JP2013031122A - Program, information processing device, information processing method, and communication system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a program, etc., enabling acquisition of position information, posture information, etc., with higher accuracy.SOLUTION: A mobile telephone 1 acquires position information to identify a position from a wireless tag 2 through a reader/writer. The wireless tag 2 is disposed on an inclined surface 32 of a cabinet 3. From a time point when the reader/writer recognizes the wireless tag 2, an acceleration, output from an acceleration sensor, within a predetermined time period is acquired in the mobile telephone 1. On the basis of the acquired acceleration, the mobile telephone 1 calculates posture information to identify a posture. The mobile telephone 1 stores the acquired position information and the calculated posture information into a storage unit.

Description

  The present invention relates to a program for performing information processing by a computer having a control unit, an information processing apparatus, an information processing method, and a communication system.

  Attempts have been made to provide various services by analyzing image data captured by a camera of a portable terminal and performing position recognition and direction recognition (see Non-Patent Document 1, for example).

Special table 2010-520688 Special table 2009-543495 gazette

“Engineers creating the near future with AR (Augmented Reality) technology”, [online], Tech Research Institute, [Search June 23, 2011], Internet <URL: http://rikunabi-next.yahoo.co.jp /tech/docs/ct_s03600.jsp?p=001574> “Vidgets: Virtual physics widget with rich feedback” [online], [searched 23 June 2011], Internet <URL: http://www.interaction-ipsj.org/archives/paper2005/pdf2005/interactive/ B204.pdf> "User context estimation method in ubiquitous environment using accelerometer and RFID" [online], [searched on June 23, 2011], Internet <URL: http://www.dbsj.org/journal/vol6/ no3 / papers / saruta.pdf>

  However, the conventional technique has a problem that it takes time for image processing and it is difficult to provide a service in real time. There is also a problem that the amount of calculation processing is large and the power consumption is large.

  The present invention has been made in view of such circumstances. An object of the present invention is to provide a program or the like that can obtain the position information and posture information of the apparatus with higher accuracy.

  The program disclosed in the present application is a program for performing information processing by a computer having a control unit, and acquires position information for specifying a position from a short-range wireless communication device via a short-range wireless communication unit in the computer, From the time the short-range wireless communication unit recognizes the short-range wireless communication device, the control unit acquires acceleration output from the acceleration sensor within a predetermined time, and the control unit specifies the posture based on the acquired acceleration. Processing for calculating posture information to be performed.

  According to one aspect of the present application, it is possible to obtain the position information and posture of the apparatus with higher accuracy.

It is explanatory drawing which shows the outline | summary of a communication system. It is a block diagram which shows the hardware group of a wireless tag. It is a block diagram which shows the hardware group of a mobile telephone. It is a graph which shows the change of an acceleration and a recognition signal. It is explanatory drawing which shows the coordinate system in an acceleration sensor. It is a flowchart which shows the procedure of an attitude | position calculation process. It is a flowchart which shows the procedure of an attitude | position calculation process. 6 is an explanatory diagram illustrating a hardware group of a mobile phone according to Embodiment 2. FIG. It is explanatory drawing which shows the record layout of the tag information table memorize | stored in RAM of the wireless tag. It is explanatory drawing which shows an inclination part. It is a flowchart which shows the correction | amendment processing procedure of attitude | position information. It is a block diagram which shows the hardware group of a server computer. It is explanatory drawing which shows the record layout of a tag information table. It is a flowchart which shows the procedure of the acquisition process of a positional information and azimuth | direction information. FIG. 10 is a block diagram illustrating a hardware group of a mobile phone according to a fourth embodiment. It is a graph which shows the change of angular velocity. It is a flowchart which shows the detection procedure of an impact. It is explanatory drawing which shows the image at the time of contact. It is a flowchart which shows the procedure of the update and correction | amendment process of an attitude | position matrix. It is a flowchart which shows the procedure of the update and correction | amendment process of an attitude | position matrix. It is explanatory drawing which shows the contact state to a horizontal surface. It is a flowchart which shows the correction | amendment procedure of attitude | position information. It is a flowchart which shows the correction | amendment procedure of attitude | position information. It is explanatory drawing which shows the record layout of the tag information table which concerns on Embodiment 6. FIG. It is a flowchart which shows the procedure of the acquisition process of a coordinate value and an azimuth | direction error. It is a functional block diagram which shows operation | movement of the mobile telephone of the form mentioned above. FIG. 20 is a block diagram illustrating a hardware group of a mobile phone according to a seventh embodiment.

Embodiment 1
Hereinafter, embodiments will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing an outline of a communication system. The communication system includes an information processing device 1, a short-range wireless communication device 2 disposed in the housing 3, and the like. The information processing apparatus 1 is, for example, a mobile phone, a notebook personal computer, a PDA (Personal Digital Assistance), a music player, a video player, a game machine, a book reader, or a portable computer for facility guidance. Hereinafter, as an example of the information processing apparatus 1, a mobile phone 1 will be described.

  The cellular phone 1 performs short-range wireless communication between a short-range wireless communication unit (to be described later) and a short-range wireless communication device 2 disposed in the housing 3. The distance may be any distance as long as information can be transmitted and received within a range of several tens of centimeters, for example. As the short-range wireless communication method, for example, an NFC (Near Field Communication) method, an infrared communication method, or the like is used. In the present embodiment, an example using the NFC method will be described. The short-range wireless communication unit of the mobile phone 1 is assumed to be an RFID (Radio Frequency Identification) tag reader (hereinafter referred to as a tag reader 19 (see FIG. 3)). The short-range wireless communication device 2 will be described as an RFID tag (hereinafter referred to as a wireless tag 2).

  The wireless tags 2 are distributed and arranged in facilities such as a shopping mall, a movie theater, a department store, a ballpark, a factory, a supermarket, an office, a school, a hospital, a station, an airport, and a park. The wireless tag 2 is disposed on a housing 3, a pillar, a wall, a bulletin board or the like in the facility. In this embodiment, an example in which the wireless tag 2 is arranged in the inclined surface 32 of the housing 3 will be described as an example. The housing 3 using resin or wood includes, for example, a rectangular parallelepiped portion 31 and an inclined portion 33 on the rectangular parallelepiped portion 31. The inclined portion 33 is provided on the rectangular parallelepiped portion 31. The inclined portion 33 has a triangular prism shape, and is provided with an inclined surface 32 having an inclination angle of about 45 degrees toward the front. The inclined surface 32 is not limited to this as long as the angle is other than horizontal. It may also be vertical (perpendicular to the ground). The wireless tag 2 may be provided on the surface of the inclined surface 32.

  As shown in FIG. 1A, the user brings the mobile phone 1 close to the inclined surface 32. The mobile phone 1 calculates posture information based on the acceleration within a predetermined time from when the wireless tag 2 is recognized. Subsequently, as shown in FIG. 1B, the user brings the mobile phone 1 into contact with the inclined surface 32. The mobile phone 1 acquires position information for specifying the position of the housing 3 from the wireless tag 2. Thereafter, as shown in FIG. 1C, the user can obtain the calculated posture information and information according to the acquired position from the display unit of the mobile phone 1. Details will be described below.

  FIG. 2 is a block diagram showing a hardware group of the wireless tag 2. The wireless tag 2 includes a CPU (Central Processing Unit) 21 as a control unit, a RAM (Random Access Memory) 22, a power supply unit 24, a short-range communication unit 23 as a short-range wireless communication unit, a communication unit 26, and the like. The CPU 21 is connected to each part of the hardware via the bus 27 and controls them. The CPU 21 executes software processing according to the control program stored in the RAM 22. The power supply unit 24 includes a button battery and supplies power to each hardware. Note that power may be supplied from a commercial AC power supply (not shown).

