the sensed body detection information acquired by the communication unit. An acquisition device;
A sensor node position information acquisition system comprising: The sensor node has a digital responsive sensor;
The sensed object detection information includes a detection start time of the sensed object detected when passing through a sensing area of the sensor node by movement of the movable part, and a detection end time of the sensed object,
The self-location information includes the measurement time of the distance and direction,
The sensor node position information generation unit obtains the position information of the center of the self-position information of the measurement time corresponding to the detection start time and the self-position information of the measurement time corresponding to the detection end time. 6. The sensor node position information acquisition system according to claim 5, wherein the sensor node position information acquisition system is generated as information. The sensor node comprises an analog reactive sensor;
The sensed object detection information includes detection of a sensed object when a detection reaction level in the sensor node exceeds a preset threshold when passing through a sensing area of the sensor node by movement of the movable part. A detection start time that is considered to have started, and a detection end time that is considered to have ended detection of the sensing object by not exceeding the threshold,
The self-location information includes the measurement time of the distance and direction,
The sensor node position information generation unit obtains position information of the center of the own position information of the measurement time corresponding to the detection start time and the own position information of the measurement time corresponding to the detection end time. The sensor node position information acquisition system according to claim 5, wherein: The sensor node position information generation unit connects a plurality of detection start times and a plurality of detection end times to the sensor node or the sensor node by passing the sensing area of the sensor node a plurality of times by the movement of the movable unit. The three times are arbitrarily extracted from the plurality of detection start times and the plurality of detection end times taken in from the external device, and the center of gravity of the position information at the measurement time corresponding to the extracted three times The sensor node position information acquisition system according to claim 5, wherein the position information of the sensor node is generated as position information of the sensor node. A sensing module that generates sensing information indicating whether or not a sensing object is detected; and a sensing object detection information generation unit that extracts sensing information from which the sensing object is detected and generates sensing object detection information. A sensor node;
A sensing object that can be detected by the sensing module; a movable part for moving the own apparatus; a self-position measuring part for measuring a distance and a direction of movement of the own apparatus by the movable part; and a self-position measuring part. A self-location information generating unit that generates self-location information from the measured distance and direction, and a communication unit that acquires sensing object detection information generated when the sensing object is detected at the sensor node from the sensor node And a sensor node position information generation unit that generates position information of the sensor node from the own position information generated by the own position information generation unit and the sensed body detection information acquired by the communication unit. An information acquisition device;
A sensor node position information acquisition system comprising:

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