JP2010169422A - Environment measuring device, and system and method for managing facilities - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a practical device and a practical method for measuring an environment having improved measurement precision for automatically measuring environment information at a number of measurement points, using a simple configuration and a small number of sensor terminals. <P>SOLUTION: The environment measuring device includes a plurality of fixed sensor terminals 101, including an environment measurement means and a radio communication means; one or a plurality of self-propelled sensor terminals 102, including the environment measurement means, the radio communication means, and a drive means; and a radio positioning means for detecting the position of the self-propelled sensor terminals. The radio positioning means obtains distance by radio communication with the fixed sensor terminal 101 and self-propelled sensor terminal 102, and thus the position of the self-propelled sensor terminal 102 is detected. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention relates to an environmental measurement device, an equipment management system, and an environmental measurement method for measuring environmental information in a building / factory or outdoors.

In buildings and factories, in order to properly control equipment such as air conditioning and lighting, a measurement system is used that collects environmental information such as temperature, humidity, and illuminance by installing sensors in various places. For example, in an air conditioning system, an air conditioner is controlled so that a measured value of the temperature sensor becomes a set temperature by a temperature sensor installed at an air inlet or a remote controller of the air conditioning indoor unit.

In addition, in order to finely control the equipment and accurately evaluate the energy performance of the building according to the demands of each occupant and the temperature distribution of the space, measure the environment at a larger number of measurement points. Is needed.

In order to measure environmental information at a large number of measurement points in this way, it is generally necessary to increase the number of sensors to be measured and install them in many locations, which increases costs and makes management complicated. There was a problem of becoming.

In order to solve such a problem, for example, Japanese Patent Application Laid-Open No. 2003-130695 (Patent Document 1) is a sensor for detecting a process value in a facility constituting a plant or a predetermined area thereof. Disclosed is a method for improving the accuracy and accuracy of plant diagnosis by obtaining a large number of process values at an arbitrary point by providing a driving means 115 for detecting a process value by moving to a desired position in a predetermined area. Yes.

Japanese Patent Laid-Open No. 2003-130695 (FIGS. 1, 6, etc.)

In the method of Patent Document 1, the self-propelled sensor moves along the pipe or runs on the rail by laying a rail. When controlling the moving position, the reference rail or the like The guide had to be installed in advance, and there was a problem that the equipment and cost became large. In addition, GPS (Global Positioning System) is used to detect the self position, and there is a problem that it is difficult to use indoors.

  It is an object of the present invention to obtain a practical environmental measurement apparatus, equipment management system, and environmental measurement method method with high measurement accuracy that automatically perform environmental measurement of a large number of measurement points with a small number of sensor terminals with a simple configuration. To do.

The environment measuring apparatus of the present invention is provided with a measuring means and a wireless communication means for individually measuring environmental information at a plurality of preset measurement locations, and a smaller number of sensor terminals than the plurality of measurement locations, At least one has a driving means, sequentially moves to a measurement location, measures environmental information, and communicates environmental information measured by the measuring means with other sensor terminals by wireless communication means, and a sensor Other than the terminals, environmental information is measured at specific measurement locations, and the wireless communication means and the specific location sensor terminal that communicates the environmental information with the sensor terminal and the self-propelled sensor terminal or the specific location sensor terminal are provided. Wireless positioning means for detecting the position of itself from other sensor terminals that measure by wireless communication, and the self-propelled sensor terminal or the specific location sensor terminal is The position detection target terminal is the self-propelled sensor terminal or the specific location sensor terminal that is a position detection target when detecting a position, and a plurality of sensor terminals existing in other measurement locations are selected as position detection reference terminals, The position of the position detection target terminal is detected by wireless communication between the detection target terminal and the position detection reference terminal.

  The environmental measurement device, the facility management system, and the environmental measurement method for measuring environmental information according to the present invention use the sensor terminal as a position detection target terminal when the sensor terminal detects its own position. A plurality of sensor terminals present at the measurement location are selected as position detection reference terminals, and the position of the position detection target terminal is detected by wireless communication between the position detection target terminal and the position detection reference terminal. A highly reliable and practical apparatus that automatically performs various environmental measurements at a large number of measurement points with a small number of sensor terminals can be obtained.

It is a block diagram which shows the structure of the environment measurement system in Embodiment 1 of this invention. It is a block diagram which shows the structure of the fixed sensor terminal in Embodiment 1 of this invention. It is a block diagram which shows the structure of the self-propelled sensor terminal in Embodiment 1 of this invention. It is an illustration figure which shows an example of the distance calculation method in Embodiment 1 of this invention. It is an illustration figure which shows an example of the position detection method by radio | wireless in Embodiment 1 of this invention. It is a flowchart which shows operation | movement of the environment measurement system in Embodiment 1 of this invention. It is another illustration figure which shows the fixed sensor terminal installation location in Embodiment 1 of this invention. It is a block diagram which shows the structure of the environment measurement system in Embodiment 2 of this invention. It is an illustration figure which shows operation | movement of the environment measurement system in Embodiment 2 of this invention. It is a flowchart which shows operation | movement of the environment measurement system in Embodiment 2 of this invention. It is an illustration figure which shows the determination method of the measurement point list | wrist in Embodiment 2 of this invention. It is a block diagram which shows the structure of the self-propelled sensor terminal in Embodiment 3 of this invention. It is a block diagram which shows the structure of the equipment management system in Embodiment 3 of this invention.

Embodiment 1.
The position detection of the self-propelled sensor terminal by the fixed sensor terminal in the present invention will be described with reference to FIGS. Each sensor terminal can collect a plurality of pieces of environmental information such as detection by sensors such as temperature, humidity, illuminance, sound wave, infrared ray, and video information.

FIG. 1 is a configuration diagram showing the configuration of the environment measurement system according to the first embodiment. As shown in FIG. 1, the environment measurement system according to the present embodiment includes a plurality of fixed sensor terminals 101 and a plurality of self-propelled sensor terminals 102.

FIG. 2 is a configuration diagram showing the configuration of the fixed sensor terminal 101 in the first embodiment. The fixed sensor terminal 101 includes a terminal control unit 110 that controls the terminal, an environment measurement unit 112 that measures environment information, and a wireless communication unit 111 that performs wireless communication between terminals, and includes a building, a factory, and a parking lot. Alternatively, it is fixedly installed at an airfield and measures environmental information.