  The short-range communication unit 23 includes a reception antenna (not shown) and a transmission antenna (not shown). The short-range communication unit 23 detects a control signal (carrier sense) transmitted from the tag reader 19 of the mobile phone 1 via the reception antenna. The short-range communication unit 23 demodulates the detected control signal and outputs the demodulated control information to the CPU 21. The CPU 21 reads position information for specifying the position of the wireless tag 2 stored in the RAM 22. This position information is latitude and longitude information. The position information may include altitude. In addition, the coordinate value in the specific coordinate system of the facility may be used. In addition, the position information may be information for specifying the position of the wireless tag 2, and may be identification information (ID) given to the wireless tag 2. The mobile phone 1 may acquire the latitude and longitude stored in association with the identification information or the coordinate value in the unique coordinate system of the facility from another server computer or storage unit (not shown). In the present embodiment, as an example, the coordinate value indicating the installation location of the wireless tag 2 in the unique coordinate system of the facility will be described as the position information.

  The CPU 21 outputs the read position information to the short-range communication unit 23. The short-range communication unit 23 modulates the position information, and transmits the modulated position information and a recognition signal indicating that the reader / writer has been recognized to the tag reader 19 via the transmission antenna. The communication unit 26 is, for example, a wireless or wired LAN (Local Area Network) card, and communicates with other server computers (not shown) by HTTP (HyperText Transfer Protocol) or the like via a communication network such as the Internet. Send and receive information.

  FIG. 3 is a block diagram showing a hardware group of the mobile phone 1. The cellular phone 1 includes a CPU 11, a RAM 12, an input unit 13, a display unit 14, a storage unit 15, a microphone 110, a speaker 111, a clock unit 18, a tag reader 19, an acceleration sensor 101, and a communication unit 16 as control units. The CPU 11 is connected to each part of the hardware via the bus 17. The CPU 11 controls each part of the hardware according to the control program 15P stored in the storage unit 15. The RAM 12 is, for example, SRAM, DRAM, flash memory or the like. The RAM 12 also functions as a storage unit, and temporarily stores various data generated when the CPU 11 executes various programs.

  The input unit 13 is an input device such as a button or a touch panel, and outputs received operation information to the CPU 11. The display unit 14 is a liquid crystal display, an organic EL (electroluminescence) display, or the like, and displays various information according to instructions from the CPU 11. The communication unit 16 is a wireless LAN card, a communication antenna, or the like, and transmits / receives information to / from a server computer (not shown) through a communication network such as a telephone communication network and the Internet. The storage unit 15 is, for example, a large-capacity flash memory or a hard disk, and stores a control program 15P and the like.

  The microphone 110 AD-converts the collected audio signal and outputs the converted audio information to the CPU 11. The speaker 111 outputs a DA-converted audio signal in accordance with an instruction from the CPU 11. The clock unit 18 outputs date information to the CPU 11. The tag reader 19 as a short-range wireless communication unit communicates with the wireless tag 2 by, for example, radio waves of 13.56 MHz, and performs bidirectional communication of 100 to 400 kbps at a short distance of about 10 cm. Note that the distance is not limited to 10 cm, and any distance can be used as long as wireless communication can be performed within a distance of 0 cm to 50 cm, for example. The tag reader 19 reads position information and a recognition signal output from the wireless tag 2. The tag reader 19 outputs the read position information to the CPU 11. The acceleration sensor 101 is, for example, a triaxial acceleration sensor, and outputs the detected acceleration in the triaxial direction to the CPU 11. Note that a plurality of uniaxial or biaxial acceleration sensors may be used in combination instead of the triaxial acceleration sensor.

FIG. 4 is a graph showing changes in acceleration and recognition signals. The horizontal axis indicates the sampling number of the acceleration sensor 101. The right vertical axis indicates the presence / absence of a recognition signal of the tag reader 19. The left vertical axis indicates acceleration, and the unit is m / s ² . A series indicated by the thickest solid line indicates a temporal change in the recognition signal output from the tag reader 19. The CPU 11 determines that the wireless tag 2 has been recognized when a recognition signal is output from the tag reader 19.

  A series indicated by a thin solid line indicates a temporal change in the acceleration ax output from the acceleration sensor 101 in the x-axis direction. FIG. 5 is an explanatory diagram showing a coordinate system in the acceleration sensor 101. I indicated by a white arrow is a unit vector in the x-axis direction, j indicated by a white arrow is a unit vector in the y-axis direction, and k indicated by a white arrow is a unit vector in the z-axis direction. An angle formed by the unit vector i and the xy plane in the coordinate system of the acceleration sensor 101 is defined as θx. An angle formed by the unit vector j and the xy plane in the coordinate system of the acceleration sensor 101 is defined as θy. An angle formed between the unit vector k and the xy plane in the coordinate system of the acceleration sensor 101 is denoted by θz. G indicated by a white arrow indicates the direction of gravity.

  A series indicated by a long dotted line in FIG. 4 indicates a temporal change in the acceleration ay output from the acceleration sensor 101 in the y-axis direction. A series indicated by a short dotted line indicates a temporal change in the acceleration az output from the acceleration sensor 101 in the z-axis direction. A series indicated by a thick solid line indicates temporal changes in the acceleration norm of the acceleration ax, the acceleration ay, and the acceleration az output from the acceleration sensor 101. The acceleration norm is the magnitude of the acceleration vector, and is the square root of a value obtained by adding the square of the acceleration ax, the square of the acceleration ay, and the square of the acceleration az.

  The CPU 11 reads a predetermined time (indicated by T in FIG. 4) from the storage unit 15. The predetermined time T can be set to an appropriate value from the input unit 13. For example, it may be 0.1 seconds. The CPU 11 stores the acceleration acquired from the acceleration sensor 101 in the RAM 12. The CPU 11 reads (acquires) the acceleration ax, the acceleration ay, and the acceleration az when a predetermined time has elapsed after recognizing the wireless tag 2 from the RAM 12. The CPU 11 calculates posture information in the coordinate system of the acceleration sensor 101 based on the acquired acceleration ax, acceleration ay, acceleration az, and gravitational acceleration g.

  The CPU 11 reads the expression (1) stored in the storage unit 15.

  The CPU 11 substitutes gravitational acceleration, acceleration ax, acceleration ay, and acceleration az into equation (1), and the angle θx formed by the unit vector i and the xy plane, the angle θy formed by the unit vector j and the xy plane, and the unit vector An angle θz formed by k and the xy plane is calculated. The CPU 11 stores the angle θx, the angle θy, and the angle θz in the RAM 12 as posture information for specifying the calculated posture. In the present embodiment, the angle θx, the angle θy, and the angle θz are the posture information for specifying the posture, but are not limited thereto. As will be described later, posture matrix En calculated by substituting θx, θy, and θz that have already been calculated into the mathematical formula may be used as the posture information of mobile phone 1. In the present embodiment, the acceleration after a predetermined time has elapsed after the wireless tag 2 has been recognized is not limited to this. For example, the CPU 11 may use the acceleration before the predetermined time has elapsed after the wireless tag 2 is recognized.

  When the CPU 11 recognizes the wireless tag 2, the CPU 11 reads the acceleration at a time point that goes back a predetermined time from the RAM 12. The CPU 11 calculates posture information based on the read acceleration and gravity acceleration. In addition, the CPU 11 may use acceleration before detecting an impact. The CPU 11 sets a time point at which the temporal change in acceleration is larger than the threshold value stored in the storage unit 15 as an impact detection time. It should be noted that a point in time when the norm, average value, or variance of acceleration is greater than the threshold value stored in the storage unit 15 may be set as the impact detection time. The CPU 11 reads a predetermined time (for example, 0.2 seconds) stored in advance from the storage unit 15.

  The CPU 11 reads from the RAM 12 the acceleration at a point in time that goes back a predetermined time from when the impact was detected. The CPU 11 calculates posture information based on the read acceleration and gravity acceleration. In addition, in the present embodiment, an example of using gravitational acceleration has been described in calculating posture information, but the present invention is not limited to this. An acceleration norm may be used instead of the gravitational acceleration.

