JP2013073590A - Object position estimation system, object position estimation method and object position estimation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an object position estimation system capable of detecting a tag owner as well as a suspicious object not having a tag by a structure in which only a tag reader is used as an observation device.SOLUTION: The object position estimation system has an object position estimation part 105. The object position estimation part 105 checks whether a person tag recorded in a person tag database 102 is detected when a tag reader 101 does not detect a position tag which is recorded as a detectable tag in a steady-state readable position tag database 104 and determines that a suspicious object exists at the position of the position tag when the person tag is not detected, while it determines that a person showing a person ID which is recorded in the person tag exists at the position of the position tag when the person tag is detected.

Description

  The present invention relates to an object position estimation system, an object position estimation method, and an object position estimation program that determine the position of a person existing within an observation range of a tag reader.

  Conventionally, as a technique for detecting the position of an object, the positioning data of a tag reader (RFID positioning device) and a camera (security camera) are compared (overlapped), and the positioning data of both the tag reader and the camera are in place. Has a person who possesses a tag and determines that there is a suspicious person who does not possess a tag in a place where only the positioning data of the camera exists (see Patent Document 1).

JP 2006-311111 A

  However, the camera used in Patent Document 1 has a feature that it is vulnerable to changes in environmental conditions (such as lighting conditions), and it is difficult to perform stable operation at night or in disasters where smoke is trapped. I think there is. Although it is possible to use only a tag reader under the above conditions, at this time, it becomes impossible to detect a suspicious person who does not have a tag. In addition, when a camera is used in the observation apparatus, since a person has a consciousness of being “monitored”, for example, it is difficult to spread it to a general environment such as a home.

  Therefore, the present invention solves the above-mentioned problem, and by using only a tag reader as an observation device, not only a tag holder is detected, but also a suspicious object to which no tag is attached and a tag are not owned. An object of the present invention is to provide an object position estimation system, an object position estimation method, and an object position estimation program that can robustly detect a suspicious person.

  In order to achieve the above object, the present invention is configured as follows.

According to one aspect of the present invention, a tag reader that detects a tag that exists in an environment where a person goes in and out and reads an identification ID of a tag that is uniquely assigned to the tag;
A person tag database that records a person ID of the authorized person in association with an identification ID recorded in a person tag possessed by a person authorized to enter and exit the environment;
A position tag database that records position information where the position tag is arranged in association with the identification ID recorded in the position tag arranged in the environment,
In a situation where there is no person in the environment, a steady-state readable position tag database that separately records an identification ID of a detectable position tag and an undetectable position tag;
In a situation where a position tag having an identification ID recorded as detectable in the steady-state readable position tag database is not detected, a person tag having a person ID recorded in the person tag database is not detected. At the time, based on the position information recorded in the position tag database, it is determined that there is a suspicious person at the position where the tag having the identification ID is arranged, and the person ID recorded in the person tag database When a person tag having the identification ID is detected, a regular person having the person ID exists at a position where the tag having the identification ID is arranged based on the position information recorded in the position tag database. An object position estimation unit to determine;
An object position estimation system is provided.

According to another aspect of the present invention, after detecting a tag present in an environment where a person goes in and out, and reading the identification ID of the tag uniquely assigned to the tag with a tag reader,
Recorded in a person tag database that records the person ID of the permitted person in association with an identification ID recorded in a person tag possessed by a person permitted to enter and leave the environment, and in a position tag disposed in the environment The position tag database that records the position information where the position tag is arranged in association with the identification ID, and the identification ID of the position tag that can be detected in a situation where no person exists in the environment. Using a steady-state readable position tag database that separates and records position tags,
In a situation where a position tag having an identification ID recorded as detectable in the steady-state readable position tag database is not detected, a person tag having a person ID recorded in the person tag database is not detected. At the time, based on the position information recorded in the position tag database, it is determined that there is a suspicious person at the position where the tag having the identification ID is arranged, and the person ID recorded in the person tag database When a person tag having the identification ID is detected, a regular person having the person ID exists at a position where the tag having the identification ID is arranged based on the position information recorded in the position tag database. Judgment by the object position estimation unit,
An object position estimation method is provided.

According to yet another aspect of the invention, a computer includes:
A person tag database that records a person ID of the authorized person in association with an identification ID recorded in a person tag possessed by a person authorized to enter and exit the environment in which the person enters and exits;
A position tag database that records position information where the position tag is arranged in association with the identification ID recorded in the position tag arranged in the environment,
In a situation where there is no person in the environment, a steady-state readable position tag database that separately records an identification ID of a detectable position tag and an undetectable position tag;
A position having an identification ID recorded as detectable in the steady-state readable position tag database after detecting the tag existing in the environment and reading the identification ID of the tag uniquely assigned to the tag with a tag reader In a situation where no tag is detected, when no person tag having a person ID recorded in the person tag database is detected, the identification ID is determined based on the position information recorded in the position tag database. The position recorded in the position tag database when it is determined that there is a suspicious person at the position where the tag is located and a person tag having a person ID recorded in the person tag database is detected Based on the information, there is a regular person having the person ID at the position where the tag having the identification ID is arranged. Providing an object position estimation program for realizing the function of the object position estimation unit for determining that.

  According to the object position estimation system, the object position estimation method, and the object position estimation program of the present invention, it is possible to detect not only a tag holder but also a suspicious object that does not have a tag by using only a tag reader as an observation device. Detection can be performed.