In addition to the configuration of the fixed sensor terminal 101, the self-propelled sensor terminal 102 shown in FIG. 3 further includes a self-position control means 114 that controls the self-propelled sensor terminal to a designated position, a drive means 115 that performs actual movement, Wireless positioning means 113 for detecting the position of each terminal is provided, and it is possible to measure environment information of an environment that is measured by the fixed sensor terminal by moving in the space and environment information that cannot be measured by the fixed sensor terminal.

The terminal control unit 110 manages the wireless communication unit 111, the environment measurement unit 112, and the like in the self-running sensor terminal 102 and the fixed sensor terminal 101, stores the measured environment information, and is transmitted from other sensor terminals. Storage means for storing the environmental information for each measurement point. The measurement value obtained by the sensor is acquired from the environment measurement means 112, or another self-propelled sensor terminal 102 and the wireless communication means 111 are used. Data is exchanged with the fixed sensor terminal 101. Further, the terminal control unit 110 in the self-propelled sensor terminal 102 moves the self-propelled sensor terminal 102 to a desired position by the self-position control means 114 or detects the position of the self-propelled sensor terminal 102 by the wireless positioning means 113. To manage the position of the self-propelled sensor terminal 102.

The environment measuring unit 112 has one or more sensors that acquire environmental information such as a temperature sensor, a humidity sensor, and an illuminance sensor, and measures environmental information such as temperature, humidity, and illuminance by the sensor. Note that the sensor is not limited to a temperature sensor, humidity sensor, or illuminance sensor, but any sensor required in the system, for example, an abnormality detection sensor such as an infrared ray or a sound wave used for safety measures or security, a video sensor, a specific tag individual An information reading sensor or the like can be used. The present invention measures environmental information by using these sensor terminals, and changes the environmental conditions by operating devices such as air conditioners and operation devices such as dimmers to determine the location and temperature of an individual in the measured environment. Can be used for individual area control in a wide area. In addition, it is possible to detect who a person is where by detecting a tag held by an individual. Each individual has a sensor terminal for detecting his / her own position, and detects the position of the sensor terminal. Furthermore, the self-propelled sensor terminal repeatedly visits measurement points set in advance and measures environmental information to confirm whether or not it is controlled to a desired state and controls the air conditioner and the lighting device. Or it can confirm that it is safe every corner for every cell which is an individual area in a large area by operating a state monitoring apparatus based on the information of an abnormality detection sensor. By doing in this way, individual area control and monitoring of a wide space can be performed with a small number of sensor terminals.

The wireless communication unit 111 is provided in each sensor terminal and performs wireless communication between the sensor terminals.

The self-position control means 114 is provided in each sensor terminal, and operates the driving means 115 appropriately from the target position and the current position of the self-propelled sensor terminal 102 to bring the self-propelled sensor terminal 102 into a desired position. It is something to control. As a method for controlling to a desired position, for example, a deviation between the target position of the self-propelled sensor terminal 102 and the current position is calculated, and based on the deviation, the operation time of the driving unit 115 is changed, or the deviation is calculated. A method of giving a proportional output command to the driving means 115 can be used.

The drive means 115 moves the self-propelled sensor terminal 102, and includes, for example, a motor and wheels, and moves the self-propelled sensor by rotating the wheels. Moreover, you may make it move by the walk form by a caterpillar, a link mechanism, etc.

The wireless positioning means 113 detects the positions of the self-propelled sensor terminal 102 and the fixed sensor terminal 101 using wireless communication.

An example of a position detection method by the wireless positioning means 113 will be described with reference to FIGS.

First, a distance measurement request signal is transmitted from the self-propelled sensor terminal 102 (S401). Upon receiving the distance measurement request signal, the fixed sensor terminal 101 transmits a distance measurement response signal to the self-running sensor terminal 102 (S402). When the self-propelled sensor terminal 102 receives the ranging response signal, it measures the response time from the transmission of the ranging request signal to the reception of the ranging response signal (S403). The response time can be measured, for example, by starting time measurement using a counter when a distance measurement request signal is transmitted and reading a value measured by the counter when a distance measurement response is received. The distance between the self-propelled sensor terminal 102 and the fixed sensor terminal 101 is calculated by multiplying the response time by the electromagnetic wave velocity, or by referring to a predetermined response time / distance correspondence table ( S404).

The wireless positioning means 113 performs the procedure for calculating the distance between the self-propelled sensor terminal 102 and the fixed sensor terminal 101 for a plurality of fixed sensor terminals 101 (for example, 101a to 101c in FIG. 5). The position of the self-propelled sensor terminal 102 is defined as an intersection of circles with the fixed sensor as the center and a radius of the distance from the distance from the fixed sensor terminal 101 and the preset position of the fixed sensor terminal 101. Can be sought. Therefore, the position of the self-running sensor terminal 102 on the plane can be detected based on the distance from at least three fixed sensor terminals 101. This distance calculation (S404) can be performed continuously or intermittently to improve accuracy.

Further, since the response time can be accurately measured by using an ultra-wideband impulse radio signal that transmits an impulse signal for transmission of a ranging request signal and a ranging response signal, a more accurate distance and The position can be detected.

Note that the position detection by the wireless positioning means 113 is not limited to the one shown here, but the position is detected by the distance calculated based on the received radio wave strength of the wireless communication between the self-propelled sensor terminal 102 and the fixed sensor terminal 101. Alternatively, each method such as detecting a position by using a difference in time at which the ranging request signal transmitted from the self-propelled sensor terminal 102 is received by each of the plurality of fixed sensor terminals 101, that is, a difference in radio wave propagation time. Of course, you may go there.

Here, the position of the fixed sensor terminal 101 is set in advance, but the distance between the fixed sensor terminals 101 is calculated based on wireless communication in the same manner, and the relative position between the fixed sensor terminals 101 is calculated. , The position of the fixed sensor terminal 101 may be detected, and the position of the self-propelled sensor terminal 102 may be detected based on the position.

Here, the position of the self-propelled sensor terminal 102 is detected by calculating the distance between the self-propelled sensor terminal 102 and the fixed sensor terminal 101. The position of the self-propelled sensor terminal 102 may be detected by using the result of wireless communication between the travel sensor terminal 102 and the other self-propelled sensor terminal 102 and the fixed sensor terminal 101 together. As will be described in detail later, the position of the self-propelled sensor terminal 102 may naturally be detected by wireless communication with a plurality of other self-propelled sensor terminals 102.