  6 and 7 are flowcharts showing the procedure of the posture calculation process. The CPU 11 of the mobile phone 1 acquires the triaxial acceleration from the acceleration sensor 101 (step S61). When the tag reader 19 recognizes the wireless tag 2, the tag reader 19 outputs a recognition signal and position information of the wireless tag 2 to the CPU 11. The CPU 11 stores the triaxial acceleration acquired in the RAM 12 in time series (step S63). The CPU 11 determines whether or not a recognition signal indicating that the wireless tag 2 has been recognized is output from the tag reader 19 (step S64). If the CPU 11 determines that the recognition signal is not output (NO in step S64), the process returns to step S61. By repeating the above processing, temporal changes in the triaxial acceleration are accumulated.

  If the CPU 11 determines that a recognition signal has been output (YES in step S64), the process proceeds to step S65. The CPU 11 sets a recognition flag in the RAM 12 (step S65). The CPU 11 acquires position information from the wireless tag 2 via the tag reader 19 (step S66). The CPU 11 reads a predetermined time previously stored in the storage unit 15 from the storage unit 15 (step S67). The CPU 11 continues to acquire the triaxial acceleration from the acceleration sensor 101 (step S68).

  The CPU 11 stores the acceleration in the RAM 12 in time series (step S71). CPU11 judges whether the predetermined time memorize | stored in the memory | storage part 15 passed from the time of setting the recognition flag in step S65 (step S72). Specifically, the CPU 11 determines whether or not the elapsed time output from the clock unit 18 has exceeded a predetermined time starting from step S65. If the CPU 11 determines that the predetermined time has not elapsed (NO in step S72), the process returns to step S68.

  If the CPU 11 determines that the predetermined time has elapsed (YES in step S72), the process proceeds to step S73. The CPU 11 reads, from the RAM 12, the triaxial acceleration when a predetermined time has elapsed since the recognition flag was set (step S73). The CPU 11 reads the calculation formula indicated by the formula (1) from the storage unit 15 (step S74). The CPU 11 calculates the posture information by inputting the gravitational acceleration and the triaxial acceleration to the read calculation formula (step S75).

  The CPU 11 stores the calculated posture information and the position information acquired in step S66 in the storage unit 15 (step S76). The CPU 11 executes various processes based on the newly stored position information and posture information. Specifically, the CPU 11 refers to the storage unit 15 that stores the application corresponding to the posture information, and executes the application corresponding to the posture information (step S77). Thereby, the inclination of the mobile phone 1 can be grasped based on the attitude information, and various services corresponding to the inclination can be provided. For example, if the CPU 11 determines that the orientation is landscape, the facility information can be displayed according to the application. For example, when CPU11 judges that it is downward, the application which can display a map is performed. In addition, since highly accurate position information can be newly acquired, it is possible to provide more accurate information by using the acquired position information thereafter.

Embodiment 2
The second embodiment relates to a mode in which posture information is corrected based on azimuth information. FIG. 8 is an explanatory diagram showing a hardware group of the mobile phone 1 according to the second embodiment. A magnetic sensor 102 is newly provided. The magnetic sensor 102 outputs the detected direction to the CPU 11. FIG. 9 is an explanatory diagram showing a record layout of the tag information table stored in the RAM 22 of the wireless tag 2. The tag information table includes a tag ID field, a coordinate value field, an orientation field, and the like. In the tag ID field, unique identification information (hereinafter referred to as tag ID) assigned to the wireless tag 2 is stored.

  The coordinate value field stores position information for specifying the position. In the present embodiment, as an example, an xy coordinate value in a coordinate system (hereinafter referred to as a unique coordinate system) of a facility where the housing 3 is installed is stored. In the azimuth field, an angle formed between the azimuth toward the inclined surface 32 and the north azimuth is stored. In the present embodiment, 20 degrees is stored clockwise with respect to the north direction. The orientation will be described below.

  FIG. 10 is an explanatory view showing the inclined portion 33. In FIG. 10, only the inclined portion 33 excluding the rectangular parallelepiped portion 31 of the housing 3 is shown on the xy plane for easy explanation. A vertical line with respect to the inclined surface 32 of the inclined portion 33 where the wireless tag 2 is installed is defined as L1. A line formed when the vertical line L1 is projected onto the xy plane is referred to as an azimuth line L2. An angle formed between the north direction indicated by the dotted line and the direction line L2 indicated by the alternate long and short dash line is defined as the direction α.

  The CPU 11 corrects the posture information calculated based on the acquired azimuth information. Specifically, the CPU 11 reads the expression (2) stored in the storage unit 15.

  En is an attitude matrix having reference unit vectors i, j, and k in the coordinate system of the acceleration sensor 101 as components. The CPU 11 substitutes θx, θy, and θz that have already been calculated in Expression (2). Thereby, the attitude matrix in the coordinate system of the acceleration sensor 101 is calculated. In the first embodiment, the example in which the angle θx, the angle θy, and the angle θz are the posture information for specifying the posture is described, but the present invention is not limited to this. The posture matrix En obtained by substituting the calculated θx, θy, and θz into the equation (2) may be used as posture information for specifying the posture of the mobile phone 1. Since the azimuth is not specified at this stage, the posture matrix in the eigen coordinate system of the facility is corrected based on the acquired azimuth information. The CPU 11 performs a process of rotating the posture matrix by the azimuth α around the z axis. Specifically, the CPU 11 reads the rotation matrix Rα represented by the equation (3).

  The CPU 11 assigns the direction α to the read rotation matrix Rα. As shown in Expression (4), the CPU 11 multiplies the posture matrix En from the left by the inverse matrix of the rotation matrix Rα to calculate the posture matrix En ′ in the eigencoordinate system.

  In the present embodiment, an example in which an inverse matrix is multiplied is given, but the present invention is not limited to this. The orientation may be set to −α, the rotation matrix R (−α) may be obtained, and the orientation matrix may be multiplied from the left by the rotation matrix R (−α). The CPU 11 stores the acquired position information, orientation, and posture matrix En ′ in the unique coordinate system, which is posture information after correction, in the storage unit 15. The CPU 11 executes processing based on the newly stored position information, azimuth, and posture matrix in the unique coordinate system. For example, the CPU 11 may read and display an icon corresponding to the orientation from the storage unit 15 when displaying an image captured from a camera (not shown) on the display unit 14. In addition, store information is stored in association with the location information of the facility, and when the posture information satisfies a certain condition, the CPU 11 displays the facility information on the display unit 14 based on the location information and the direction. Also good.

  FIG. 11 is a flowchart showing the posture information correction processing procedure. The tag reader 19 of the mobile phone 1 acquires the direction information from the wireless tag 2 (step S111). Specifically, the CPU 21 of the wireless tag 2 reads the azimuth information from the tag information table of the RAM 22 and outputs it to the mobile phone 1 via the short-range wireless communication unit 23. The CPU 11 acquires orientation information via the tag reader 19. The CPU 11 reads out the posture information stored in step S76 from the storage unit 15 (step S112). CPU11 reads a rotation matrix from the memory | storage part 15 (step S113). The CPU 11 substitutes the orientation information into the rotation matrix. The CPU 11 calculates an inverse matrix of the rotation matrix (step S114). The CPU 11 multiplies the posture matrix from the left by the inverse matrix of the rotation matrix (step S115).

  The CPU 11 stores the corrected posture matrix obtained in step S115 in the storage unit 15 as posture information (step S116). CPU11 memorize | stores the acquired azimuth | direction information and position information in the memory | storage part 15 (step S117). The CPU 11 executes an application corresponding to the position information, posture information, or direction information based on the newly stored position information, posture information, and direction information (step S118). Thereby, even when appropriate data cannot be acquired from GPS data or the magnetic sensor 102 such as in a facility, the position information and the direction information can be acquired through the wireless tag 2 installed on the slope. Moreover, it becomes possible to correct | amend the attitude | position matrix in a specific coordinate system appropriately based on azimuth | direction information.

  The second embodiment is as described above, and the other parts are the same as those of the first embodiment. Therefore, the corresponding parts are denoted by the same reference numerals, and detailed description thereof is omitted.