The block diagram which shows the structure of the object position estimation system which concerns on 1st Embodiment of this invention. The block diagram which shows the object position judgment part of the structure of the object position estimation system which concerns on 1st Embodiment of this invention. The figure explaining the observation condition in the room as a living space which is an example of the environment where the observation target exists in the object position estimation system according to the first embodiment of the present invention The flowchart which shows the process of the object position estimation system which concerns on 1st Embodiment of this invention. The figure which shows an example of the observation data of the tag reader of the object position estimation system which concerns on 1st Embodiment of this invention. The figure which shows an example of the person tag database of the object position estimation system which concerns on 1st Embodiment of this invention. The figure which shows an example of the position tag database of the object position estimation system which concerns on 1st Embodiment of this invention. The figure which shows an example of the position tag database at the time of steady-state of the object position estimation system which concerns on 1st Embodiment of this invention. The block diagram which shows the structure of the object position estimation system which can detect the position of the several person which concerns on 2nd Embodiment of this invention. The block diagram which shows the structure of the object position judgment part of the object position estimation system which can detect the position of the several person which concerns on 2nd Embodiment of this invention. The figure explaining the observation condition in the room as a living space which is an example of the environment where the observation target exists in the object position estimation system capable of detecting the positions of a plurality of persons according to the second embodiment of the present invention. The figure which shows an example (example in the case of using an electrically-driven pan head) of the stationary time readable position tag database of the object position estimation system which can detect the position of the several person which concerns on 2nd Embodiment of this invention. The figure which shows an example (example in the case of using an electrically-driven pan head) of the stationary time readable position tag database of the object position estimation system which can detect the position of the several person which concerns on 2nd Embodiment of this invention. The figure which shows an example (example in the case of using a movable rail) of the stationary time readable position tag database of the object position estimation system which can detect the position of the several person which concerns on 2nd Embodiment of this invention. The figure which shows an example (example in the case of using a movable rail) of the stationary time readable position tag database of the object position estimation system which can detect the position of the several person which concerns on 2nd Embodiment of this invention. The figure which shows an example (example in the case of adjusting a radio wave intensity) of the stationary time readable position tag database of the object position estimation system which can detect the position of the several person which concerns on 2nd Embodiment of this invention. The figure which shows an example (example in the case of adjusting a radio wave intensity) of the stationary time readable position tag database of the object position estimation system which can detect the position of the several person which concerns on 2nd Embodiment of this invention. The figure explaining the observation condition in the room as a living space which is an environment where the observation target exists in the object position estimation system capable of detecting the positions of a plurality of persons according to the second embodiment of the present invention. The figure explaining the observation condition in the room as a work environment which is an environment where the observation target exists in the object position estimation system capable of detecting the positions of a plurality of persons according to the second embodiment of the present invention. The flowchart which shows the process of the object position estimation system which can detect the position of several persons based on 2nd Embodiment of this invention. The figure which shows an example of the observation data of the tag reader of the object position estimation system which can detect the position of the several person which concerns on 2nd Embodiment of this invention. Example of observation data of tag reader of object position estimation system capable of detecting positions of a plurality of persons according to second embodiment of the present invention (observation data of tag reader when electric pan head is rotated 45 ° in X axis direction) Illustration Example of observation data of tag reader of the object position estimation system capable of detecting the positions of a plurality of persons according to the second embodiment of the present invention (observation data of the tag reader when the electric head is rotated by −30 ° in the X-axis direction) Figure showing The figure which shows the example which made small the space | interval of the position tag arrange | positioned in a room in the object position estimation system which can detect the position of the several person which concerns on 2nd Embodiment of this invention. The figure which shows the state of the undetected tag which is a position tag which became undetectable when the person fell down, and the state of the fallen person in the object position estimation system which can detect the position of the several person which concerns on 2nd Embodiment of this invention The figure which shows tag ID corresponding to each position tag in the object position estimation system which can detect the position of several persons based on 2nd Embodiment of this invention. The block diagram which shows the structure of the object position estimation system which can judge the fall of the person concerning 2nd Embodiment of this invention The figure which shows the structure of the block diagram which shows the structure of the object position determination part of the object position estimation system which can determine the fall of the person concerning 2nd Embodiment of this invention. The flowchart which shows the process of the object position estimation system which can judge the fall of the person concerning 2nd Embodiment of this invention The figure which shows an example of the observation history database of the object position estimation system which can judge the fall of the person concerning 2nd Embodiment of this invention

  Embodiments according to the present invention will be described below in detail with reference to the drawings.

  DESCRIPTION OF EMBODIMENTS Hereinafter, various embodiments of the present invention will be described before detailed description of embodiments of the present invention with reference to the drawings.

According to the first aspect of the present invention, a tag reader that detects a tag that exists in an environment where a person goes in and out and reads an identification ID of a tag that is uniquely assigned to the tag;
A person tag database that records a person ID of the authorized person in association with an identification ID recorded in a person tag possessed by a person authorized to enter and exit the environment;
A position tag database that records position information where the position tag is arranged in association with the identification ID recorded in the position tag arranged in the environment,
In a situation where there is no person in the environment, a steady-state readable position tag database that separately records an identification ID of a detectable position tag and an undetectable position tag;
In a situation where a position tag having an identification ID recorded as detectable in the steady-state readable position tag database is not detected, a person tag having a person ID recorded in the person tag database is not detected. At the time, based on the position information recorded in the position tag database, it is determined that there is a suspicious person at the position where the tag having the identification ID is arranged, and the person ID recorded in the person tag database When a person tag having the identification ID is detected, a regular person having the person ID exists at a position where the tag having the identification ID is arranged based on the position information recorded in the position tag database. An object position estimation unit to determine;
An object position estimation system is provided.

According to the second aspect of the present invention, the object position estimation unit includes:
Among the position tags recorded in the steady-time readable position tag database, an undetected position tag determination unit that determines whether or not there is a position tag that could not be detected by the tag reader;
An undetected position tag position determination unit that determines a position where a position tag that could not be detected by the tag reader is located by referring to the position tag database;
A person tag determination unit that determines whether or not a person tag detected by the tag reader exists among the person tags recorded in the person tag database;
When the person tag is present, it is determined that there is a person possessing the person tag at the position of the position tag that cannot be detected by the tag reader, and when the person tag is not present, the tag reader An object position determination unit that determines that there is a person who does not have the person tag at the position of the position tag that could not be detected;
The object position estimation system according to the first aspect is further provided.

According to the third aspect of the present invention, the steady-state readable position tag database includes a position tag that can be detected for each posture, position, or radio wave intensity of the tag reader in a situation where no person exists in the environment. And IDs of position tags that cannot be detected are recorded separately.
Based on the determination result of the undetected position tag determination means, when there are a plurality of position tags that are not detected among the position tags that should be detected in the normal state, the person who has the person tag at which position tag position Or, in order to determine whether there is a person who does not have a person tag, re-detection process determination means for determining the order of the re-detection process of the position tag that has not been detected,
Based on the order of the re-detection process determined by the re-detection process determination means, the position tag that has not been detected is separated and the posture, position, or radio wave intensity of the tag reader that can be detected individually is determined. Judgment based on a constantly readable position tag database, the determination result, an observation range control unit for changing the observation range of the tag reader;
An object position estimation system according to a second aspect, comprising: a tag reader adjustment device that changes an attitude, a position, or a radio wave intensity of the tag reader by changing the observation range from the observation range control unit. .

  According to the fourth aspect of the present invention, when the tag reader adjustment device determines that the position tag is not detected when the person is present on the position tag, the undetected position tag determination unit determines that the position tag is not detected. An object position estimation system according to a third aspect, which is an output adjustment unit that adjusts the output intensity of radio waves of the tag reader.

  According to the fifth aspect of the present invention, when the person tag is detected, the output adjustment unit detects all position tags having an identification ID recorded as detectable in the steady-time readable position tag database. If any of the position tags is no longer detected, the output intensity of the tag reader is gradually reduced until the undetected position tag position determination unit determines that the position tag is not detected. An object position estimation system according to the fourth aspect is provided.

According to the sixth aspect of the present invention, an observation history database that records a history of the detected position of the person,
In a situation where it is determined that the person exists alone based on the number of position tags that cannot be detected when the person is present alone, if more than the number of position tags are not detected, A fall determination unit for determining that the person may have fallen;
An object position estimation system according to any one of the first to fifth aspects is provided.