Next, an operation for measuring environmental information in the first embodiment will be described with reference to FIG. It is assumed that a measurement point list for measuring environment information in the space is set in advance.

First, from the set measurement point list, a measurement point for measuring environmental information next is determined (S601). The determination of the measurement point may be selected according to a preset order, for example, or may be the closest measurement point from the current position of the self-propelled sensor terminal 102.

Next, the position of the self-propelled sensor terminal 102 is detected by the wireless positioning means 113 by the method described above (S602).

Next, using the determined measurement point as the target position and the detected position as the current position, the self-position control means 114 controls the self-running sensor terminal 102 to move to the designated measurement point (S603). . For example, the self-position control means 114 determines the operating time of the driving means 115 from the deviation between the target position and the current position, and moves to the measurement point by operating and moving the driving means 115 for the driving time. Alternatively, the current position may be detected and moved by the wireless positioning unit 113 until the deviation between the position of the measurement point and the current position is equal to or less than a predetermined threshold value, thereby moving to the measurement point. In addition, a general self-propelled robot control method can be applied.

When the movement to the measurement point is completed, the self-propelled sensor terminal 102 measures the environment information by the environment measuring means 112 (S604).

It is determined whether or not the measurement of environment information has been completed for all measurement points in the measurement point list (S605). If there are measurement points that have not been completed, (S601) to (S605) are repeated. When the measurement is completed at all measurement points in the measurement point list, the measurement of the environment information is terminated. When setting equipment such as an air conditioner that controls the area environmental conditions such as temperature sensor, humidity sensor, and illuminance sensor using the measured environmental information, measure the environmental information again after a time interval. Do. Environment information that always requires monitoring and detection of areas, such as abnormal detection sensors such as infrared rays and sound waves used for safety measures and security, video sensors, tag position detection sensors that detect the position of a specific person, etc. When performing measurement, the measurement is continuously performed in the first order.

The fixed sensor terminal 101 measures environmental information at a position where the fixed sensor terminal is installed. The measurement timing of the environmental information in the fixed sensor terminal 101 may be synchronized with the measurement timing of the self-propelled sensor terminal 102 or may be independent.

As described above, environmental information is measured by a small number of fixed sensor terminals 101 and self-propelled sensor terminals 102. Therefore, environmental information is measured at a large number of measurement points without increasing the number of sensors that are fixedly installed. can do.

Furthermore, since the position of the self-propelled sensor terminal 102 is detected by wireless communication with the fixed sensor terminal 101 or by wireless communication with the self-propelled sensor terminal 102, the position is referred to as a guide rail or a marker. There is no need to install other devices, and the environmental measurement system can be easily introduced at a lower cost.

In general, in the movement of a self-propelled robot, the moved position has an error with respect to the target position, but in this embodiment, the position is detected wirelessly, so there is an error between the preset measurement point and the measured position. Even if there is, it is possible to correctly grasp the actually measured position by holding the measured environment information and the detection position of the self-propelled sensor terminal 102 together. Furthermore, the self-propelled sensor terminal 102 can be accurately moved to the measurement point by feeding back the detected position and moving it to a preset measurement point.

Here, the self-propelled sensor terminal 102 has the wireless positioning means 113 and is configured to detect the position of the self-propelled sensor terminal 102, but the present invention is not limited to this configuration. For example, any one of the fixed sensor terminals 101 includes the wireless positioning unit 111, and the received radio wave intensity, radio wave propagation time, radio wave propagation time difference, and the like by wireless communication are transmitted from the self-running sensor terminal 102 to the fixed sensor terminal 101, The fixed sensor terminal 101 may detect the position of the self-propelled sensor terminal 102 by the wireless positioning unit 111 of the sensor terminal 101.

In addition, the fixed sensor terminal 101 measures the received radio wave intensity, radio wave propagation time, radio wave propagation time difference, and the like by wireless communication with the self-running sensor terminal 102, and transmits the measured value to a terminal including the wireless positioning unit 111. The position of the self-propelled sensor terminal 102 may be detected by the wireless positioning unit 111. There may be a plurality of self-propelled sensor terminals 102 that move and measure as described above.

In addition to the fixed sensor terminal 101 and the self-propelled sensor terminal 102, for example, a centralized management device (not shown) including a wireless communication unit 111 has an equivalent function, and detects the position of the self-propelled sensor terminal 102. Alternatively, a measurement point for measuring environmental information next may be transmitted to the self-propelled sensor terminal 102.

As described above, the same effect can be obtained if the environmental measurement system has an equivalent function regardless of this configuration.

FIG. 7 is another conceptual diagram showing the environment measurement system when the installation location of the fixed sensor terminal is limited. As described above, when a fixed sensor terminal with a limited installation location is provided with driving means and casters so that the position can be easily changed, an easy-to-use environment measurement system can be obtained in response to changes in the situation.

In the environment measurement system shown in FIG. 7, the fixed sensor terminal 101 is installed at a place where measurement is required at a higher time period than other measurement points. Other measurement points that do not require a high time period are measured by the self-running sensor terminal 102.

For example, in an environmental measurement system that measures the temperature in a building, the movement of heat is large near the window 701 or the entrance / exit 702, and measurement of environmental information in a high time period is required. On the other hand, the measurement in a high time period is not required in the other floor portions.

Therefore, as shown in FIG. 7, the fixed sensor terminal 101 is installed at a position close to the window 701 or the entrance 702 where a high time period is required, and the other measurement points are measured by the self-running sensor terminal 102.

In this way, by installing the fixed sensor terminal 101 at a position that is required to be measured with a higher time period than other measurement points, and measuring the measurement point that does not require a high time period with the self-running sensor terminal 102, It is possible to efficiently perform environmental measurement with a small number of terminals without installing fixed sensors at all positions. Furthermore, a flexible system can be constructed according to system requirements. As described above, by using the combination of the sensor terminals of the present invention, it is possible to construct a highly reliable environmental measurement device and system that can reliably obtain accurate measurement data.

Embodiment 2
FIG. 8 is a configuration diagram showing the configuration of the environmental system in the second embodiment. In the present embodiment, the environmental measurement system includes four or more self-propelled sensor terminals 102. Since other configurations and operations of the self-running sensor terminal 102 are the same as those of the first embodiment, the description thereof is omitted.

