JP2018054504A - Position estimation system, and position estimation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately enable a position tracking of a predetermined member to be performed without depending a size of the spacer in the predetermined indoor space.SOLUTION: A position estimation system scans a first laser light in a first direction, scans a second laser light in a second direction orthogonal to the first direction at a timing different from the preceding scanning, and includes: a plurality of base stations for irradiating an ID extraction light by a separate timing from the first laser light and the second laser light; means for specifying the base station of an oscillation source of the ID extraction light received by the reception part from among the plurality of base stations by the light of the ID extraction light received by the reception part; means for acquiring a position of the reception part for the base station of the oscillation source by the timing by which the first laser light and the second laser light received by the reception part are received; and means for acquiring the position of the reception part with the predetermined position as a reference based on the position of the specified base station and the position of the reception part for the base station of the acquired oscillation source.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position estimation system and a position estimation method.

  Conventionally, a technique for estimating the position of a user or the like is known (see Patent Document 1). By estimating the position of the user or the like, for example, a virtual reality image corresponding to the estimated position can be displayed on a display device such as a head mounted display or a projector.

  In Non-Patent Document 1, an irradiation device called a base station irradiates flash and laser light such as infrared rays, and a controller (receiver) uses the received flash and laser light to detect the position and orientation relative to the base station. A technique for estimating the above is disclosed. This method for estimating the position and orientation is called a lighthouse method or the like. According to the technique of Non-Patent Document 1, the position and orientation can be estimated in a relatively narrow space within 3 meters in length, 4 meters in width, and 5 meters in diagonal.

Japanese Patent No. 5202316

"The first SteamVR machine" HTC Vive "has increased its presence at Gamescom" ", [online], August 18, 2015, [Search August 17, 2006], Internet <URL: https: // web.archive.org/web/20160817041320/http://game.watch.impress.co.jp/docs/series/vrgaming/716564.html>

  The conventional technique for estimating the position using the flash and laser light emitted from the base station (base station) disclosed in Non-Patent Document 1 performs the position tracking of the controller with high accuracy in the relatively narrow space. It is very effective for virtual reality experience using a head-mounted display. However, since the range in which the position of the controller can be acquired with high accuracy (acceptable accuracy) with a single base station is limited, the position detection target region recommended for the system (play area is included in it) Will also be limited in size (for example, as described above, 3 meters long, 4 meters wide, 5 meters diagonal). Currently, various experiences utilizing virtual reality have been proposed. If high-precision position tracking can be performed in a wider space, a wider variety of virtual reality experiences will be provided.

  Therefore, an object of the present invention is to provide a technique capable of accurately tracking the position of a predetermined member in a predetermined indoor space regardless of the size of the space.

  According to one embodiment of the present invention, in the position estimation system, the first laser light is scanned in the first direction, and the second direction is perpendicular to the first direction at a timing different from the scanning. A plurality of base stations that scan laser light, wherein each of the plurality of base stations uses ID extraction light as the first laser light and the second laser light so as to be interpreted as an ID that identifies the base station; A plurality of base stations that irradiate at a timing different from the laser beam; and a receiving unit configured to be movable and receiving the first laser beam, the second laser beam, and the ID extraction light; Means for identifying an oscillation source base station of the ID extraction light received by the reception unit among the plurality of base stations by the ID extraction light received by the reception unit; and the reception unit Of the first laser beam and the second laser beam received by Means for acquiring the position of the receiving unit relative to the base station of the oscillation source, the position of the specified base station, and the position of the receiving unit relative to the acquired base station of the oscillation source And a means for acquiring the position of the receiving unit with reference to a predetermined position.

  According to the disclosed technique, in a predetermined indoor space, position tracking of a predetermined member can be performed with high accuracy regardless of the size of the space.