According to the seventh aspect of the present invention, after detecting a tag present in an environment where a person goes in and out, and reading the identification ID of the tag uniquely assigned to the tag with a tag reader,
Recorded in a person tag database that records the person ID of the permitted person in association with an identification ID recorded in a person tag possessed by a person permitted to enter and leave the environment, and in a position tag disposed in the environment The position tag database that records the position information where the position tag is arranged in association with the identification ID, and the identification ID of the position tag that can be detected in a situation where no person exists in the environment. Using a steady-state readable position tag database that separates and records position tags,
In a situation where a position tag having an identification ID recorded as detectable in the steady-state readable position tag database is not detected, a person tag having a person ID recorded in the person tag database is not detected. At the time, based on the position information recorded in the position tag database, it is determined that there is a suspicious person at the position where the tag having the identification ID is arranged, and the person ID recorded in the person tag database When a person tag having the identification ID is detected, a regular person having the person ID exists at a position where the tag having the identification ID is arranged based on the position information recorded in the position tag database. Judgment by the object position estimation unit,
An object position estimation method is provided.

According to an eighth aspect of the present invention, a computer
A person tag database that records a person ID of the authorized person in association with an identification ID recorded in a person tag possessed by a person authorized to enter and exit the environment in which the person enters and exits;
A position tag database that records position information where the position tag is arranged in association with the identification ID recorded in the position tag arranged in the environment,
In a situation where there is no person in the environment, a steady-state readable position tag database that separately records an identification ID of a detectable position tag and an undetectable position tag;
A position having an identification ID recorded as detectable in the steady-state readable position tag database after detecting the tag existing in the environment and reading the identification ID of the tag uniquely assigned to the tag with a tag reader In a situation where no tag is detected, when no person tag having a person ID recorded in the person tag database is detected, the identification ID is determined based on the position information recorded in the position tag database. The position recorded in the position tag database when it is determined that there is a suspicious person at the position where the tag is located and a person tag having a person ID recorded in the person tag database is detected Based on the information, there is a regular person having the person ID at the position where the tag having the identification ID is arranged. Providing an object position estimation program for realizing the functions of the object position estimation unit for determining that.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
In the first embodiment of the present invention, for a room that is an example of a closed environment where people can go in and out, by installing a tag reader on the ceiling and placing a position tag that records position information on the floor, A person's position is detected after determining whether or not a person entering or leaving the room has a person tag indicating a person ID.

  1A and 1B are diagrams illustrating the configuration of an object position estimation system and the configuration of an object position determination unit according to the first embodiment of the present invention.

  An object position estimation system 90 according to the first embodiment of the present invention includes a tag reader 101 and an object position estimation device 91. The object position estimation device 91 is configured to include a person tag database 102, a position tag database 103, a steady-time readable position tag database 104, and an object position estimation unit 105.

  The tag reader 101 observes the observation area in the room 201 every predetermined observation period (for example, 100 ms), and a tag (position tag) in which position information is recorded and a tag (person tag) possessed by the person 203 Detection is performed.

  In the person tag database 102, a person ID indicating the person 203 and a tag ID possessed by the person 203 (identification ID unique to the tag) are recorded in association with each other.

  In the position tag database 103, for example, position information in which a large number of position tags 205 (205A to 205C, etc.) on the floor surface of the room 201 are arranged, tag IDs (identification IDs unique to the tags) of the respective position tags 205, and the like. Is linked and recorded.

  In the constantly readable position tag database 104, the tag IDs of the position tag 205 that can be detected in the position tag 205 and the tag ID of the position tag 205 that cannot be detected in the position tag 205 in a situation where no person is present in the room 201 are recorded separately. Has been.

  When the tag reader 101 does not detect the position tag 205 recorded as detectable in the steady-state readable position tag database 104, the object position estimation unit 105 stores the person tag 204 recorded in the person tag database 102. It is determined whether or not a person tag 204 is detected. When the person tag 204 is not detected, it is determined that a suspicious object exists at the position of the position tag 205. When the person tag 204 is detected, the position tag 205 It is determined that the person 203 indicated by the person ID recorded in the person tag 204 exists at the position.

  FIG. 2 shows a room 201, which is an example of an environment, provided with a tag reader 101 that is a component of the object position estimation system according to the first embodiment of the present invention. Near the center of the quadrangular ceiling of the room 201, the tag reader 101 oriented directly below is installed. However, if the tag 205 placed on the floor of the room 201 can be detected, the tag reader 101 is attached to the wall or ceiling. You may arrange in the corner. It is assumed that a person 203 possessing a person tag 204 can enter and leave the room 201, and that the person 203 exists in the room 201 in the state of FIG. On the floor of the room 201, a large number of position tags 205 (205A, 205B, 205C,...) That record position information are arranged. The position tag 205 is recorded with position information in the individually arranged rooms 201. When an arbitrary one of the position tags is indicated, the arbitrary tag is described as the tag 205. I do. A shelf 202 as furniture is installed in the room 201, and some tags 205 (for example, 205B and 205C) are covered by the shelf 202.

  Hereinafter, each component will be described with reference to the flowchart of FIG. FIG. 3 is a flowchart showing the overall processing of the object position estimation system. While explaining the processing of each step, the related configuration will also be explained.

<Description of tag reader>
First, in the process of step S301, the tag reader 101 observes the inside of the room 201 at every predetermined observation cycle (for example, 100 ms), detects the person tag 204 possessed by the person 203 existing in the room 201, The position tag 205 arranged at 201 is detected. FIG. 4 shows an example of observation data when the tag reader 101 observes the inside of the room 201 shown in FIG. The observation data observed by the tag reader 101 is recorded in the internal storage unit of the tag reader 101 or the internal storage unit of the object position estimation unit 105. In the observation data shown in FIG. 4, all the position tags 205 other than the person tag 204 indicated by the person tag ID: PSN_001 and the position tag 205 indicated by the position tag ID: POS_002, POS_003, POS_013 are detected.

<Description of Person Tag and Person Tag Database 102>
The person tag 204 is a tag given to a person 203 who is permitted to enter the room 201. The person tag database 102 includes a person ID indicating the person 203 and a tag ID possessed by the person 203. Are linked and recorded. The person ID may be recorded in the internal storage of the person tag 204. FIG. 5 shows an example of the person tag database 102. In the person tag database 102 of FIG. 5, a tag ID (person tag ID) uniquely assigned to each person tag 204 and a person ID (for example, the name of a person) indicating the person 203 are recorded. For example, the person tag 204 in which the person tag ID: PSN — 001 is recorded indicates that the person tag 204 is possessed by a person named Taro Yamada. In addition to the name, a management number or the like may be used as the person ID (an employee number or the like in the case of a company).

<Description of Position Tag and Position Tag Database 103>
The position tag 205 is a tag arranged on the floor in the room 201, and the position tag database 103 associates the tag ID of the position tag 205 with the position information where the position tag 205 is arranged. It is recorded. The position information may be recorded in the internal storage of the position tag 205. FIG. 6 shows an example of the position tag database 103. In the position tag database 103 of FIG. 6, a tag ID (position tag ID) uniquely assigned to each position tag 205 and information (for example, position coordinates) on the position where the position tag 205 is arranged are recorded. . For example, the position tag 205 indicated by the position tag ID: POS_001 indicates that the position of the coordinates (50, 50) in the room 201 is arranged.