Next, the operation in the second embodiment will be described with reference to FIGS. In the present embodiment, the self-propelled sensor terminal 102 switches between two roles: a role of moving and position detection and a role of moving to a measurement point and a role of indicating a reference position for position detection without moving. The environment information is measured by detecting the position of each other. Hereinafter, the self-running sensor terminal 102 serving as the former role is referred to as a position detection target terminal 202, and the self-running sensor terminal 102 serving as the latter role is referred to as a position detection reference terminal 201. In addition, it is assumed that the measurement point list for measuring environment information and the position of each first self-propelled sensor terminal 102 are set in advance. The self-propelled sensor terminal 102 indicated by the movement arrow shown in FIG. 8 is the position detection target terminal 202, and the remaining three self-propelled sensor terminals 102 correspond to the position detection reference terminal 201. In the figure, the self-propelled sensor terminal 102 and the position detection target terminal 202 are described as one sensor terminal. However, there are a plurality of sensor terminals, and it is possible to operate in parallel at the same time.

As shown in FIG. 10, first, a measurement point to be measured next is determined from a measurement point list for measuring environment information (S1001). This measurement point can be determined, for example, by determining the next measurement point in a predetermined order. This rule may be stored in the terminal control unit 110.

Next, the position detection target terminal 202 and the other position detection reference terminals 201 are determined among the plurality of self-running sensor terminals 102 based on the determined positions of the measurement points (S1002). The determined position detection target terminal 202 measures the environmental information at the determined measurement point. For example, the self-running sensor terminal 102 farthest from the determined measurement point is set as the position detection target terminal 202, and the other self-running sensor terminals 102 are set as the position detection reference terminal 201.

Next, the position of the position detection target terminal 202 is detected (S1003). The position detection is similar to the position detection by the wireless positioning means 113 in the first embodiment, between the position detection target terminal 202 and the position detection reference terminal 201, the radio reception radio wave intensity, radio wave propagation time, and radio wave propagation time difference by wireless communication. This can be done by measuring the above.

Next, similarly to the movement of the self-running sensor terminal 102 in the first embodiment, the position detection target terminal 202 uses the determined position as the target position and the detected position as the current position. It moves to the measurement point designated by 114 (S1004).

When the movement to the measurement point is completed, the self-propelled sensor terminal 102 measures the environment information by the environment measuring means 112 (S1005).

It is determined whether or not the measurement of environment information has been completed for all measurement points in the measurement point list (S1006). If there are measurement points that have not been completed, (S1001) to (S1006) are repeated. When the measurement is completed at all measurement points in the measurement point list, the measurement of the first environmental information is terminated.

As described above, in the present embodiment, in the environmental measurement system configured by four or more self-propelled sensor terminals 102, the self-propelled sensor terminal 102 becomes a target of movement and position detection and moves to a measurement point. The environment information by detecting the position and moving between the position detection target terminal 202 and the role of indicating the reference position for position detection without moving, that is, the position detection reference terminal 201 Is to measure. By measuring in this way, it is possible to measure environmental information at a large number of measurement points with a smaller number of terminals. If a plurality of measurements are started simultaneously from a position away from the position detection target terminal 202, synchronization will not occur midway due to the influence of travel time or the like, but a large number of measurement points can be measured in a short time.

In addition, simply setting the position of the first self-propelled sensor terminal 102 can measure environmental information in a building or factory including position information, greatly reducing the setting work for starting environmental measurement. can do.

Further, in the present embodiment, only the self-running sensor terminal 102 is configured. However, the configuration further includes one or two fixed sensor terminals 101, and the radio wave between the position detection target terminal 202 and the fixed sensor terminal 101 is used. The position of the position detection target terminal 202 may be detected by using intensity, radio wave propagation time, radio wave propagation time difference, and the like together. In this way, the position detection accuracy of the position detection target terminal 202 can be improved.

Next, as a method for determining the next measurement point in the measurement procedure of the present invention (for example, S1001), a rule to be stored in the microcomputer of the terminal control unit 110 and the like will be described.

For example, in (S1001) in Embodiment 2 of the present invention, measurement points are determined as follows. First, in the measurement point list, the distance between the position of the measurement point for which environmental information measurement has not been completed and the current position of each self-propelled sensor terminal 102 is calculated. Next, a measurement point in which at least three of the calculation distances are smaller than a predetermined value is set as a measurement point for measuring the next environment information. The predetermined value is a communicable distance based on the specification of the wireless communication unit 111, for example.

By determining the next measurement point in this manner, when the position detection target terminal 202 moves to the measurement point, an event that the distance from the communicable distance with the position detection reference terminal 201 becomes longer and position detection cannot be performed. Can be prevented.

Further, when there are a plurality of measurement points that satisfy the above conditions, or when there are no measurement points at which three or more calculation distances are smaller than a predetermined value, the center of gravity of the current position of each self-running sensor terminal 102 The position may be calculated, and the measurement point closest to the center of gravity position among the plurality of measurement points may be determined as the next measurement point. By doing in this way, it can measure from the point near self-propelled sensor terminal 102, and the time concerning measurement of movement distance and environmental information can be shortened.

Next, as a determination method of the position detection target terminal / position detection reference terminal in the measurement procedure of the present invention (for example, S1002), another position detection target terminal 202 and position detection reference terminal 201 are determined.

Among the self-propelled sensor terminals 102, the distance between the position of the measurement point and the position of the self-propelled sensor terminal 102 is smaller than a predetermined value by the same calculation method as the measurement point determination method described in the above description. Three or three or more self-propelled sensor terminals 102 are defined as position detection reference terminals 201, and other self-propelled sensor terminals 102 are defined as position detection target terminals 202.

Further, when there are a plurality of combinations of the position detection reference terminal 201, the position detection reference terminal 201 is selected as a combination that increases the position detection accuracy due to the geometric relationship with the measurement point. The running sensor terminal 102 is a position detection target terminal 202. The evaluation index for selecting a combination that increases the position detection accuracy includes GDOP (geometric accuracy degradation index used in the field of GPS, and the degree of separation of the position detection reference terminal from the equilateral triangle when viewed from the position detection target terminal. ) Etc. can be used.