It is a figure which shows the structure of the position estimation system which concerns on one Embodiment of this invention. It is a figure which shows the hardware constitutions of the terminal which concerns on one Embodiment of this invention. It is a figure which shows the hardware constitutions of the base station which concerns on one Embodiment of this invention. It is a figure explaining the light (electromagnetic wave) irradiated from the base station which concerns on one Embodiment of this invention. It is a figure which shows the hardware constitutions of the receiver which concerns on one Embodiment of this invention. It is a figure explaining the position detection object field concerning one embodiment of the present invention. It is a figure which shows the function structure of the terminal and the terminal for a setting which concern on one Embodiment of this invention. It is a sequence diagram which shows the setting process of the position estimation system which concerns on one Embodiment of this invention. It is a figure explaining the calculation method of absolute arrangement information concerning one embodiment of the present invention. It is a figure explaining the setting process of the position estimation system which concerns on one Embodiment of this invention. It is a figure explaining the setting process of the position estimation system which concerns on one Embodiment of this invention. It is a flowchart which shows the position estimation process of the receiver and terminal which concern on one Embodiment of this invention. It is a figure explaining the position estimation process of the position estimation system which concerns on one Embodiment of this invention. It is a figure explaining the signal which the receiver concerning one embodiment of the present invention detects. It is a figure explaining the position estimation process of the position estimation system which concerns on one Embodiment of this invention. It is a flowchart which shows the position estimation process of the receiver and terminal which concern on one Embodiment of this invention. It is a figure explaining the position estimation process of the position estimation system which concerns on one Embodiment of this invention. It is a flowchart which shows the position estimation process of the receiver and terminal which concern on one Embodiment of this invention. It is a figure explaining the position estimation process of the receiver and terminal which concern on one Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
<System configuration>
FIG. 1 is a diagram illustrating a configuration of a position estimation system according to the present embodiment. In FIG. 1, the position estimation system 1 includes terminals 10-1, 10-2,... (Hereinafter simply referred to as “terminal 10” when not distinguished from each other), a setting terminal 20, and a receiver 30-. 1, 30-2,... (Hereinafter simply referred to as “receiver 30” if not distinguished from each other), base station 40-1 (an example of “first base station”), 40-2 ( (An example of a “second base station”),... (Hereinafter simply referred to as “base station 40” when not distinguished from each other).

  The terminal 10, the setting terminal 20, and the receiver 30 are connected so as to be communicable by, for example, short-range wireless or a wired cable. Note that the terminal 10 and the receiver 30 may be configured as an integrated device. Further, the setting terminal 20 and the receiver 30 may be configured as an integrated device. Further, the terminal 10 and the setting terminal 20 may be configured as an integrated device, and the terminal 10, the setting terminal 20 and the receiver 30 may be configured as an integrated device. The terminal 10 and the setting terminal 20 are, for example, a smartphone, a tablet terminal, a computer, or the like. Note that the terminal 10 and the setting terminal 20 may be configured as an apparatus integrated with, for example, a head mounted display, a projector, a game controller, or the like. The receiver 30 receives light and laser light of a predetermined light and dark pattern (light and dark pattern indicating light ID information described later) from the base station 40 using one or more sensors, and the light and laser light of the light and dark pattern. Is estimated with respect to the base station 40 (that is, each component of the vector from the base station 40 toward the receiver 30) and the direction thereof. That is, the receiver 30 performs position tracking of the receiver 30 within a predetermined space. The base station 40 irradiates light and dark pattern light and laser light at a predetermined timing.

<Hardware configuration>
≪Terminal, setting terminal≫
FIG. 2 is a diagram illustrating a hardware configuration of the terminal 10 according to the present embodiment. The terminal 10 in FIG. 2 includes a drive device 100, an auxiliary storage device 102, a memory device 103, a CPU 104, an interface device 105, and the like that are mutually connected by a bus B.

  An information processing program for realizing processing in the terminal 10 is provided by the recording medium 101. When the recording medium 101 on which the information processing program is recorded is set in the drive device 100, the information processing program is installed from the recording medium 101 to the auxiliary storage device 102 via the drive device 100. However, the information processing program need not always be installed from the recording medium 101, and may be downloaded from another computer via a network. The auxiliary storage device 102 stores the installed information processing program and also stores necessary files and data.

  The memory device 103 reads the program from the auxiliary storage device 102 and stores it when there is an instruction to start the program. The CPU 104 realizes functions related to the terminal 10 in accordance with a program stored in the memory device 103. The interface device 105 is used as an interface for connecting to a network. An example of the recording medium 101 is a portable recording medium such as a CD-ROM, a DVD disk, or a USB memory. An example of the auxiliary storage device 102 is an HDD (Hard Disk Drive) or a flash memory. Both the recording medium 101 and the auxiliary storage device 102 correspond to computer-readable recording media.

  The hardware configuration of the setting terminal 20 may be the same as the hardware configuration example of the terminal 10 illustrated in FIG.