  Subsequent to step S301, in the process of step S302, the object position estimation unit 105 determines whether or not all the position tags 205 recorded as detectable in the steady-time readable position tag database 104 have been detected. If the object position estimation unit 105 determines that all the position tags 205 have been detected, the process returns to step S301. If the object position estimation unit 105 determines that all the position tags 205 have not been detected, the process proceeds to step S303. Proceed to

  Referring to the steady-state readable position tag database 104 in FIG. 7, the position tag 205 indicated by the position tag ID: POS — 013 can be detected in the steady state, whereas the observation data in FIG. 4 indicates the position tag ID: POS — 013. In the case of FIG. 4 where the position tag 205 has not been detected, the process proceeds to step S303. The reason why the position tag 205 is not detected is that the radio wave output from the tag reader 101 is attenuated by the moisture held by the person 203 existing between the tag reader 101 and the position tag 205, and the radio wave is transmitted to the position tag 205. It is thought that was not able to reach.

<Description of steady-state readable position tag database>
In the constantly readable position tag database 104, a position tag 205 that can be detected and a position tag 205 that cannot be detected are recorded separately in a steady state (a situation where no person is present in the room 201). The stationary position tag database 104 is configured to record in advance whether or not each position tag 205 can be detected by operating the tag reader 101 in a steady state (a situation where no person 203 exists). In other words, the position tag 205 that is not detected due to the influence of an obstacle such as furniture, or the position tag 205 that is not detected because the position tag 205 itself is out of order, is classified as a position tag 205 that cannot be detected, and is fixed. It is recorded in the always readable position tag database 104. FIG. 7 shows an example of the steady-state readable position tag database 104. The steady-state readable position tag database 104 of FIG. 7 records the tag ID of the position tag 205 and the readable determination of the position tag 205 at the normal time (that is, “possible” or “impossible”). For example, the position tag 205A indicated by the position tag ID: POS — 001 is recorded as “permitted” to indicate that detection is possible in a steady state, and the position tag 205B indicated by the position tag ID: POS — 002 is recorded as “impossible”. Thus, it is shown that detection is impossible even in a steady state. This is because the shelf 202 is installed at the position (coordinates (150, 50)) where the position tag 205B is arranged, and the radio wave output from the tag reader 101 does not reach the position tag 205B. .

  In the process of step S303, the object position estimation unit 105 determines whether the person tag 204 recorded in the person tag database 102 has been detected. If the object position estimation unit 105 determines that the person tag 204 has been detected, the process proceeds to step S304. If the object position estimation unit 105 determines that the person tag 204 has not been detected, the process proceeds to step S305. . Since the person tag 204 indicated by the person tag ID: PSN_001 is detected in the observation data in FIG. 4, in the case of FIG. 4, the process proceeds to step S304.

  In the process of step S304, the object position estimation unit 105 acquires the arrangement position of the position tag 205 that was not detected in the process of step S302 by referring to the position tag database 103, and further detected in the process of step S303. The person position possessing the person tag 204 is acquired by the object position estimating unit 105 by referring to the person tag database 102, and if the person 203 indicated by the person tag ID exists at the arrangement position, the object position estimating unit 105 Judge with. Then, it returns to step S301.

  The position of the position tag 205 (position tag ID: POS — 013) not detected in the processing of step S302 is estimated to be the coordinates (250, 250) by referring to the position tag database 103 of FIG. This can be seen in part 105. Further, the person 203 indicated by the person tag 204 (person tag ID: PSN_001) detected in the process of step S303 refers to the person tag database 102 of FIG. 105.

  From the above, the object position estimation unit 105 can determine that Mr. Taro Yamada, a regular person, exists at the position of the coordinates (250, 250) of the room 201.

  In the process of step S305, the object position estimation unit 105 acquires the arrangement position of the position tag 205 that has not been detected in the process of step S302 by referring to the position tag database 103, and the person tag 204 is placed in the arrangement position. The object position estimation unit 105 determines that there is a suspicious object that does not have For example, assume that the person 203 in FIG. 2 does not have the person tag 204. Then, the position of the position tag 205 (position tag ID: POS — 013) that has not been detected in the process of step S302 is determined to be the coordinates (250, 250) by referring to the position tag database 103 of FIG. This can be understood by the estimation unit 105. Further, the object position estimation unit 105 knows that the person tag 204 has not been detected in the process of step S303. Then, it returns to step S301.

  From the processing in FIG. 3 described above, the object position estimation unit 105 can determine that a suspicious person or a suspicious object exists at the position of the coordinates (250, 250) of the room 201.

  Here, the detailed operation of the object position estimation unit 105 will be described.

  As shown in FIG. 1B, the object position estimation unit 105 includes an undetected position tag determination unit (undetected position tag determination unit) 106, an undetected position tag position determination unit (undetected position tag position determination unit) 107, A person tag determination unit (person tag determination unit) 108 and an object position determination unit (object position determination unit) 109 are provided.

  The undetected position tag determination unit 106 refers to the detection result of the tag ID of the tag reader 101 and the steady-time readable position tag database 104, and the position where “OK” is recorded in the readable determination of the steady-time readable position tag database 104. Tag IDs other than the tag ID detected by the tag reader 101 are extracted from the tag IDs of the tags 205, and it is determined that the position tag 205 having the extracted tag ID is a position tag 205 that could not be detected by the tag reader 101. The determination result of the undetected position tag determination unit 106 is output to the undetected position tag position determination unit 107.

  Hereinafter, the description of the undetected position tag position determination unit 107, the person tag determination unit 108, and the object position determination unit 109 will be described by taking as an example the case where there is one position tag 205 that could not be detected by the tag reader 101. To do. The case where there are two or more position tags 205 that could not be detected by the tag reader 101 will be described later.

  The undetected position tag position judging means 107 refers to the arrangement coordinates of the position tag 205 associated with the tag ID recorded in the position tag database 103, so that the position tag 205 that could not be detected by the tag reader 101 is obtained. Determine the coordinates that are placed. The determination result of the undetected position tag position determination unit 107 is output to the object position determination unit 109.

  The person tag determination unit 108 refers to the tag ID detection result of the tag reader 101 and the person tag database 102, and detects the tag detected by the tag reader 101 from the tag ID of the person tag 204 recorded in the person tag database 102. The ID is extracted, and it is determined that the person tag 204 having the extracted tag ID is the person tag 204 detected by the tag reader 101. The determination result of the person tag determination unit 108 is output to the object position determination unit 109.

  When the person tag 204 detected by the tag reader 101 exists, the object position determination unit 109 has the person tag 204 detected by the tag reader 101 at the coordinates where the position tag 205 that could not be detected by the tag reader 101 is arranged. If the person tag 204 detected by the tag reader 101 does not exist, the person who does not have the person tag 204 at the coordinates where the position tag 205 that could not be detected by the tag reader 101 is placed ( It is determined that there is a suspicious object.

  As described above, according to the first embodiment, by using only the tag reader 101 as the observation device, not only the tag holder but also the suspicious object that does not have the tag can be detected.