By storing such a rule in a microcomputer or the like, the position detection accuracy of the position detection target terminal 202 is improved, so that a position error related to a measurement point for measuring environment information can be reduced.

In addition, an evaluation function is set by combining the determination method of the measurement point described above and the determination method of the position detection terminal 202 and the position detection reference terminal 201 in the present embodiment, and the table value of the evaluation function is the highest. The position detection accuracy can be improved in the same manner even when the rule is such that the measurement point, the position detection target terminal 202, and the position detection reference terminal 201 are selected.

In the description so far, the measurement point list for measuring environment information has been set in advance. Next, a method for automatically generating the measurement point list will be described. In this description, since the fixed sensor terminal 101 and the self-propelled sensor terminal 102 having the same configuration and operation as described above are included, the description of the configuration and operation is omitted.

As shown in FIG. 11, the measurement target area is divided into grids with predetermined intervals, and the representative points 301 of the areas (cells) divided by each grid are used as a measurement point list. For example, the center of each cell is the representative point 301.

Thus, by using the representative point 301 of each cell as the measurement point list, it is not necessary to set the measurement point list, and the setting work for starting environmental measurement can be simplified.

Furthermore, it is good also considering the representative point 301 of the cell except the cell in which the fixed sensor terminal 101 is arrange | positioned among the cells divided by the grid | lattice form as a measurement point list. Since duplication can be prevented, environmental information can be measured efficiently.

Further, in the step of determining the next measurement point in the above description (S601 or S1001), instead of selecting the next measurement point from the measurement point list, the interval between the measurement points is determined in advance and the measurement is performed one step before. A position shifted from the measurement point by the predetermined measurement point interval may be calculated and used as the next measurement point. Even if the next measurement point is sequentially calculated without setting the measurement point list in this way, the same effect can be obtained.

Furthermore, in the step of determining the next measurement point (S601 or S1001), a random movement direction and movement amount may be determined by pseudorandom number generation or the like, and set as the next measurement point. By measuring randomly while detecting the position by radio, the entire measurement target space can be measured finely autonomously without setting a measurement point list in advance. If such a determination method is used, it is possible not only to measure the area where information is scarce but also set the measurement point in advance, for example, the position obtained as the next measurement point is an obstacle that cannot be moved. Even if there is, there is a possibility to move the next measurement point in another direction again by memorizing the position that can be measured while being measured by the sound wave sensor, or by repositioning the measurable position in the middle of movement with the movement restricted. Find the position.

You may make it make the magnitude | size of the grid | lattice for setting such a measurement point be a reference unit of a building, for example. Generally, building facilities are installed with structures such as pillars and equipment such as lighting and air conditioning according to standard units such as 3.3m and 4m. Therefore, by obtaining measurement data for each grid-like area based on the reference unit, the equipment installed along the reference unit and the measured environmental information correspond to each other. -Suitable for granularity of one measuring point for individual area control of lighting. By using the size of the grid as the reference unit of the building, the measured environmental information can be easily associated with the equipment.

Embodiment 3 FIG.
Examples of equipment used in the system of the present invention, such as the shape of sensor terminals used in Embodiments 1 and 2 and equipment for centralized control, will be described below. FIG. 12 shows the configuration of self-running sensor terminal 102 in the third embodiment. The self-propelled sensor terminal 102 in the present embodiment is the same as the self-propelled sensor terminal 102 described in the first and second embodiments, but includes a mobile carriage 1201 that can move on a two-dimensional plane, a terminal control unit 110, and a wireless communication unit 111. A control module 1202, a bar-shaped support 1203, and a plurality of sensor modules 1204. A bar-shaped support 1202 is installed on the movable carriage 1201 in the vertical direction, and the plurality of sensor modules are installed on the support 1203. 1204 is installed.

By configuring the self-propelled sensor terminal 102 in this way, it becomes possible to simultaneously measure the environmental information in the height direction, and it becomes possible to measure the environmental information more finely.

Similarly, the fixed sensor terminal 101 may be provided with a rod-shaped support base, and a plurality of sensor modules may be installed in the support allowance. The environment information can be measured more finely at the installation location of the fixed sensor terminal 101. Of course, as a robot-shaped sensor terminal that performs multi-legged walking, such as two legs, not only environmental information in the height direction can be obtained, but also the measurement points on the flat floor, as well as the second floor, the third floor, etc. It is possible to move to each measuring point and measure each measuring store.

FIG. 13 shows the configuration of the facility management system in the present embodiment. In addition to the environmental measurement system described in the first and second embodiments, an equipment management apparatus 105 including a wireless communication unit 111 and an equipment management unit 106 is further provided.

In the present embodiment, the facility management apparatus 105 acquires measurement data measured by the environment measurement system by the wireless communication unit 111. Furthermore, the equipment management apparatus 105 controls equipment such as air conditioning and lighting by the equipment management means 106 based on the measurement data.

In this way, a large number of environmental information can be measured with a small number of sensor terminals and stored in the storage means received by the terminal control unit 110, and the environmental information stored in these sensor terminals can be stored in the facility management apparatus. By transmitting to 105, the facility management device 105 can control the operation equipment and the state monitoring equipment. For example, the temperature / illuminance is adjusted according to personal preference, or the control with high energy-saving effect according to the fine temperature distribution in the space. It is possible to control the equipment more finely, such as by implementing. In addition, since each sensor terminal can communicate with each other, it can transmit to the equipment management apparatus, relaying the environmental information for every area which each measurement point measured. Further, while relaying each sensor terminal from the facility management apparatus, it is also possible to transmit a control signal to a device such as an air conditioner provided in the area.

As described above, in communication between sensor terminals in each embodiment of the present invention, when radio waves do not reach directly, a self-running sensor terminal and / or a fixed sensor terminal located in the middle relays the communication data. connect. When the sensor terminal in the middle relays the communication data, communication between the sensor terminals can be reliably performed in an area wider than the radio wave reachable range. Furthermore, when a fixed sensor terminal is installed across the floor, or when the mobile sensor terminal moves across the floor or moves indoors and outdoors, the intermediate sensor terminal relays the communication data in the same way. The environmental information can be easily measured and transmitted to the facility management apparatus without causing communication failure in the area beyond the floor.