Embodiment 3
The third embodiment relates to a form in which position information and direction information are acquired from different routes. The position information and the direction information may be acquired from a server computer connected via the communication unit 16. FIG. 12 is a block diagram showing a hardware group of the server computer 4. The server computer 4 includes a CPU 41 as a control unit, a RAM 42, a storage unit 45, a communication unit 46, and the like. The CPU 41 is connected to each part of the hardware via the bus 47. The CPU 41 controls each part of the hardware according to the control program stored in the storage unit 45. The RAM 42 is, for example, SRAM, DRAM, flash memory or the like. The RAM 42 also functions as a storage unit, and temporarily stores various data generated when the CPU 41 executes various programs.

  The communication unit 46 is a wired or wireless LAN card and transmits / receives information to / from the mobile phone 1 or the like via a communication network such as the Internet or a mobile phone network. The storage unit 45 is, for example, a hard disk or a large-capacity flash memory. The storage unit 45 stores a tag information table 451. FIG. 13 is an explanatory diagram showing a record layout of the tag information table 451. The tag information table 451 includes a tag ID field, a coordinate value field, an orientation field, and the like. In the coordinate value field, the xy coordinate value in the unique coordinate system, which is position information, is stored in association with the tag ID.

  In the azimuth field, the azimuth facing the inclined surface 32 of the inclined portion 33 where the wireless tag 2 is installed is stored in association with the tag ID. For example, the wireless tag 2 having the tag ID “002” is installed at a position specified by the coordinate values “23, 130”. In addition, the inclined surface 32 of the inclined portion 33 to which the wireless tag 2 is set is installed facing the direction rotated clockwise by 190 degrees with respect to the north direction.

  A tag ID is stored in the RAM 22 of the wireless tag 2. The tag reader 19 of the mobile phone 1 acquires a tag ID. The CPU 11 outputs the acquired tag ID to the server computer 4 via the communication unit 16. The CPU 41 of the server computer 4 receives the tag ID via the communication unit 46. The CPU 41 reads position information and direction information corresponding to the tag ID from the tag information table 451. The CPU 41 transmits position information and direction information to the mobile phone 1 via the communication unit 46. The CPU 11 of the mobile phone 1 acquires position information and direction information via the communication unit 16.

  In the present embodiment, the tag ID is stored in the RAM 22 of the wireless tag 2 and the position information and the direction information are stored in the tag information table 451 of the server computer 4. However, the present invention is not limited to this. Either the tag ID and the position information or the direction information may be stored in the RAM 22 of the wireless tag 2, and either the direction information or the position information may be stored in the tag information table 451 of the server computer 4. In the present embodiment, the example in which the position information and the azimuth information are stored in the tag information table 451 of the server computer 4 is described. However, the information may be stored in the storage unit 15 of the mobile phone 1. In this case, the CPU 11 reads position information and azimuth information corresponding to the tag ID from the storage unit 15.

  FIG. 14 is a flowchart showing a procedure of processing for acquiring position information and direction information. In place of the acquisition process described in the first and second embodiments, the following acquisition process is executed. When the tag reader 19 of the mobile phone 1 recognizes the wireless tag 2, it acquires the tag ID output from the wireless tag 2 (step S141). The tag reader 19 outputs the acquired tag ID to the CPU 11. CPU11 transmits acquired tag ID to the server computer 4 via the communication part 16 (step S142). The CPU 41 of the server computer 4 receives the tag ID via the communication unit 46 (step S143).

  The CPU 41 reads position information and azimuth information corresponding to the tag ID from the tag information table 451 (step S144). The CPU 41 transmits position information and orientation information to the mobile phone 1 via the communication unit 46 (step S145). The CPU 11 of the mobile phone 1 acquires position information and direction information via the communication unit 16 (step S146). Thereby, even if the position information and the direction information are not stored in the wireless tag 2 itself, it is possible to acquire these information.

  The third embodiment is as described above, and the others are the same as in the first and second embodiments. Therefore, the corresponding parts are denoted by the same reference numerals, and detailed description thereof is omitted.

Embodiment 4
The fourth embodiment relates to a mode in which correction is performed using a gyro sensor. FIG. 15 is a block diagram illustrating a hardware group of the mobile phone 1 according to the fourth embodiment. The mobile phone 1 is further provided with a gyro sensor 103. As the gyro sensor 103, for example, a 2-axis or 3-axis gyro sensor is used. In the present embodiment, an example using a three-axis gyro sensor will be described. The gyro sensor 103 outputs the angular velocity ωx in the x-axis direction, the angular velocity ωy in the y-axis direction, and the angular velocity ωz in the z-axis direction to the CPU 11. The CPU 11 stores the angular velocity of each axis output from the gyro sensor 103 in the RAM 12.

  FIG. 16 is a graph showing changes in angular velocity. The horizontal axis indicates the sampling number. The vertical axis on the left is the angular velocity, and the unit is rad / s. The vertical axis on the right is the presence / absence of a recognition signal of the wireless tag 2 output from the tag reader 19. A series of bold solid lines indicates a temporal change in the recognition signal of the wireless tag 2 output from the tag reader 19. A series of solid lines indicates a temporal change in the angular velocity ωx in the x-axis direction output from the gyro sensor 103. A series of dotted lines indicates a temporal change in the angular velocity ωy in the y-axis direction output from the gyro sensor 103. A series of alternate long and short dash lines indicates a temporal change in the angular velocity ωz in the z-axis direction output from the gyro sensor 103. Based on the recognition signal, the CPU 11 starts the time point when the wireless tag 2 is recognized, and after a predetermined time T has elapsed, the CPU 11 then determines the attitude matrix En of the coordinate system in the gyro sensor 103 or the acceleration sensor 101 based on the angular velocity output from the gyro sensor 103. Update. The predetermined time T is stored in the storage unit 15 in advance. The wireless tag 2 recognition process is as described in the first embodiment.

  The CPU 11 updates the attitude matrix En until the change in angular velocity decreases. Specifically, after recognizing the wireless tag 2, the CPU 11 determines that an impact has been detected when the temporal change in the angular velocity output from the gyro sensor 103 first exceeds the threshold stored in the storage unit 15. To do. In addition, all the three-axis gyro sensors of the gyro sensor 103 may be used for this temporal change, or only one or two may be used. In this embodiment, all the three-axis gyro sensors are used, and the total value of the absolute values of the three-axis temporal variation is used. Thereafter, the CPU 11 detects a time point when the temporal change has decreased to a predetermined position. Specifically, the CPU 11 determines whether or not the absolute value of the temporal change amount of the three axes is equal to or less than the threshold value stored in the storage unit 15. CPU11 judges that the change of the acceleration by an impact decreased when it became below a threshold value. Hereinafter, the time point when the change in the angular velocity decreases to a threshold value or less is referred to as the time of decrease.

  The CPU 11 reads the angular velocities ωx, ωy, ωz of each axis from the RAM 12 when a predetermined time has elapsed after recognizing the wireless tag 2. The transpose matrix represented by λ, μ, and ν can be expressed as in Equation (5) using angular velocities ωx, ωy, and ωz.

  Further, the angular velocity ω can be expressed as in Expression (6) using the posture matrix En and the angular velocities ωx, ωy, and ωz. The angular velocities ωx, ωy, and ωz are angular velocity vectors detected by the three-axis gyro sensor 103.

  As a result, the rotation angle θ is obtained by using the norm of ω (the square root of the sum of the square of the angular velocity ωx, the square of ωy and the square of ωz) and Δt which is the sampling interval of the gyro sensor 103. , Can be expressed as in equation (7).

  The rotation matrix can be obtained by Expression (8) using the angle θ of Expression (7) and λ, μ, and ν of Expression (5).

  By multiplying the obtained rotation matrix by the posture matrix En from the left as shown in Expression (9), the updated posture matrix En + 1 can be calculated.