(Second Embodiment)
Assume that a UHF band tag reader is used as the tag reader 101. In general, a tag reader in the UHF band cannot know the position of the detected tag (it can only determine whether or not the tag exists within the observation range of the tag reader). Therefore, when a plurality of position tags 205 and person tags 204 are detected, it has not been possible to estimate which person 203 exists at which position tag 205. In order to estimate which person 203 is present at which position tag 205, processing such as changing the observation range of the tag reader (moving the observation range, narrowing the observation range, etc.) is performed. There is a need.

  In the second embodiment of the present invention, a person is a person by placing a tag reader 101 on the ceiling and a position tag 205 having position information recorded on the floor in a room 201 which is an example of a closed environment. After determining whether or not the person tag 204 indicating the ID is possessed, the positions of the plurality of persons 203A and 203B are detected.

  8A and 8B are diagrams showing the configuration of the object position estimation apparatus according to the second embodiment of the present invention.

  An object position estimation system 90A according to the second embodiment of the present invention includes a tag reader 101 and an object position estimation device 91A. The object position estimation apparatus 91A includes a person tag database 102, a position tag database 103, a steady-time readable position tag database 104, an object position estimation unit 105A, and an observation range control unit (observation range control unit) 1301. It is configured. As shown in FIG. 8B, the object position estimation unit 105A includes an undetected position tag determination unit (undetected position tag determination unit) 106, a redetection process determination unit (redetection process determination unit) 1302, and an undetected position tag. A position determination unit (undetected position tag position determination unit) 107, a person tag determination unit (person tag determination unit) 108, and an object position determination unit (object position determination unit) 109 are configured. Note that the units other than the observation range control unit 1301 and the redetection processing determination unit 1302 and the database have already been described in the first embodiment, and thus description thereof is omitted here.

  The observation range control means 1301 is a means for changing the observation range of the tag reader 101. As a specific method thereof, the attitude (rotation range) of the electric pan head on which the tag reader 101 is attached, the tag reader 101 is attached. A moving range of the movable part on the movable rail or a change in the intensity of the radio wave supplied to the tag reader 101 can be considered.

  FIG. 9 shows an example of a room 201 in which the tag reader 101 is attached to the electric camera platform 801 when using the electric camera platform. The electric pan head 801 includes an attitude adjustment motor 801M that rotates the tag reader 101 as an example of a tag reader adjustment device, and the attitude adjustment motor 801M is controlled by an observation range control unit 1301. When the attitude (rotation range) of the electric head is controlled by driving the attitude adjustment motor 801M, the direction of the tag reader 101 attached to the electric head 801 is changed, and the radio wave output from the antenna of the tag reader 101 is changed. The direction can be changed. FIGS. 10A and 10B show examples of the steady-state readable position tag database 104 in which the observation range of the tag reader 101 corresponding to the attitude of the electric pan head 801 is recorded. The steady-state readable position tag database 104 shown in FIG. 10A records a position tag 205 that can be acquired when the electric pan head 801 is rotated by 45 ° in the X-coordinate direction by driving the attitude adjustment motor 801M in the steady state. ing. The steady-state readable position tag database 104 shown in FIG. 10B includes a position tag 205 that can be acquired when the electric pan head 801 is rotated by −30 ° in the X-coordinate direction by driving the posture adjustment motor 801M during the steady state. Is recorded. 10A and 10B show only the rotation angle in the X direction, but depending on the rotation angle in the Y direction or the combination of the X direction and the Y direction by driving the attitude adjustment motor 801M. The observation range may be recorded.

  On the other hand, when the movable rail is used, the observation range of the tag reader 101 can be changed by moving the movable part to which the tag reader 101 is attached along the movable rail. FIG. 11 shows an example of a room 201 in which the movable unit 1601M with the tag reader 101 attached is moved back and forth along the movable rail 1601. The movable portion 1601M is provided with a movable portion moving drive device 1601D such as a motor as an example of a tag reader adjustment device, and the drive device 1601D is controlled by the observation range control means 1301. 10C and 10D show an example of the steady-state readable position tag database 104 in which the observation range of the tag reader 101 corresponding to the position on the movable rail 1601 at the center of the tag reader 101 is recorded. The position tag database 104 shown in FIG. 10C records position tags 205 that can be acquired when the center of the tag reader 101 is located at the position of the X coordinate 50 cm of the movable rail 1601 in the steady state. In addition, the steady-state readable position tag database 104 shown in FIG. 10D records a position tag 205 that can be acquired when the central portion of the tag reader 101 is located at the position of the X coordinate 350 cm of the movable rail 1601 in the steady state. . 10C and 10D, the movable rail 1601 is arranged along the X-coordinate direction of the room 201, but the movable rail 1601 may be freely arranged according to the layout of the room 201. For example, in a museum or factory, when a route that the person 203 can move or a movement route is determined in advance, the movable rail 1601A may be attached along the route. FIG. 12 shows an example of a room 201A in which a movable route is set in advance. In the example of FIG. 12, the movable rail 1601A is attached to the ceiling on the path 1703 from the entrance 1701 to the exit 1702 of the room 201A, and the movable portion 1601M attached with the tag reader 101 is moved forward and backward along the movable rail 1601A. Let

  Further, when the radio wave intensity is changed, as shown in FIG. 9, output adjustment of the radio wave output from the antenna of the tag reader 101, which functions as an example of the tag reader adjustment device, is performed by the output adjustment unit (output adjustment device) 101P. Thus, the observation range of the tag reader 101 can be changed. FIG. 10E and FIG. 10F show an example of the steady-state readable position tag database 104 in which the observation range of the tag reader 101 corresponding to the radio wave intensity output from the antenna of the tag reader 101 is recorded. A position tag 205 that can be acquired when the output adjustment unit 101P sets the output value of the radio wave output from the antenna of the tag reader 101 to 100% is recorded in the steady-time readable position tag database 104 shown in FIG. 10E. Has been. 10F shows a position tag 205 that can be acquired when the output adjustment unit 101P sets the output value of the radio wave output from the antenna of the tag reader 101 to 50% in the steady state. Is recorded.

  Based on the determination result of the undetected position tag determination means 106, the re-detection process determination means 1302 determines which position tag 205 when there are a plurality of position tags 205 that have not been detected among the position tags 205 that should be detected in the normal state. In order to determine whether there is a person 203 who has the person tag 204 or a person 203 who does not have the person tag 204 at the position 205, the order of the re-detection processing of the position tag 205 which has not been detected is determined. . Then, the re-detection processing determination unit 1302 separates the position tag 205 that has not been detected, and stores the posture or position of the tag reader 101 or the radio wave intensity that can be individually detected in the steady-state readable position tag database 104. The re-detection processing determination unit 1302 outputs the determination result (change information on the attitude, position, or radio wave intensity of the tag reader 101) from the re-detection processing determination unit 1302 to the observation range unit 1301. The determination result (change information of the posture, position or radio wave intensity of the tag reader 101) and the determination result of the undetected position tag determination means 106 are output to the undetected position tag position determination means 107.