In addition, the relay of communication data is not limited to relay by one sensor terminal, and a plurality of intermediate terminals may relay in order. By relaying in order by a plurality of terminals, it is possible to perform environment measurement by communicating over a wide area, and further suppress the occurrence of communication errors. By using the apparatus and system of the present invention, environmental measurement can be performed in a short time with high accuracy and flexibility, as well as highly reliable environmental measurement apparatus, equipment management system, and environmental measurement method not only for data measurement but also for communication. Will get

The environmental measurement system according to the present invention can be used, for example, for evaluating the energy performance of buildings. It is necessary to measure environmental information during actual equipment operation in order to confirm whether or not the prescribed performance is actually obtained for the energy-saving performance of buildings. For example, in a state where each equipment is operated after construction of a building or the like, the environmental measurement system makes a round of measurement of each measurement point, and the data of each measurement point is obtained by a smaller number of sensor terminals than the measurement points. The energy performance of the building can be evaluated. Moreover, since it is not necessary for a worker to install a sensor terminal at each measurement point, the measurement work can be greatly reduced.

In addition, the environmental measurement system according to the present invention can be used for individual area control in which the temperature and illuminance of a place where a certain individual is present or a specific area is adjusted to a desired state. Each individual owns a sensor terminal for detecting the position, and detects the position of the sensor terminal. Furthermore, the self-propelled sensor terminal repeatedly visits measurement points set in advance and measures environmental information, thereby confirming whether it is controlled to a desired state and controls the air conditioner and the lighting device.
By doing in this way, it is not necessary to mount each sensor of environmental information on the sensor terminal indicating the position of each individual, and individual area control over a wide space can be performed with a small number of sensor terminals.

Further, according to the present invention, the environment measurement system repeatedly travels around the preset measurement points by the self-running sensor terminal, measures the environment information, and issues an alarm together with the position information when the measured data is abnormal. Can be used for alarm device. By issuing an alarm together with the position information where the abnormality is measured, it is possible to quickly determine the position where the abnormality has occurred even with a smaller number of sensor terminals than the measurement points. Anomaly detection can detect human bodies with not only fire and crime prevention measures, but also infrared sensors, so people are left in an unintended area due to an unexpected accident, or safety of areas such as invasion of wild animals It can also be used as a measure to confirm safety.

As described above, the present invention is an environment measurement system that measures environment information at a plurality of measurement points, and includes a plurality of fixed sensor terminals including environment measurement means and wireless communication means, environment measurement means, and wireless communication means. One or a plurality of self-propelled sensor terminals provided with driving means, and wireless positioning means for detecting the position of the self-propelled sensor terminal, the wireless positioning means by wireless communication between the fixed sensor terminal and the self-propelled sensor terminal Since the position of the self-propelled sensor terminal is detected, environmental information of many measurement points can be obtained with a small number of sensors, and a practical, simple and reliable measurement system can be constructed.

According to the present invention, the self-propelled sensor terminal selects one point as a measurement point from a preset measurement point list, and determines the self-propelled sensor from the current position detected by the wireless positioning means and the position of the measurement point. Since the amount of movement of the terminal is determined, the self-propelled sensor terminal is moved, and environmental information is measured at the moved measurement point, a measurement system that can be used in various ways can be constructed.

In the present invention, the fixed sensor terminal is installed at a place where a high measurement cycle is required in the measurement target space, and the self-propelled sensor terminal moves to the other place to measure the environment information. You can measure the location.

The present invention is an environmental measurement system that measures environmental information at a plurality of measurement points, and includes four or more self-propelled sensor terminals each including an environmental measurement unit, a wireless communication unit, and a drive unit; The wireless positioning means selects one self-propelled sensor terminal as a position detection target terminal from among a plurality of self-propelled sensor terminals, and detects the position of other self-propelled sensor terminals. Since it is selected as a reference terminal and the position of the position detection target terminal is detected by wireless communication between the position detection target terminal and the position detection reference terminal, reliable measurement at each measurement point is possible.

The position detection target terminal of the present invention selects one point as a measurement point from a preset measurement point list, and based on the current position detected by the wireless positioning means and the position of the measurement point, the self-running sensor terminal Since the self-propelled sensor terminal is moved and the environment information is measured at the moved measurement point, measurement at a highly accurate position is possible.

In the present invention, when the target terminal and the reference terminal are switched at every step, when the position detection target terminal measures the environment information at the moved measurement point, the wireless positioning means reappears, and a plurality of self-propelled sensor terminals Among them, one self-propelled sensor terminal is selected as a position detection target terminal, and the other self-propelled sensor terminals are reselected as position detection reference terminals, so that measurement can be performed efficiently and in a short time.

As a position detection method by wireless communication according to the present invention, the wireless positioning means uses either one of the received radio wave intensity, the radio wave propagation time, the radio wave propagation time difference or a combination thereof by the wireless communication means, and the self-running sensor terminal and the position detection target terminal. Since the position is detected, accurate position measurement can be performed.

In the present invention, since UWB is used for wireless communication, that is, the wireless signal used by the wireless communication means is an ultra-wide band signal, highly reliable position measurement is possible. In addition, since the measurement point list is automatically generated in the present invention, for example, the measurement point list that is set in advance divides the measurement target space into cells that are lattice-like areas with a constant interval, and the representative points of the divided areas. So you can measure with a simple configuration.

In the present invention, when the measurement point list is automatically generated, the representative points of the area where the fixed sensor terminal is not arranged among the areas in which the measurement point list set in advance for the place without the fixed sensor terminal is divided Therefore, it can be set as a flexible apparatus.

The sensor shape of the present invention comprises a movable carriage capable of moving on a two-dimensional plane, and a support base,
The support base can be provided with a plurality of sensors in the vertical direction, or can be a multi-legged robot, and the range of use such as the type of measurement can be expanded.

An equipment management system using the measurement system of the present invention is an equipment management system provided with an equipment management apparatus provided with wireless communication means, and the equipment management apparatus acquires measurement data measured by the environmental measurement system, Since the device is controlled based on the acquired measurement data, not only all measurement data and control data can be recorded, but also a system capable of energy saving measures can be obtained by analyzing these data.