  The above-described processing is executed every sampling until the time of decrease, that is, whenever the angular velocities ωx, ωy, and ωz are obtained. Thereafter, as shown in Expression (10), correction is performed by multiplying the updated posture matrix En + 1 from the left by the rotation matrix Rα described in the second embodiment, and a corrected posture matrix En + 1 ′ is calculated. This corrected posture matrix En + 1 'becomes the posture matrix of the proper coordinate system of the facility corrected for the direction.

  FIG. 17 is a flowchart showing an impact detection procedure. In the following, an example will be described in which dispersion at the triaxial angular velocity is used when detecting at the start of an impact and detecting a decrease in change due to the impact. The CPU 11 performs the following processing after a lapse of a predetermined time after setting the recognition flag for the wireless tag 2 in step S72. CPU11 reads the 1st threshold value for detecting the start time of an impact from the memory | storage part 15 (step S171). The CPU 11 calculates the variance of the triaxial angular velocities output from the gyro sensor 103 (step S172). The CPU 11 determines whether or not the calculated variance is greater than or equal to the first threshold (step S173). Note that it may be determined whether the angular velocity, not the variance, is greater than or equal to a threshold value. If the CPU 11 determines that the variance is not greater than or equal to the first threshold (NO in step S173), the process returns to step S172. If the CPU 11 determines that the variance is greater than or equal to the first threshold (YES in step S173), the process proceeds to step S174. The CPU 11 sets an impact flag in the RAM 12 (step S174).

  FIG. 18 is an explanatory diagram showing an image at the time of contact. After the tag reader 19 of the mobile phone 1 recognizes the wireless tag 2, a part of the mobile phone 1 indicated by a dotted line comes into contact with the inclined surface 32 and detects the first impact. Subsequently, as indicated by a black arrow, the mobile phone 1 performs a rotational motion from the contact location until the back surface (front surface or side surface) of the mobile phone 1 contacts the inclined surface 32. An impact is also applied when the back surface of the mobile phone 1 contacts the inclined surface 32. Thereafter, the mobile phone 1 is lifted and separated from the inclined surface 32. When the mobile phone 1 is lifted after the end of the rotational movement, the change in angular velocity is relatively small as compared with the above-described two degrees of impact. The CPU 11 determines that the change in angular velocity has decreased to a predetermined value by the following processing.

  The CPU 11 reads the second threshold value from the storage unit 15 (step S175). Note that the second threshold may be smaller than the first threshold. The CPU 11 calculates the variance of the triaxial angular velocities output from the gyro sensor 103 (step S176). The CPU 11 determines whether or not the variance is greater than or equal to the second threshold value (step S177). When CPU 11 determines that the value is equal to or greater than the second threshold (YES in step S177), the process returns to step S176. If the CPU 11 determines that the variance is not greater than or equal to the second threshold (NO in step S177), the CPU 11 proceeds to step S178.

  The CPU 11 sets a decrease-time flag indicating that the change in angular velocity has decreased to a predetermined value in the RAM 12 after an impact associated with the contact with the inclined surface 32 of the mobile phone 1 (step S178). In the present embodiment, the mode using dispersion has been described, but the present invention is not limited to this. For example, when the change in angular velocity decreases to a predetermined value using the norm of triaxial acceleration, the absolute value of the average value of the angular velocity, the absolute value of the total value, or the absolute value of the temporal change amount instead of the variance. May be calculated.

  FIG. 19 and FIG. 20 are flowcharts showing the procedure of the posture matrix update and correction processing. The CPU 11 performs the following processing from the elapse of a predetermined time after the recognition flag is set in step S72 until the decrease flag is set in step S178. The CPU 11 reads the posture information after a predetermined time has elapsed from the time when the recognition flag is set by the processing of step S76 (step S191). The CPU 11 reads equation (2) from the storage unit 15. The CPU 11 calculates the posture matrix En by substituting the posture information into the equation (2) (step S192). The CPU 11 acquires the triaxial angular velocity output from the gyro sensor 103 (step S193).

  The CPU 11 stores the acquired triaxial angular velocity in the RAM 12 (step S194). The CPU 11 reads the transposed determinant represented by the equation (5) from the storage unit 15 (step S195). The CPU 11 calculates the transposed matrix of λ, μ, and ν by substituting the triaxial angular velocities ωx, ωy, and ωz into the transposed determinant (step S196). The CPU 11 reads out from the storage unit 15 a calculation formula for calculating the vector ω of the triaxial angular velocities output from the gyro sensor 103 (step S197). The CPU 11 calculates the vector ω by substituting the attitude matrix En and the angular velocities ωx, ωy, and ωz into the calculation formula shown by the formula (6) (step S198).

  The CPU 11 calculates the norm of the calculated vector ω (step S199). Specifically, the CPU 11 calculates the norm by taking the square root of the sum of the square of the angular velocity ωx, the square of ωy, and the square of ωz. CPU11 reads the calculation formula of rotation angle (theta) from the memory | storage part 15 (step S201). The CPU 11 reads a preset sampling period of the gyro sensor 103 from the storage unit 15 (step S202). The CPU 11 calculates the rotation angle θ by substituting the sampling period and the norm into the calculation formula of the rotation angle θ represented by Expression (7) (Step S203).

  CPU11 reads the calculation formula of the rotation matrix from the memory | storage part 15 (step S204). The CPU 11 calculates the rotation matrix by substituting the calculated θ, λ, μ, and ν into the calculation formula for the rotation angle θ represented by Expression (8) (step S205). The CPU 11 reads equation (9) from the storage unit 15. The CPU 11 multiplies the posture matrix En from the left by the rotation matrix to update the posture matrix En (step S206).

  The CPU 11 stores the updated posture matrix En + 1 in the RAM 12 (step S207). The CPU 11 determines whether or not the decrease flag in step S178 is set (step S208). If the CPU 11 determines that the decrease flag is not set (NO in step S208), the process returns to step S193. By repeating the above processing, the posture matrix En + 1 is sequentially updated. If the CPU 11 determines that the decrease flag is set (YES in step S208), the CPU 11 determines that the impact has ceased, that is, the rotational motion accompanying the contact has ended, and the process proceeds to step S209.

  The tag reader 19 of the mobile phone 1 acquires the orientation information and the position information from the wireless tag 2 (step S209). The CPU 11 reads the updated posture matrix En + 1 from the storage unit 15 (step S2010). The CPU 11 reads the rotation matrix indicated by the expression (3) from the storage unit 15 (step S2011). The CPU 11 substitutes the orientation information into the rotation matrix. The CPU 11 calculates an inverse matrix of the rotation matrix (step S2012). The CPU 11 multiplies the updated posture matrix En + 1 from the left by the inverse matrix of the rotation matrix (step S2013).

  The CPU 11 stores the corrected posture matrix En + 1 ′ obtained in step S2013 in the storage unit 15 as posture information (step S2014). CPU11 memorize | stores the acquired azimuth | direction information and position information in the memory | storage part 15 (step S2015). The CPU 11 executes an application corresponding to the position information, the corrected posture information En + 1 ', or the direction information based on the newly stored position information, the corrected posture information En + 1', and the direction information (step S2016). Thereby, since the attitude | position, position, and direction of the mobile phone 1 in the eigen coordinate system of the facility can be reset, it becomes possible to provide a highly accurate service even in a situation where the direction and position information is inaccurate such as indoors. .

  The fourth embodiment is as described above, and the others are the same as in the first to third embodiments. Therefore, the corresponding parts are denoted by the same reference numerals, and detailed description thereof is omitted.