  Hereinafter, a process when a plurality of persons exist in the room 201 will be described with reference to the flowchart of FIG. The description will be made based on FIG. 9 showing a situation where two people 203A and 203B exist in the room 201. The case where an electric pan head 801 is used as the observation range control means 1301 will be described.

  First, in the process of step S1401, the tag reader 101 observes the inside of the room 201 at every predetermined observation cycle (for example, 100 ms), detects the person tag 204 possessed by the person 203 existing in the room 201, The position tag 205 arranged at 201 is detected.

  Next, in the process of step S1402, the undetected position tag determination means 106 includes two or more position tags that are not detected among the position tags recorded as detectable in the steady-state readable position tag database 104. Judge whether or not. If it is determined by the undetected position tag determination means 106 that there are two or more position tags that have not been detected, the process proceeds to step S1403. If there are one or less position tags that have not been detected, the position tag is not detected. If it is determined that the detection position tag determination means 106, the process proceeds to step S302 in FIG.

  In the example of FIG. 9, among the position tags 205 that can be detected in the normal state, the position tags 205 arranged at the coordinates (250, 250) and the coordinates (450, 150) are not detected, and one person tag 204 is present. Only the situation is detected. The observation data of the tag reader 101 at this time is shown in FIG. 14A. It can be seen that the position tag 205 (POS_010) arranged at the coordinates (250, 250) and the position tag 205 (POS_013) arranged at the coordinates (450, 150) are not detected. In this case, if there are two or more position tags that have not been detected, the undetected position tag determination unit 106 determines that the position tag has not been detected, and thus the process proceeds to step S1403.

  In the process of step S1403, the re-detection process determination unit 1302 determines that the two position tags 205 (POS_010 and POS_013) that have not been detected are individually re-detected, and determines the re-detection order. This is because in the state of the processing so far, the re-detection processing determination unit 1302 determines whether the person 203 possessing the person tag 204 (PSN_001) exists at the coordinates (250, 250) or (450, 150). This is because it cannot be judged. The order determination method by the re-detection process determination unit 1302 may be, for example, the order in which the ID number of the tag ID is small. When re-detection is performed in ascending order of the ID number of the tag ID, the re-detection processing determination unit 1302 performs re-detection in the order of the position tag 205 (POS_010) and the position tag 205 (POS_013). When the observation history of the tag reader 101 is taken, the re-detection processing determination unit 1302 may determine the re-detection order based on the observation history. For example, if only the position tag 205 at the coordinates (250, 250) was not detected at the time of the previous observation, this time, the position tag 205 arranged at the coordinates (450, 150) is first re-detected. . That is, the re-detection process may be performed with priority given to the position tag 205 that has not been observed yet (individually).

  In the process of step S1404, the redetection process determination unit 1302 follows the order determined in the process of step S1403, and the posture, position, or radio wave of the tag reader 101 for redetecting the position tag 205 that requires redetection. Determine parameters such as strength. Specifically, the re-detection process determination unit 1302 can detect the i-th (i is an integer of 1 or more) position tag 205 that is to be re-detected at a normal time, and can detect other re-detections. The power position tag 205 determines the posture, position, or radio wave intensity parameter of the tag reader 101 that cannot be detected. For example, when re-detecting the position tag 205 with the tag ID POS_010, the inclination of the electric camera platform 801 that can detect the position tag 205 of POS_010 and cannot detect the position tag 205 of POS_013 can be read in a steady state. What is necessary is just to obtain | require by the redetection process judgment means 1302 from the position tag database 104. FIG. When the steady-state readable position tag database 104 shown in FIG. 10A is viewed, when the electric camera platform 801 is rotated by 45 ° in the X-axis direction, the position tag 205 of POS_010 can be detected, and the position of POS_013 It can be seen that the tag 205 becomes undetectable.

  Through the above processing, the re-detection processing determination unit 1302 determines the observation range change parameter of the tag reader 101.

  Next, in the process of step S1405, the observation range control unit 1301 changes the attitude, position, or radio wave intensity of the tag reader 101 based on the parameters determined by the redetection process determination unit 1302 in step S1404.

  After performing the above processing, the tag reader 101 performs observation in step S301, so that even in a situation where a plurality of persons exist in the room 201, the position of each of the person 203 having the person tag 204 and the person 203 having no person It is possible to determine whether the tag 205 exists. At this time, the steady-state readable position tag database 104 referred to in step S302 is to select the tag reader 101 according to the posture, position, or radio wave intensity parameter at that time, and the posture, position, Alternatively, the parameter information of the radio field intensity is received from the observation range control unit 1301.

  FIG. 14B shows an example of observation data when the electric head 801 is rotated by 45 ° in the X-axis direction and the re-detection processing of the position tag 205 of POS — 010 is performed by the re-detection processing determination means 1302 and the tag reader 101. Referring to the steady-state readable position tag database 104 when the electric camera platform 801 is rotated by 45 ° in the X-axis direction shown in FIG. 10A, it is determined that only the position tag 205 of POS_010 has not been detected. It can be seen by means 1302.

  14C shows an example of observation data when the electric head 801 is rotated by −30 ° in the X-axis direction and the re-detection processing of the position tag 205 of POS — 013 is performed by the re-detection processing determination unit 1302 and the tag reader 101. Show. Referring to the steady-state readable position tag database 104 when the electric camera platform 801 is rotated by −30 ° in the X-axis direction shown in FIG. 10B, the position tag 205 of POS — 013 is not detected, and further, PSN — 001 The re-detection processing determination unit 1302 can recognize that the person tag 204 has been detected.

  From the above, it is rediscovered that the person 203 who possesses the person tag 204 of PSN_001 exists at the position of the position tag 205 of POS_013, and the person 203 who does not possess the person tag 204 exists at the position of the position tag 205 of POS_010. This can be understood by the processing judgment unit 1302.

  If a UWB (Ultra Wide Band) tag reader is used as an example of the tag reader 101, the position of the person tag 204 can be determined using the principle of three-point surveying, for example. Specifically, the installation position of each antenna as a component of the tag reader 101 is stored in advance in an internal storage unit of the tag reader 101 or the like. Then, the object position determination means 109 draws a sphere with each antenna having a radius of the distance to the person tag 204 detected by each antenna centered on the installation position of each antenna. At this time, the object position determination means 109 can set the position where the person tag 204 possessed by the person 203 exists as the position where the spherical surfaces drawn by the respective antennas overlap most. For example, if the person tag 204 is detected at the coordinates (253, 249), the person tag is placed at the position of the position tag 205 arranged at a close distance (250, 250) from the detected person tag 204. The object position determination means 109 can determine that there is a regular person possessing 204 and there is a suspicious object that does not possess the person tag 204 at coordinates (450, 150).