The present invention relates to a plurality of fixed sensor terminals including environment measurement means and wireless communication means, one or more self-propelled sensor terminals including environment measurement means, wireless communication means, and drive means, and positions of the self-propelled sensor terminals. In an environmental measurement system composed of a wireless positioning means for detecting radio waves, the wireless communication between the fixed sensor terminal and the self-propelled sensor terminal is performed by any one or combination of received radio wave intensity, radio wave propagation time, radio wave propagation time difference, or a combination thereof. A step of detecting the position of the traveling sensor terminal, and a step of determining the amount of movement of the free-running sensor terminal based on a deviation between the detected position and a preset measurement point, and moving the free-running sensor terminal And a step of measuring environmental information at the moved position, an environment measuring method that can be used for many purposes can be obtained.

The present invention relates to an environmental measurement system comprising four or more self-propelled sensor terminals each including environmental measurement means, wireless communication means, and drive means, and wireless positioning means for detecting the position of the self-propelled sensor terminal. A step of selecting one of the set measurement point lists as a measurement point, one self-propelled sensor terminal among the plurality of self-propelled sensor terminals is selected as a position detection target terminal, and the other self-propelled sensor terminals Selecting as a position detection reference terminal, and, in wireless communication between the position detection target terminal and the position detection reference terminal, any one or combination of received radio wave intensity, radio wave propagation time, radio wave propagation time difference, A position detection target based on a step of detecting the position of the position detection target terminal and a deviation between the detected position and a preset measurement point; Since a step of determining the amount of movement of the terminal and moving the self-propelled sensor terminal and a step of measuring environmental information at the moved position are provided, a highly accurate environment measuring method can be obtained.

According to the present invention, in the step of selecting one point as a measurement point from the measurement point list, the distance from at least three self-propelled sensor terminals among a plurality of self-propelled sensor terminals is equal to or less than a predetermined threshold. Since an appropriate measurement point is selected from the measurement point list as a measurement point, an environmental measurement method with high accuracy and a short measurement time can be obtained.

As a method for determining a position detection target terminal and a reference terminal, the present invention selects one self-propelled sensor terminal as a position detection target terminal from among a plurality of self-propelled sensor terminals, and detects other self-propelled sensor terminals. In the step of selecting as the reference terminal, the self-running sensor terminal located at the farthest position from the measurement point is selected as the position detection target terminal, so that a simple and reliable environment measurement method can be obtained.

As a method for determining a position detection target terminal and a reference terminal according to the present invention, one of the plurality of self-propelled sensor terminals is selected as a position detection target terminal, and the other self-propelled sensor terminals are detected. In the step of selecting as reference terminals, among the plurality of self-propelled sensor terminals, at least three or more self-propelled sensor terminals whose distance from the measurement point is equal to or less than a predetermined threshold are used as position detection reference terminals. A flexible and easy-to-handle environmental measurement method can be obtained.

The present invention is a self-propelled terminal moving method that includes a self-propelled terminal having four or more wireless communication means, detects the position of the self-propelled terminal, and moves the self-propelled terminal. A step of selecting one self-running terminal as a position detection target terminal among the running terminals and selecting another self-running sensor terminal as a position detection reference terminal, and between the position detection target terminal and the position detection reference terminal In wireless communication, a step of detecting the position of the position detection target terminal by any one or a combination of received radio wave intensity, radio wave propagation time, radio wave propagation time difference, the detected position, and a preset measurement point A step of determining the amount of movement of the position detection target terminal based on the deviation of the position and moving the position detection target terminal. The law is obtained.

  Since the specific location sensor terminal of the present invention is arranged so as to measure a location where environmental information changes frequently, a useful environmental measurement device can be obtained.

  The self-position control means of the present invention calculates the amount of movement from one position that has not yet been measured for environmental information among the preset measurement points selected by the wireless positioning means and the current position detected by the wireless positioning means. Since the driving device is determined and determined, an environment measuring device capable of measuring at a highly accurate position is obtained.

  When measuring the environment information at the measurement location that is the target of the movement of the position detection target terminal according to the present invention, the wireless positioning means of another sensor terminal sets itself as the position detection target terminal and sets its own Since the position is detected, an environment measuring device capable of measuring in a short time can be obtained.

The present invention includes a terminal control device that is provided in a sensor terminal and stores environment information measured at a measurement location set in advance by wireless communication from each sensor terminal, and the terminal control device has a plurality of preset settings. Since the measurement point list or the rule for obtaining the measurement point, the rule for selecting the target measurement point, the rule for selecting the position detection target terminal, and the rule for selecting the position detection reference terminal are stored in a changeable manner. An environmental measuring device capable of measuring various uses can be obtained.

Whether or not the terminal control device of the present invention repeats the operation of detecting its own position synchronously or alternately and measuring environmental information at a plurality of preset measurement points, and has completed measurement of all measurement points Therefore, it is possible to obtain an environmental measurement device capable of performing reliable and accurate measurement even if a wide area is divided into fine areas.

A facility management device that has wireless communication means capable of communicating with the environment measurement device of the present invention and acquires environment information measured at a plurality of measurement locations of the sensor terminal, the facility management device based on the environment information Therefore, it is possible to obtain a facility management system that can be used flexibly because it controls the operation of operating equipment such as air conditioning and lighting, or controls alarm operations of state monitoring equipment such as fire, crime prevention, and human body condition.

In the present invention, when the position detection target terminal determines a target measurement point among the measurement points set in advance, the measurement point is a measurement point that has not yet been measured and the distance from the position detection target terminal is shorter. Since the location is selected as a target measurement location, an environment measurement method capable of speedy measurement is obtained.

Since the plurality of position detection reference terminals that measure the distance to the position detection target terminal of the present invention select a sensor terminal that is farther from the target measurement location as the position detection target terminal, accurate measurement is possible. A possible environmental measurement method is obtained.

The measurement location set in advance of the present invention divides a measurement target area according to a predetermined rule to obtain a cell, and since it is a measurement point in this cell, it is easy to handle and can be used flexibly. Is obtained.

101, 101a to 101c: Fixed sensor terminal, 102: Self-propelled sensor terminal, 105: Equipment management device, 106: Equipment management means, 110: Terminal control unit, 111: Wireless communication means, 112: Environmental measurement means, 113: Wireless Positioning means, 114: self-position control means, 115: driving means, 201: position detection reference terminal, 202: position detection target terminal, 701: window, 702: doorway, 301: representative point, 1201: moving carriage, 1202: control Module, 1203: support base, 1204: sensor module.