Embodiment 5
Embodiment 5 relates to a form for recognizing a wireless tag 2 placed on a horizontal surface. FIG. 21 is an explanatory view showing a contact state with a horizontal plane. The rectangular parallelepiped portion 31 of the housing 3 is formed with a horizontal plane 34. The wireless tag 2 is installed on the upper surface or the inner surface of the horizontal plane 34. The user brings the mobile phone 1 into contact with the housing 3 so that the bottom surface of the mobile phone 1 and the horizontal plane 34 come into contact with each other. In FIG. 21, the XYZ axes are the unique coordinate system of the facility, and indicate that the X axis direction on the XY plane is the north direction.

  i, j, and k are reference unit vectors in the coordinate system of the acceleration sensor 101. In the example of FIG. 21, the mobile phone 1 is rotated α in the clockwise direction with respect to the north. Within a facility, there is often an inherent error with respect to orientation. β is an inherent error. This orientation error is acquired from the wireless tag 2 as first orientation information for specifying the orientation of the wireless tag 2. α-β is second orientation information for specifying the orientation of the wireless tag 2 output from the magnetic sensor 102. By adding the first azimuth information to the second azimuth information, the rotation angle α with the inherent error corrected can be obtained.

  The CPU 11 receives the expression from the storage unit 15 after the predetermined period stored in the storage unit 15 from the time when the mobile phone 1 recognizes the wireless tag 2 or as the posture information at the time of decrease described in the fourth embodiment. The attitude matrix En shown in (11) is read out. Hereinafter, the CPU 11 will be described as posture information at the time of decrease.

  Subsequently, the CPU 11 substitutes the corrected angle α into the equation (3). As shown in Expression (4), the CPU 11 multiplies the posture matrix En from the left by the inverse matrix of the rotation matrix Rα to calculate the posture matrix En ′ in the eigencoordinate system. Thereby, En ′ can be obtained as post-correction posture information.

  22 and 23 are flowcharts showing a procedure for correcting posture information. The CPU 11 determines whether or not the recognition flag is set as described in the first embodiment (step S221). If the CPU 11 determines that the recognition flag is not set (NO in step S221), the CPU 11 waits until the recognition flag is set. If the CPU 11 determines that the recognition flag has been set (YES in step S221), the process proceeds to step S222. The RAM 22 of the wireless tag 2 stores the position information where the housing 3 is installed, the orientation error peculiar to the vicinity of the housing 3, and the information on the horizontal surface 34 indicating that the top of the housing 3 is the horizontal surface 34. ing. The CPU 21 of the wireless tag 2 outputs position information, orientation error, and horizontal plane information 34 in response to a request from the reader / writer 19. The reader / writer 19 of the mobile phone 1 acquires information on the horizontal plane 34 from the wireless tag 2. The CPU 11 determines whether or not information on the horizontal plane 34 has been acquired (step S222). If the CPU 11 determines that information on the horizontal plane 34 has not been acquired (NO in step S222), the process ends. In this case, since it is the inclined surface 32 described in the first to fourth embodiments, the processing described in the first to fourth embodiments may be performed.

  When the CPU 11 determines that the information on the horizontal plane 34 has been acquired (YES in step S222), the process proceeds to step S223. The CPU 11 acquires position information and orientation error from the wireless tag 2 (step S223). As described in the fourth embodiment, the CPU 11 determines whether or not a decrease flag is set (step S224). If the CPU 11 determines that the decrease flag is not set (NO in step S224), the CPU 11 waits until the decrease flag is set. When the CPU 11 determines that the decrease flag is set (YES in step S224), the CPU 11 reads the posture matrix represented by the equation (11) from the storage unit 15 (step S225).

  CPU11 acquires a direction from magnetic sensor 102 (Step S226). The CPU 11 adds the azimuth error acquired from the wireless tag 2 and the azimuth acquired from the magnetic sensor 102 to correct the azimuth (step S227). CPU11 reads the rotation matrix which is shown with formula (3) from storage section 15 (step S228). The CPU 11 substitutes the corrected azimuth into the rotation matrix (step S229). The CPU 11 corrects the posture matrix by multiplying the posture matrix from the left by the inverse matrix of the rotation matrix after substitution (step S231).

  The CPU 11 stores the corrected attitude matrix and the corrected orientation in the storage unit 15 (step S232). The CPU 11 stores the acquired position information in the storage unit 15 (step S233). The CPU 11 executes an application corresponding to the position information, the corrected posture matrix, or the corrected azimuth (step S234). As a result, even when the contact is made with the horizontal surface 34 as well as the inclined surface 32, it is possible to provide a highly accurate service after eliminating the error related to the specific orientation.

  The fifth embodiment is as described above, and the other parts are the same as those of the first to fourth embodiments. Therefore, the corresponding parts are denoted by the same reference numerals, and detailed description thereof is omitted.

Embodiment 6
The sixth embodiment relates to a form in which position error and azimuth error as first azimuth information are acquired from the outside. In the fifth embodiment, the positional information and the azimuth error are acquired from the wireless tag 2, but may be stored in the storage unit 15 or the tag information table 451 of the server computer 4. FIG. 24 is an explanatory diagram showing a record layout of the tag information table 451 according to the sixth embodiment. The tag information table 451 includes a tag ID field, a coordinate value field, an orientation error field, and the like. In the coordinate value field, an xy coordinate value in a unique coordinate system for specifying the position of the wireless tag 2 is stored in association with the tag ID. For example, the wireless tag 2 having the tag ID “001” is installed at a position specified by the coordinate value “10, 30”. In this embodiment, an example in which only the xy coordinate values are stored is shown, but a coordinate value z indicating altitude may be included.

  In the azimuth error field, an azimuth error unique to the area where the wireless tag 2 is arranged is stored in association with the tag ID. For example, the place where the wireless tag 2 indicated by the tag ID “001” is arranged has an error of 10 degrees in the clockwise direction with respect to the north direction.

  A tag ID is stored in the RAM 22 of the wireless tag 2. The tag reader 19 of the mobile phone 1 acquires the tag ID from the wireless tag 2. The CPU 11 outputs the acquired tag ID to the server computer 4 via the communication unit 16. The CPU 41 of the server computer 4 receives the tag ID via the communication unit 46. The CPU 41 reads out the coordinate value and azimuth error corresponding to the tag ID from the tag information table 451. The CPU 41 transmits the coordinate value and azimuth error to the mobile phone 1 via the communication unit 46. The CPU 11 of the mobile phone 1 acquires the coordinate value and azimuth error via the communication unit 16.

  In the present embodiment, the tag ID is stored in the RAM 22 of the wireless tag 2 and the position information and the direction information are stored in the tag information table 451 of the server computer 4. However, the present invention is not limited to this. Either the tag ID and the coordinate value or the azimuth error may be stored in the RAM 22 of the wireless tag 2, and either the azimuth error or the coordinate value may be stored in the tag information table 451 of the server computer 4. In the present embodiment, an example in which the coordinate value and the azimuth error are stored in the tag information table 451 of the server computer 4 is described. However, the error may be stored in the storage unit 15 of the mobile phone 1. In this case, the CPU 11 reads out the coordinate value and the direction error corresponding to the tag ID from the storage unit 15.

  FIG. 25 is a flowchart showing the procedure for acquiring the error of the coordinate value and the direction. The following acquisition process is executed instead of the acquisition process described in the fifth embodiment. When the tag reader 19 of the mobile phone 1 recognizes the wireless tag 2, it acquires the tag ID output from the wireless tag 2 (step S251). The tag reader 19 outputs the acquired tag ID to the CPU 11. CPU11 transmits acquired tag ID to the server computer 4 via the communication part 16 (step S252). The CPU 41 of the server computer 4 receives the tag ID via the communication unit 46 (step S253).

  The CPU 41 reads out the coordinate value and the direction error corresponding to the tag ID from the tag information table 451 (step S254). CPU41 transmits the error of a coordinate value and a direction to the mobile telephone 1 via the communication part 46 (step S255). The CPU 11 of the mobile phone 1 acquires the coordinate value and the azimuth error via the communication unit 16 (step S256). Thereby, even if the coordinate value and the azimuth | direction error are not memorize | stored in wireless tag 2 itself, it becomes possible to acquire such information.

  The sixth embodiment is as described above, and the other parts are the same as those of the first to fifth embodiments. Accordingly, the corresponding parts are denoted by the same reference numerals, and detailed description thereof is omitted.