  Here, it is assumed that the person tag 204 has been detected even though all the position tags 205 that can be detected in the normal state have been detected. This is considered that the position tag 205 could be detected even when the intensity of the radio wave output from the tag reader 101 was high and the person 203 was present on the position tag 205. When such a situation is detected by the undetected position tag determination means 106, the undetected position tag determination is performed so that the output of the radio wave of the tag reader 101 is weakened until any position tag 205 arranged in the room 201 is not detected. A request for adjusting the output value of the radio wave may be output from the means 106 to the observation range control means 103. That is, when all of the position tags 205 that can be detected in the steady state are detected, but the person tag 204 is detected, the undetected position tag determination unit 106 transmits a radio wave to the observation range control unit 1301. Give instructions to reduce the intensity. After the radio wave intensity is weakened by the output adjustment unit 101P via the observation range control means 1301, the tag reader 101 detects the position tag 205 again, and if any of the position tags 205 arranged in the room 201 is no longer detected, it is not yet detected. The above process is repeated until the detection position tag determination means 106 determines. If the person 203 is present at the position of the position tag 205 that is not detected for the first time after starting to weaken the output of the radio wave, the undetected position tag determination means 106 can determine.

  Also, if the output of the tag reader 101 is weakened by the output adjustment unit 101P via the observation range control means 1301, the observation range of the tag reader 101 will be narrowed, even if the person 203 is present. The position tag 205 may be buried under the floor where radio waves are difficult to reach. In this work, when introducing this system, it is necessary to evaluate the detection status of the position tag by a preliminary experiment and determine the position to embed the position tag based on the evaluation result.

  As another means, by providing a sub tag reader different from the tag reader 101, the position tag 205, which has a strong radio wave intensity from the tag reader 101 and is detected even if the person 203 exists, It is also conceivable to perform detection with a tag reader.

  In the examples shown in FIGS. 2, 9, 11, and 12, the position tags are arranged at intervals of 100 cm as an example to simplify the description. In order to detect in detail, it is conceivable to reduce the interval at which the position tag is arranged. FIG. 15A shows an example in which the interval between the position tags 205 arranged in the room 201 is reduced. If the interval between the position tags 205 is reduced, there is a possibility that the number of the position tags 205 that cannot be detected when the person 203 is present is increased. In the example shown in FIG. 15A, the number of undetected tags 1002 that have not been detected is four. The position where the person 203 exists at this time can be set, for example, as the center of gravity position of the undetected tag 1002 in the undetected position tag determination means 106. In the example shown in FIG. 15A, the position where the person 203 exists is the coordinates (10, 10).

  In addition, the number of position tags 205 that cannot be detected when the person 203 is present is grasped in advance, and if it is impossible to detect more position tags 205 than the number, the person 203 has not fallen. The detection position tag determination means 106 can also make the determination. FIG. 15B shows an undetected tag 1002 that is a position tag 205 that can no longer be detected when the person 203 falls, and the state of the person 203 who has fallen. FIG. 16A and FIG. 16B are configuration diagrams that make it possible to determine whether the person 203 has fallen.

  FIGS. 16A and 16B are diagrams illustrating the configuration of the object position estimation system 90B and the configuration of the object position estimation apparatus 91B that can determine whether the person 203 falls. The object position estimation system 90B includes a tag reader 101 and an object position estimation device 91B. The object position estimation device 91B is configured to include a person tag database 102, a position tag database 103, a steady-time readable position tag database 104, an object position estimation unit 105B, and an observation history database 1101. As shown in FIG. 16B, the object position estimation unit 105B includes an undetected position tag determination unit (undetected position tag determination unit) 106, an undetected position tag position determination unit (undetected position tag position determination unit) 107, A person tag determination unit (person tag determination unit) 108, an object position determination unit (object position determination unit) 109, and a fall determination unit (fall over determination unit) 1102 are provided. Note that each means other than the observation history database 1101 and the fall determination means 1102 and the database have already been described in the previous embodiment, and a description thereof will be omitted.

  In the observation history database 1101, the tag ID of the position tag 205 that has not been detected among the position tags 205 recorded as detectable in the steady-state readable position tag database 104 via the object position estimation unit 105B, The time when the tag reader 101 performed observation is recorded. FIG. 15C shows a tag ID corresponding to each position tag 205.

  The fall determination means 1102 compares the number of position tags 205 not detected in the previous observation with the number of position tags 205 not detected in the current observation by referring to the observation history database 1101 to detect If the number of position tags 205 that have not been increased has exceeded a predetermined threshold, it is determined that the person 203 has fallen. The determination result of the fall determination unit 1102 is output to the undetected position tag position determination unit 107. For example, the threshold value may be determined based on a difference in floor shielding area between when the person 203 stands and when the person falls down. When the person 203 falls down, the floor area shielded by the person 203 increases, and therefore the number of position tags 205 that cannot be detected increases as compared to when the person 203 is standing. That is, based on the interval at which the position tag 205 is spread, the position tag included in the area shielded when the person 203 falls from the number of position tags 205 included in the area shielded when the person 203 stands. When the number increases to 205, the fall determination means 1102 determines that the person 203 has fallen.

  FIG. 17 shows a flowchart for determining the fall of the person 203.

  The processing in step S301 and step S302 is the same as that described in the first embodiment. Here, in the process of step S302, it is assumed that the object position estimation unit 105B determines that there is a position tag 205 that has not been detected among the position tags 205 recorded as detectable in the steady-state readable position tag database 104. . At this time, the process proceeds to step S1201. When the object position estimation unit 105B determines that there is no position tag 205 that has not been detected, the process returns to step S301.

  In the process of step S1201, the undetected position tag position determination unit 107 records the tag ID information of the position tag 205 that has not been detected, together with the observation time of the tag 101, in the observation history database 1101.

  Next, in the process of step S1202, the fall determination means 1102 refers to the observation history database 1101 to determine the number of position tags 205 that were not detected in the previous observation and the position tags that were not detected in the current observation. The number of 205 is compared, and it is determined whether or not the number of position tags 205 not detected has increased beyond a predetermined threshold. If the fall determination means 1102 determines that the number of undetected position tags 205 has not exceeded a predetermined threshold, the process returns to step S301, and the number of undetected position tags 205 has exceeded a predetermined threshold. If it is determined by the fall determination means 1102, the process proceeds to step S1203. Here, FIG. 18 shows an example of the observation history database 1101. In the example of FIG. 18, the four position tags 205 of POS — 001, POS — 002, POS — 005, and POS — 006 are not detected until the time 2011/08/10 10:12:55. At time 2011/08/10 10:12:56, eight position tags 205 of POS — 001, POS — 002, POS — 003, POS — 004, POS — 005, POS — 006, POS — 007, and POS — 008 are not detected. When the threshold value in the fall determination unit 1102 is set to 4, in the above case, the fall determination unit 1102 determines that the number of position tags 205 that have not been detected exceeds a predetermined threshold value of 4. The process proceeds to step S1203.

  In the process of step S1203, the fall determination unit 1102 determines that the person 203 has fallen at the position of the position tag 205 that is recorded in the observation history database 1101 and has not been detected. After the fall of the person 203 is determined, a notification device 93 such as a speaker may be used to notify the surroundings of the fall of the person 203.

  By performing the processing as described above, even if the sensor (observation apparatus) uses only the tag reader 101, each person 203A carrying the tag 204 and each suspicious person 203B not carrying the tag can be distinguished from each other. The position information of the person can be detected. Furthermore, it is possible to detect and notify a person's fall from a change in the number of detected position tags 205.