≪Base station≫
Next, a hardware configuration example of the base station 40 according to the embodiment will be described with reference to FIGS. 3 and 4. FIG. 3 is a diagram illustrating a hardware configuration of the base station 40 according to the present embodiment. FIG. 4 is a diagram for explaining light (electromagnetic waves) emitted from the base station 40 according to the present embodiment. FIG. 4A is a diagram for explaining the flash emitted from the base station 40 according to the present embodiment. FIG. 4B is a diagram illustrating laser light emitted when the base station 40 according to the present embodiment scans in the vertical direction. FIG. 4C is a diagram for explaining laser light emitted when the base station 40 according to the present embodiment scans in the horizontal direction.

  As shown in FIG. 3, the base station 40 is a device that emits light for position tracking corresponding to a so-called lighthouse system, and one or more flash devices 401A, 401B,... In this case, it is simply referred to as “flash device 401”), vertical laser light irradiation device 402, horizontal laser light irradiation device 403, control device 404, synchronization device 405, and the like.

  As shown in FIG. 4A, the flash device 401 starts light (electromagnetic waves) such as infrared rays with no directivity in accordance with an instruction from the control device 404, as shown in FIG. 4A, to indicate the start of irradiation related to position tracking. Irradiate (flash) as a signal. Next, light of a predetermined light / dark pattern (light in the infrared region) is irradiated so as to transmit its own ID. That is, the flash device 401 transmits the ID of the base station 40 by turning on / off irradiation (flash) within a predetermined period (by the so-called visible light communication method). That is, after the start flash for synchronization, the flash unit 401 uses the optical ID information (with the illumination on / off (bright / dark) modulation pattern (for example, “1” for irradiation on and “0” for off) as digital data. ID extraction light) is transmitted. In addition, when there are a plurality of base stations 40 used for position tracking in a predetermined area, each ID information is set so as not to cover each other. In the present embodiment, not only a method using a modulation pattern by turning on / off (turning on and off) laser light irradiation, but also an ID for identifying the base station from which light is received from the light received by the receiver 30. Any method may be adopted as long as it can be interpreted.

  As shown in FIG. 4B, the vertical laser beam irradiation device 402 emits laser light within a predetermined angle range (for example, 120 °) in the horizontal direction at a predetermined timing in accordance with an instruction from the control device 404. The irradiation unit 4021 for irradiation with the same intensity as the light related to the ID information is rotated in the vertical direction. Accordingly, laser light (infrared line laser light) that spreads in a fan shape in the horizontal direction is sequentially irradiated in a range of a predetermined angle θY (for example, 120 °) in the vertical direction. Hereinafter, the laser light emitted from the vertical laser light irradiation device 402 is also referred to as “longitudinal laser light”. As shown in FIG. 4 (C), the horizontal laser beam irradiation device 403 follows a command from the control device 404 at a predetermined timing, as shown in FIG. 4C, in the range of a predetermined angle (for example, 120 °) in the vertical direction. The irradiation unit 4031 for irradiating the line laser beam with the same intensity as that of the vertical laser beam is rotated in the horizontal direction. Thereby, the laser beam which spreads in a fan shape in the vertical direction is sequentially irradiated in a range of a predetermined angle θX (for example, 120 °) in the horizontal direction. Hereinafter, the laser beam emitted from the lateral laser beam irradiation device 403 is also referred to as “lateral laser beam”.

  As described above, the vertical direction laser light irradiation device 402 and the horizontal direction laser light irradiation device 403 scan (sweep) the corresponding laser light in the same space (region), although the modes are different. In this embodiment, position tracking is performed by the lighthouse method. That is, the receiver 30 acquires a position with reference to the base station that oscillates the laser light at the timing at which the vertical laser light and the horizontal laser light are received.

  The control device 404 uses the flash device 401 to perform irradiation (flash) with no directivity, thereby providing optical ID information indicating the ID (identification information) of the base station 40, “vertical laser light”, “horizontal direction”. The receiver 30 is notified of a reference timing (reference time) for performing a series of irradiation including “laser light”. The series of irradiations may be performed, for example, 90 fps, that is, 90 times per second.

  The control device 404 uses the flash device 401 to directivity at a timing different from that of other base stations in a predetermined period (in some cases, the timing may be the same as or partially overlapped with other base stations). The receiver 30 is notified of the ID of the base station 40 by turning on and off the irradiation with no light according to a predetermined modulation pattern within a predetermined period. The control device 404 uses the vertical laser beam irradiation device 402 to measure the vertical position relative to the base station 40 by causing the receiver 30 to emit “longitudinal laser beam” after a predetermined time has elapsed from the reference time. Let The control device 404 uses the horizontal laser beam irradiation device 403 to irradiate the “lateral laser beam” after a predetermined time has elapsed from the reference time, thereby measuring the horizontal position of the receiver 30 with respect to the base station 40. Let In this embodiment, each light is irradiated in the order of optical ID information, vertical laser light irradiation, and horizontal laser light irradiation. Note that the order of optical ID information, horizontal laser light irradiation, and vertical laser light irradiation may be used. The synchronization device 405 performs synchronization with other base stations 40 in order to adjust the timing of irradiating laser light.