Embodiment 7
FIG. 26 is a functional block diagram showing the operation of the mobile phone 1 of the above-described form. FIG. 26A is a functional block diagram showing the operation of the mobile phone 1 according to the first to fourth embodiments. When the CPU 11 executes the control program 15P and the like, the mobile phone 1 operates as follows. The acquisition unit 1110 acquires position information for specifying the position from the wireless tag 2 via the tag reader 19. The acceleration acquisition unit 112 acquires the acceleration output from the acceleration sensor 101 within a predetermined time from when the wireless tag 2 is recognized by the tag reader 19. The calculation unit 113 calculates posture information for specifying the posture based on the acceleration acquired by the acceleration acquisition unit 112.

  FIG. 26B is a functional block diagram showing the operation of the mobile phone 1 according to Embodiments 5 and 6. The acquisition unit 1110 acquires position information for specifying a position and first direction information for specifying an orientation from the wireless tag 2 via the tag reader 19. The second azimuth information acquisition unit 114 acquires second azimuth information for specifying the azimuth from the magnetic sensor. The correction unit 115 corrects the direction information based on the first direction information acquired by the acquisition unit 1110 and the second direction information acquired by the second direction information acquisition unit 114. The reading unit 116 reads posture information for specifying the posture stored in advance from the storage unit 15. The posture correction unit 117 corrects the posture information read by the reading unit 116 based on the corrected azimuth information.

  FIG. 27 is a block diagram illustrating a hardware group of the mobile phone 1 according to the seventh embodiment. A program for operating the cellular phone 1 includes a portable recording medium 1A such as a CD-ROM, a DVD (Digital Versatile Disc) disk, a memory card, or a USB (Universal Serial Bus) memory in a reading unit 10A such as a disk drive. It may be read and stored in the storage unit 15. Further, a semiconductor memory 1B such as a flash memory storing the program may be mounted in the mobile phone 1. Further, the program can be downloaded from another server computer (not shown) connected via a communication network such as the Internet. The contents will be described below.

  The cellular phone 1 shown in FIG. 27 reads a program for executing the above-described various software processes from the portable recording medium 1A or the semiconductor memory 1B or from another server computer (not shown) via the communication network N. to download. The program is installed as the control program 15P, loaded into the RAM 12, and executed. Thus, the mobile phone 1 functions as described above.

  The seventh embodiment is as described above, and the other parts are the same as those of the first to sixth embodiments. Therefore, the corresponding parts are denoted by the same reference numerals, and detailed description thereof is omitted.

  The following additional notes are further disclosed with respect to the embodiments including the first to seventh embodiments.

(Appendix 1)
In a program for information processing by a computer having a control unit,
On the computer,
Obtain location information for specifying the location from the short-range wireless communication device via the short-range wireless communication unit,
From the time when the short-range wireless communication unit recognizes the short-range wireless communication device, the control unit acquires the acceleration output from the acceleration sensor within a predetermined time,
A program for executing processing for calculating posture information for specifying a posture by the control unit based on the acquired acceleration.

(Appendix 2)
The program according to claim 1, wherein the control unit calculates posture information based on a triaxial acceleration output from the acceleration sensor and a gravitational acceleration or a norm of the triaxial acceleration.

(Appendix 3)
The said control part acquires the acceleration output from the said acceleration sensor after the predetermined time memorize | stored in the memory | storage part from the time of the said short distance wireless communication part recognizing the said short distance wireless communication apparatus. Program.

(Appendix 4)
Obtaining azimuth information for identifying the azimuth from the short-range wireless communication device via the short-range wireless communication unit,
The program according to any one of supplementary notes 1 to 3, wherein the calculated posture information is corrected by the control unit based on the acquired orientation information.

(Appendix 5)
The program according to claim 4, wherein the acquired position information and azimuth information and the corrected posture information are stored in the storage unit.

(Appendix 6)
From the time when the short-range wireless communication unit recognizes the short-range wireless communication device, the angular velocity output from the angular velocity sensor after a lapse of a predetermined time is acquired by the control unit,
The program according to any one of appendices 1 to 3, wherein the control unit updates posture information calculated based on the acquired angular velocity.

(Appendix 7)
Based on the acquired angular velocity, the control unit detects a time point when a change in angular velocity due to an impact is reduced,
The program according to claim 6, wherein the control unit updates posture information calculated based on angular velocities acquired from the lapse of the predetermined time until a time point when the control unit decreases.

(Appendix 8)
The program according to appendix 7, wherein the updated posture information is corrected by the control unit based on the acquired azimuth information.

(Appendix 9)
The program according to claim 8, wherein the acquired position information and azimuth information and corrected posture information are stored in the storage unit.

(Appendix 10)
In a program for information processing by a computer having a control unit,
On the computer,
First position information for specifying the position information and the direction for specifying the position from the short-range wireless communication device via the short-range wireless communication unit is acquired,
Obtaining the second azimuth information for specifying the azimuth from the magnetic sensor,
Correcting the orientation information based on the first orientation information and the second orientation information,
Read out the posture information for specifying the pre-stored posture from the storage unit,
A program for executing a process of correcting the read posture information by the control unit based on the corrected azimuth information.

(Appendix 11)
The program according to claim 10, wherein the acquired position information, corrected azimuth information, and corrected attitude information are stored in the storage unit.

(Appendix 12)
In an information processing apparatus that performs information processing,
An acquisition unit for acquiring position information for specifying a position from the short-range wireless communication device via the short-range wireless communication unit;
An acceleration acquisition unit that acquires acceleration output from an acceleration sensor within a predetermined time from the time when the short-range wireless communication device is recognized by the short-range wireless communication unit;
An information processing apparatus comprising: a calculation unit that calculates posture information for specifying a posture based on the acceleration acquired by the acceleration acquisition unit.

(Appendix 13)
In an information processing apparatus that performs information processing,
An acquisition unit for acquiring position information for specifying a position and a first direction information for specifying an orientation from the short-range wireless communication device via the short-range wireless communication unit;
A second azimuth information acquisition unit for acquiring second azimuth information for specifying the azimuth from the magnetic sensor;
A correction unit that corrects the direction information based on the first direction information acquired by the acquisition unit and the second direction information acquired by the second direction information acquisition unit;
A reading unit that reads posture information for specifying a pre-stored posture from the storage unit;
An information processing apparatus comprising: an attitude correction unit that corrects the attitude information read by the reading unit based on the corrected azimuth information.

(Appendix 14)
In an information processing method for performing information processing by an information processing apparatus having a control unit,
Obtain location information for specifying the location from the short-range wireless communication device via the short-range wireless communication unit,
From the time when the short-range wireless communication unit recognizes the short-range wireless communication device, the control unit acquires the acceleration output from the acceleration sensor within a predetermined time,
An information processing method for calculating posture information for specifying a posture by the control unit based on the acquired acceleration.

(Appendix 15)
In an information processing method for performing information processing by an information processing apparatus having a control unit,
First position information for specifying the position information and the direction for specifying the position from the short-range wireless communication device via the short-range wireless communication unit is acquired,
Obtaining the second azimuth information for specifying the azimuth from the magnetic sensor,
Correcting the orientation information based on the first orientation information and the second orientation information,
Read out the posture information for specifying the pre-stored posture from the storage unit,
An information processing method for correcting the read posture information by the control unit based on the corrected azimuth information.

(Appendix 16)
In a communication system using an information processing device that performs information processing and a short-range wireless communication device arranged on an inclined surface or a vertical surface,
The information processing apparatus includes:
An acquisition unit for acquiring position information for specifying a position from the short-range wireless communication device via a short-range wireless communication unit;
An acceleration acquisition unit that acquires acceleration output from an acceleration sensor within a predetermined time from the time when the short-range wireless communication device is recognized by the short-range wireless communication unit;
A communication system comprising: a calculation unit that calculates posture information for specifying a posture based on the acceleration acquired by the acceleration acquisition unit.