  In addition, it can be made to show the effect which each has by combining suitably any arbitrary embodiment or modification of the said various embodiment or modifications.

  An object position estimation system, an object position estimation method, and an object position estimation program according to the present invention detect not only a tag holder but also a suspicious object that does not have a tag by using only a tag reader as an observation device. It can be carried out. Therefore, it is particularly useful for managing the flow of a customer in a store where it is difficult to give a tag to an intruder in advance or detecting a suspicious person in an office.

90, 90A, 90B Object position estimation system 91, 91A, 91B Object position estimation device 93 Notification device 101 Tag reader 101P Output adjustment unit (output adjustment device)
102 Person Tag Database 103 Position Tag Database 104 Constantly Readable Position Tag Database 105, 105A Object Position Estimation Unit (Object Position Estimation Unit)
106 Undetected position tag determination means (undetected position tag determination unit)
107 Undetected position tag position determining means (undetected position tag position determining unit)
108 person tag determination means (person tag determination unit)
109 Object position determination means (object position determination unit)
201, 201A Room 202 Shelf 203 Person 203A Person 203B Person 204 Person Tag 205 Position Tag 205A Position Tag 205B Position Tag 205C Position Tag 801 Motorized Head 801M Posture Adjustment Motor 1002 Undetected Tag 1302 Redetection Processing Determination Unit 1601, 1601A Movable Rail 1601M Movable part 1701 Inlet 1702 Outlet 1703 Route

Claims (8)

A tag reader that detects a tag that exists in an environment where a person goes in and out and reads an identification ID of a tag that is uniquely assigned to the tag;
A person tag database that records a person ID of the authorized person in association with an identification ID recorded in a person tag possessed by a person authorized to enter and exit the environment;
A position tag database that records position information where the position tag is arranged in association with the identification ID recorded in the position tag arranged in the environment,
In a situation where there is no person in the environment, a steady-state readable position tag database that separately records an identification ID of a detectable position tag and an undetectable position tag;
In a situation where a position tag having an identification ID recorded as detectable in the steady-state readable position tag database is not detected, a person tag having a person ID recorded in the person tag database is not detected. At the time, based on the position information recorded in the position tag database, it is determined that there is a suspicious person at the position where the tag having the identification ID is arranged, and the person ID recorded in the person tag database When a person tag having the identification ID is detected, a regular person having the person ID exists at a position where the tag having the identification ID is arranged based on the position information recorded in the position tag database. An object position estimation unit to determine;
An object position estimation system comprising: The object position estimating unit
Among the position tags recorded in the steady-time readable position tag database, an undetected position tag determination unit that determines whether or not there is a position tag that could not be detected by the tag reader;
An undetected position tag position determination unit that determines a position where a position tag that could not be detected by the tag reader is located by referring to the position tag database;
A person tag determination unit that determines whether or not a person tag detected by the tag reader exists among the person tags recorded in the person tag database;
When the person tag is present, it is determined that there is a person possessing the person tag at the position of the position tag that cannot be detected by the tag reader, and when the person tag is not present, the tag reader An object position determination unit that determines that there is a person who does not have the person tag at the position of the position tag that could not be detected;
The object position estimation system according to claim 1, further comprising: In the steady-state readable position tag database, the identification ID of the position tag that can be detected and the position tag that cannot be detected in the situation where no person exists in the environment for each posture, position, or radio wave intensity of the tag reader Are recorded separately from their IDs,
Based on the determination result of the undetected position tag determination means, when there are a plurality of position tags that are not detected among the position tags that should be detected in the normal state, the person who has the person tag at which position tag position Or, in order to determine whether there is a person who does not have a person tag, re-detection process determination means for determining the order of the re-detection process of the position tag that has not been detected,
Based on the order of the re-detection process determined by the re-detection process determination means, the position tag that has not been detected is separated and the posture, position, or radio wave intensity of the tag reader that can be detected individually is determined. Judgment based on a constantly readable position tag database, the determination result, an observation range control unit for changing the observation range of the tag reader;
The object position estimation system according to claim 2, further comprising: a tag reader adjustment device that changes an attitude, a position, or a radio wave intensity of the tag reader by changing the observation range from the observation range control unit.   The tag reader adjustment device adjusts the output intensity of radio waves of the tag reader when the person is present on the position tag and the undetected position tag determination unit determines that the position tag is not detected. The object position estimation system according to claim 3, which is an output adjustment unit.   When the position tag having the identification ID recorded as detectable in the steady-state readable position tag database is detected when the person tag is detected, the output adjusting unit detects the position tag. 5. The object position estimation system according to claim 4, wherein the output intensity of the radio wave of the tag reader is gradually reduced until any undetected position tag position determination unit determines that any one of the position tags is not detected. An observation history database that records the history of the position of the detected person;
In a situation where it is determined that the person exists alone based on the number of position tags that cannot be detected when the person is present alone, if more than the number of position tags are not detected, A fall determination unit for determining that the person may have fallen;
The object position estimation system according to any one of claims 1 to 5. After detecting a tag present in the environment where people come and go and reading the identification ID of the tag uniquely assigned to the tag with a tag reader,
Recorded in a person tag database that records the person ID of the permitted person in association with an identification ID recorded in a person tag possessed by a person permitted to enter and leave the environment, and in a position tag disposed in the environment The position tag database that records the position information where the position tag is arranged in association with the identification ID, and the identification ID of the position tag that can be detected in a situation where no person exists in the environment. Using a steady-state readable position tag database that separates and records position tags,
In a situation where a position tag having an identification ID recorded as detectable in the steady-state readable position tag database is not detected, a person tag having a person ID recorded in the person tag database is not detected. At the time, based on the position information recorded in the position tag database, it is determined that there is a suspicious person at the position where the tag having the identification ID is arranged, and the person ID recorded in the person tag database When a person tag having the identification ID is detected, a regular person having the person ID exists at a position where the tag having the identification ID is arranged based on the position information recorded in the position tag database. Judgment by the object position estimation unit,
Object position estimation method. On the computer,
A person tag database that records a person ID of the authorized person in association with an identification ID recorded in a person tag possessed by a person authorized to enter and exit the environment in which the person enters and exits;
A position tag database that records position information where the position tag is arranged in association with the identification ID recorded in the position tag arranged in the environment,
In a situation where there is no person in the environment, a steady-state readable position tag database that separately records an identification ID of a detectable position tag and an undetectable position tag;
A position having an identification ID recorded as detectable in the steady-state readable position tag database after detecting the tag existing in the environment and reading the identification ID of the tag uniquely assigned to the tag with a tag reader In a situation where no tag is detected, when no person tag having a person ID recorded in the person tag database is detected, the identification ID is determined based on the position information recorded in the position tag database. The position recorded in the position tag database when it is determined that there is a suspicious person at the position where the tag is located and a person tag having a person ID recorded in the person tag database is detected Based on the information, there is a regular person having the person ID at the position where the tag having the identification ID is arranged. Object position estimation program for realizing the function of the object position estimating unit to determine that.

Images