≪Receiver≫
FIG. 5A is a diagram illustrating a hardware configuration of the receiver 30 according to the present embodiment. The receiver 30 includes two or more sensors 301A, 301B,... (Hereinafter simply referred to as “sensor 301” when not distinguished from each other), a calculation device 302, a communication device 303, and the like.

  The sensor 301 detects light (electromagnetic waves) such as infrared rays received from the base station 40. In the present embodiment, a threshold is set for the received light intensity in the sensor 301, and the sensor 301 is configured not to output the detection of a predetermined laser even if light having an intensity smaller than the threshold is detected. Has been.

  What is important in the present embodiment is that the receiver 30 receives light from a base station 40 that emits light in a certain pattern (described later), so that at least a part of the region irradiated with the light (position detection target). The position of the receiver 30 in the region) is estimated (detected, that is, position tracking).

  The “position detection target area” is at least a part of the irradiation area of the laser emitted from a predetermined base station, and the receiver 30 that receives the laser light emitted from the base station receives the received laser light. This is a region for which a position is to be detected. Therefore, when the receiver 30 is within the position detection target area defined for the predetermined base station 40, the receiver 30 that has received the laser light from the base station 40 has its own in the position detection target area. The position will be detected. Therefore, the receiver 30 does not detect its absolute position in a certain area (all target areas for position tracking), but uses the base station 40 arranged in the certain area as a certain reference. The relative position will be detected.

  FIG. 5B is a diagram illustrating the position detection target area according to the present embodiment. As shown in FIG. 5B, when the base station 40 is provided in the room 350, the base station 40 oscillates (irradiates) the longitudinal laser beam 351 in a fan shape with a central angle of 120 °, for example. At this time, the base station 40 irradiates a lateral laser beam (not shown) so as to move from the end portion 351a of the longitudinal laser beam 351 toward the end portion 351b. In this case, reference numeral 352 which is a part of the irradiation range of light (vertical laser light and horizontal laser light) from the base station 40 is a position detection target region. In the present embodiment, the position detection target area is determined based on the intensity of light output from the base station 40. For example, the threshold value of the receiver 30 is set to the light per unit area of the light (vertical laser light and horizontal laser light) emitted from the base station 40 in the arc 352a of the fan-shaped position detection target region in FIG. 5B. By setting the intensity, the receiver 30 receives the laser beam having an intensity smaller than the threshold when it is outside the position detection target region 352, and therefore does not perform the reception output of the laser beam. When the device 30 is inside the position detection target region 352, the device 30 receives the laser beam having an intensity larger than the threshold value, and outputs the laser beam received. As described above, since the light receiving output of the laser light is performed according to the light receiving intensity, the position detection target region 352 is partitioned for the receiver 30. That is, in the position detection target region 352, the intensity of the laser light emitted from the base station 40 is larger than the threshold set in the sensor 301. Therefore, if the receiver 30 receives the laser beam from the base station 40 in the position detection target area 352, the light reception result is output for position tracking and received in the area 353 outside the position detection target area 352. When the device 30 is located, the receiver 30 receives light from the base station 40, but does not output the received result for use in position tracking.

  In the present embodiment, the threshold set in the receiver 30 may be variable. Alternatively, the threshold value is not set in the receiver 30, and the information processing apparatus such as the terminal 10 uses the received light intensity information generated by the light reception by the receiver 30 as the threshold value (the received light intensity on the arc 352a of the position detection target region). Compared with the above, those less than the threshold value may not be used for calculation of position estimation (position tracking). In this case, when the received light intensity is less than the threshold value, the receiver 30 can be estimated to be in the region 353 outside the position detection target region 352.