(Appendix 17)
In a communication system using an information processing device that performs information processing and a short-range wireless communication device arranged on a horizontal plane,
The information processing apparatus includes:
An acquisition unit for acquiring position information for specifying a position from the short-range wireless communication device via a short-range wireless communication unit and first azimuth information for specifying a direction;
A second azimuth information acquisition unit for acquiring second azimuth information for specifying the azimuth from the magnetic sensor;
A correction unit that corrects the direction information based on the first direction information acquired by the acquisition unit and the second direction information acquired by the second direction information acquisition unit;
A reading unit that reads posture information for specifying a pre-stored posture from the storage unit;
A posture correction unit that corrects posture information read by the reading unit based on corrected azimuth information.

(Appendix 18)
In a program for information processing by a computer having a control unit,
On the computer,
Obtaining identification information for identifying the short-range wireless communication device from the short-range wireless communication device via the short-range wireless communication unit;
Obtaining position information for identifying the position of the short-range wireless communication device corresponding to the obtained identification information;
From the time when the short-range wireless communication unit recognizes the short-range wireless communication device, the control unit acquires the acceleration output from the acceleration sensor within a predetermined time,
A program for executing processing for calculating posture information for specifying a posture by the control unit based on the acquired acceleration.

(Appendix 19)
Obtaining azimuth information for identifying the azimuth associated with the short-range wireless communication device corresponding to the obtained identification information;
The program according to claim 18, wherein the calculated posture information is corrected by the control unit based on the acquired azimuth information.

(Appendix 20)
In a program for information processing by a computer having a control unit,
On the computer,
Obtaining identification information for identifying the short-range wireless communication device from the short-range wireless communication device via the short-range wireless communication unit;
Acquiring position information for specifying the position of the short-range wireless communication device corresponding to the acquired identification information and first direction information for specifying the direction;
Obtaining the second azimuth information for specifying the azimuth from the magnetic sensor,
Correcting the orientation information based on the first orientation information and the second orientation information,
Read out the posture information for specifying the pre-stored posture from the storage unit,
A program for executing a process of correcting the read posture information by the control unit based on the corrected azimuth information.

DESCRIPTION OF SYMBOLS 1 Mobile phone 1A Portable recording medium 1B Semiconductor memory 2 Wireless tag 3 Case 10A Reading part 11 CPU
12 RAM
DESCRIPTION OF SYMBOLS 13 Input part 14 Display part 15 Memory | storage part 15P Control program 16 Communication part 18 Clock part 19 Tag reader 21 CPU
22 RAM
23 short-range communication unit 24 power supply unit 26 communication unit 31 rectangular parallelepiped unit 32 inclined surface 33 inclined unit 34 horizontal surface 41 CPU
42 RAM
45 Storage Unit 46 Communication Unit 451 Tag Information Table 101 Acceleration Sensor 102 Magnetic Sensor 103 Gyro Sensor 110 Microphone 111 Speaker

Claims (13)

In a program for information processing by a computer having a control unit,
On the computer,
Obtain location information for specifying the location from the short-range wireless communication device via the short-range wireless communication unit,
From the time when the short-range wireless communication unit recognizes the short-range wireless communication device, the control unit acquires the acceleration output from the acceleration sensor within a predetermined time,
A program for executing processing for calculating posture information for specifying a posture by the control unit based on the acquired acceleration. The program according to claim 1, wherein the control unit calculates posture information based on a triaxial acceleration output from the acceleration sensor and a gravitational acceleration or a norm of the triaxial acceleration. The said control part acquires the acceleration output from the said acceleration sensor after the predetermined time memorize | stored in the memory | storage part from the time of the said short distance wireless communication part recognizing the said short distance wireless communication apparatus. The listed program. Obtaining azimuth information for identifying the azimuth from the short-range wireless communication device via the short-range wireless communication unit,
The program according to any one of claims 1 to 3, wherein the calculated posture information is corrected by the control unit based on the acquired azimuth information. From the time when the short-range wireless communication unit recognizes the short-range wireless communication device, the angular velocity output from the angular velocity sensor after a lapse of a predetermined time is acquired by the control unit,
The program according to any one of claims 1 to 3, wherein the control unit updates posture information calculated based on the acquired angular velocity. Based on the acquired angular velocity, the control unit detects a time point when a change in angular velocity due to an impact is reduced,
The program according to claim 5, wherein the control unit updates posture information calculated based on an angular velocity acquired from when the predetermined time has elapsed until the time when the control unit decreases. In a program for information processing by a computer having a control unit,
On the computer,
First position information for specifying the position information and the direction for specifying the position from the short-range wireless communication device via the short-range wireless communication unit is acquired,
Obtaining the second azimuth information for specifying the azimuth from the magnetic sensor,
Correcting the orientation information based on the first orientation information and the second orientation information,
Read out the posture information for specifying the pre-stored posture from the storage unit,
A program for executing a process of correcting the read posture information by the control unit based on the corrected azimuth information. In an information processing apparatus that performs information processing,
An acquisition unit for acquiring position information for specifying a position from the short-range wireless communication device via the short-range wireless communication unit;
An acceleration acquisition unit that acquires acceleration output from an acceleration sensor within a predetermined time from the time when the short-range wireless communication device is recognized by the short-range wireless communication unit;
An information processing apparatus comprising: a calculation unit that calculates posture information for specifying a posture based on the acceleration acquired by the acceleration acquisition unit. In an information processing apparatus that performs information processing,
An acquisition unit for acquiring position information for specifying a position and a first direction information for specifying an orientation from the short-range wireless communication device via the short-range wireless communication unit;
A second azimuth information acquisition unit for acquiring second azimuth information for specifying the azimuth from the magnetic sensor;
A correction unit that corrects the direction information based on the first direction information acquired by the acquisition unit and the second direction information acquired by the second direction information acquisition unit;
A reading unit that reads posture information for specifying a pre-stored posture from the storage unit;
An information processing apparatus comprising: an attitude correction unit that corrects the attitude information read by the reading unit based on the corrected azimuth information. In an information processing method for performing information processing by an information processing apparatus having a control unit,
Obtain location information for specifying the location from the short-range wireless communication device via the short-range wireless communication unit,
From the time when the short-range wireless communication unit recognizes the short-range wireless communication device, the control unit acquires the acceleration output from the acceleration sensor within a predetermined time,
An information processing method for calculating posture information for specifying a posture by the control unit based on the acquired acceleration. In an information processing method for performing information processing by an information processing apparatus having a control unit,
First position information for specifying the position information and the direction for specifying the position from the short-range wireless communication device via the short-range wireless communication unit is acquired,
Obtaining the second azimuth information for specifying the azimuth from the magnetic sensor,
Correcting the orientation information based on the first orientation information and the second orientation information,
Read out the posture information for specifying the pre-stored posture from the storage unit,
An information processing method for correcting the read posture information by the control unit based on the corrected azimuth information. In a communication system using an information processing device that performs information processing and a short-range wireless communication device arranged on an inclined surface or a vertical surface,
The information processing apparatus includes:
An acquisition unit for acquiring position information for specifying a position from the short-range wireless communication device via a short-range wireless communication unit;
An acceleration acquisition unit that acquires acceleration output from an acceleration sensor within a predetermined time from the time when the short-range wireless communication device is recognized by the short-range wireless communication unit;
A communication system comprising: a calculation unit that calculates posture information for specifying a posture based on the acceleration acquired by the acceleration acquisition unit. In a communication system using an information processing device that performs information processing and a short-range wireless communication device arranged on a horizontal plane,
The information processing apparatus includes:
An acquisition unit for acquiring position information for specifying a position from the short-range wireless communication device via a short-range wireless communication unit and first azimuth information for specifying a direction;
A second azimuth information acquisition unit for acquiring second azimuth information for specifying the azimuth from the magnetic sensor;
A correction unit that corrects the direction information based on the first direction information acquired by the acquisition unit and the second direction information acquired by the second direction information acquisition unit;
A reading unit that reads posture information for specifying a pre-stored posture from the storage unit;
A posture correction unit that corrects posture information read by the reading unit based on corrected azimuth information.

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