Claims (19)

A plurality of sensor terminals provided with measurement means and wireless communication means for individually measuring environmental information at a plurality of measurement points set in advance, and less than the plurality of measurement points;
At least one of the sensor terminals has a driving unit, and sequentially moves to the measurement location to measure the environment information. The environment information measured by the measurement unit is transmitted to another sensor by the wireless communication unit. A self-propelled sensor terminal communicating with the terminal;
Other than the sensor terminal, the environmental information is measured at a specific measurement location, the specific location sensor terminal that communicates the environmental information with the sensor terminal by the wireless means,
Wireless positioning means that is provided in the self-propelled sensor terminal or the specific location sensor terminal, and detects the position of itself from a plurality of other sensor terminals that measure the position by wireless communication,
When the self-propelled sensor terminal or the specific location sensor terminal detects its own position, the self-propelled sensor terminal or the specific location sensor terminal that is a position detection target is the position detection target terminal, and the other measurement locations A plurality of sensor terminals existing in the network are selected as position detection reference terminals, and the position of the position detection target terminal is detected by the wireless communication between the position detection target terminal and the position detection reference terminal. Environmental measuring device. The environmental measurement apparatus according to claim 1, wherein the specific location sensor terminal is provided at a location where the environmental information changes frequently and measures the environmental information. The environment measuring apparatus according to claim 1, wherein at least three or more specific location sensor terminals that measure the environmental information at specific measurement locations are used as the position detection reference terminals. The environmental measurement according to any one of claims 1 to 3, wherein the specific location sensor terminal is provided with the wireless positioning means and detects a mutual distance from other sensor terminals and can be repositioned. apparatus. Measuring means for individually measuring environmental information in a plurality of preset measurement locations is provided, and a smaller number of sensor terminals than the plurality of measurement locations;
Wireless communication means that is provided in the sensor terminal and wirelessly communicates with the other sensor terminals the environmental information measured by moving to the measurement location by the driving means;
Wireless positioning means for detecting from the distance from other sensor terminals that are provided in the sensor terminal and measure their own position by the wireless communication,
The wireless positioning means uses the sensor terminal, which is a position detection target when the sensor terminal detects its own position, as a position detection target terminal, and sets a plurality of other sensor terminals existing at the measurement location as a position detection reference. An environment measuring apparatus that is selected as a terminal and detects the position of the position detection target terminal by the wireless communication between the position detection target terminal and the position detection reference terminal. The position detection target terminal is a self-position provided in the sensor terminal that drives a drive unit from the position of the position detection target terminal detected by the wireless communication with the position detection reference terminal to a target measurement location. 6. The environment measuring apparatus according to claim 4, further comprising a control unit. The self-position control means is a moving amount from one position where the environmental information is not yet measured among the preset measurement points selected by the wireless positioning means and the current position detected by the wireless positioning means. The environment measuring device according to claim 6, wherein the driving device is driven by determining the value of the environmental measuring device. When the environmental information is measured at the measurement location that is the target to be reached by the movement of the position detection target terminal, the wireless positioning means of another sensor terminal sets the self as the position detection target terminal and sets its own position. 6. The environment measuring apparatus according to claim 1, wherein the environment measuring apparatus is detected. The wireless positioning unit is configured such that the wireless communication between the position detection target terminal and the position detection reference terminal is any one of the received radio wave intensity, the radio wave propagation time, the radio wave propagation time difference, or a combination thereof, and the position detection target terminal. 6. The environment measuring apparatus according to claim 1, wherein a distance is detected. The environment measuring apparatus according to claim 1, wherein the sensor terminal is provided with a plurality of sensors at different heights of a movable body that can be moved by the driving means. A terminal control device that is provided in the sensor terminal and stores environment information measured at a preset measurement location by wireless communication from each sensor terminal, and the terminal control device includes a plurality of preset measurement locations. 2. A list for determining a list or a measurement location, a rule for selecting a target measurement location, a rule for selecting a location detection target terminal, and a rule for selecting a location detection reference terminal are stored. Thru | or the environmental measuring device in any one of 10. The terminal control device is provided in each sensor terminal, and each sensor terminal detects its own position synchronously or alternately and repeats an operation of measuring environmental information at a plurality of preset measurement points. The environment measuring apparatus according to claim 11, wherein it is determined whether or not the measurement at the measurement location is completed. A facility management device that has wireless communication means capable of communicating with the environmental measurement device according to any one of claims 1 to 12 and acquires environmental information measured at a plurality of measurement locations of the sensor terminal, The equipment management system controls operation of operating equipment such as air conditioning and lighting based on the environmental information, or controls alarm operation of state monitoring equipment such as fire, crime prevention, human body condition, etc. . The environment measurement device according to any one of claims 1 to 12, wherein the received radio wave intensity and radio wave of wireless communication between at least one position detection target terminal and a plurality of position detection reference terminals among the plurality of sensor terminals. A detection step of detecting a position of the position detection target terminal based on a distance measured by either a propagation time, a radio wave propagation time difference or a combination thereof;
A calculation step of determining a movement amount of the position detection target terminal based on a deviation between a detected position of the position detection target terminal and a position of a target measurement position among preset measurement positions;
A measurement step of measuring the environmental information by moving the calculated movement amount by the driving means;
An environmental measurement method characterized by comprising: In the case where the position detection target terminal determines a target measurement point among the preset measurement points, a measurement point that is not yet measured and has a shorter distance from the position detection target terminal The environmental measurement method according to claim 14, wherein the environmental measurement method is selected as a target measurement location. When setting the position detection target terminal among the plurality of sensor terminals, three such that the distance from a measurement point that has not been measured among preset measurement points is equal to or less than a predetermined threshold value 15. The environment measuring method according to claim 14, wherein the sensor terminals are set as position detection reference terminals, and the remaining plurality of sensor terminals are selected as position detection target terminals. 15. The plurality of position detection reference terminals that measure the distance to the position detection target terminal select a sensor terminal located farther from a target measurement location as the position detection target terminal. Environmental measurement method. The plurality of position detection reference terminals that measure the distance to the position detection target terminal sets three or more sensor terminals whose distance from the position detection target terminal is equal to or less than a predetermined threshold as position detection reference terminals The environmental measurement method according to claim 14, wherein: 15. The environment measurement method according to claim 14, wherein the measurement points set in advance are obtained by dividing a measurement target area according to a predetermined rule to obtain a cell, and measuring points in the cell.

Images