The calculation device 302 detects the timing at which the sensor 301 receives the flash emitted from the base station 40. Further, the calculation device 302 detects the timing at which the “longitudinal laser beam” emitted from the base station 40 is received by each of the one or more sensors 301A, 301B,. Further, the calculation device 302 detects the timing at which the “lateral laser light” emitted from the base station 40 is received by each of the one or more sensors 301A, 301B,.
Then, the calculation device 302 determines the base station 40 based on the time difference between the timing when the flash is received and the timing when the “longitudinal laser beam” is received by each of the one or more sensors 301A, 301B,. To the direction of the vertical vector relative to the receiver 30. The calculation apparatus 302 includes a time T _YS until the irradiation of the “longitudinal laser beam” after the base station 40 irradiates the flash, a vertical irradiation angle θ _{Y of} the “vertical laser beam”, and the base station 40. The time T _YE until the irradiation of the “longitudinal laser beam” after the flash is irradiated is stored in advance. When the time from reception of the flash by the sensor 301A until reception of the “longitudinal laser beam” is t _Y , the calculation device 302 uses, for example, the direction (angle) of the vertical vector by the following equation: θ _Y is calculated.

θ _Y = t _Y × (T _YE −T _YS / θ _Y ) (1)
Then, the calculation device 302 determines the base station 40 based on the time difference between the timing when the flash is received and the timing when the “lateral laser beam” is received by each of the one or more sensors 301A, 301B,. To the direction of the vector in the horizontal direction with respect to the receiver 30.

The calculation device 302 includes a time T _XS from the time when the base station 40 irradiates the flash until the irradiation of the “lateral laser light” starts, the horizontal irradiation angle θ _{X of} the “lateral laser light”, and the base station 40. The time T _XE until the irradiation of the “lateral laser beam” is completed after the flash is irradiated is stored in advance. When the time from reception of the flash by the sensor 301 </ b> A to reception of the “lateral laser beam” is t _X , the calculation device 302, for example, uses the following formula to determine the direction (angle) of the horizontal vector: θ _X is calculated.

θ _X = t _X × (T _XE −T _XS / θ _X ) (2)
When the receiver 30 includes a plurality of sensors 301A and 301B, the calculation device 302 calculates the distance d between the plurality of sensors 301A and 301B and the time when the “longitudinal laser beam” is received by each of the plurality of sensors 301A and 301B. Using the difference and the difference in time at which the “lateral laser beam” is received by each of the plurality of sensors 301 </ b> A and 301 </ b> B, the distance between the base station 40 and the receiver 30, and the receiver 30 with respect to the base station 40 Calculate the orientation. As a result, the calculation device 302 can calculate the position of the receiver 30 with respect to the base station 40 (each component of the vector directed from the base station 40 with respect to the receiver 30) and the direction.

  The communication device 303 notifies the terminal 10 and the setting terminal 20 of the position and orientation of the receiver 30 with respect to the base station 40 calculated by the calculation device 302.

<Functional configuration>
Next, functional configurations of the terminal 10 and the setting terminal 20 according to the embodiment will be described with reference to FIG. FIG. 6 is a diagram illustrating a functional configuration of the terminal 10 and the setting terminal 20 according to the present embodiment.

≪Terminal≫
The terminal 10 includes a base station position storage unit 11. The base station position storage unit 11 is realized using, for example, an auxiliary storage device. The terminal 10 includes an acquisition unit 12, an estimation unit 13, and a communication unit 14. Each of these units is realized by processing that one or more programs installed in the terminal 10 cause the CPU of the terminal 10 to execute.

  Using the communication unit 14, the acquisition unit 12 acquires information indicating the position of the base station 40 with respect to the reference position from the setting terminal 20 and stores the information in the base station position storage unit 11. In the present embodiment, an example in which the relative position of another base station 40 is used with reference to the base station 40-1 will be described. However, any position may be used as a reference. The acquisition unit 12 uses the communication unit 14 to obtain information indicating the position of the receiver 30 relative to the base station 40 calculated based on the light (electromagnetic wave) emitted from the base station 40 from the receiver 30. get. The estimation unit 13 includes information stored in the base station position storage unit 11 and the position of the receiver 30 with respect to the base station 40 acquired from the receiver 30 by the acquisition unit 12 (from the base station 40 with respect to the base station 40). The current position of the receiver 30 with respect to the base station 40-1 is estimated based on information indicating the position where the radiated electromagnetic wave is received). The communication unit 14 communicates with the setting terminal 20 and the receiver 30.

≪Setting terminal≫
The setting terminal 20 includes a base station position storage unit 21. The base station position storage unit 21 is realized using, for example, an auxiliary storage device. The setting terminal 20 includes an acquisition unit 22, a base station position estimation unit 23, and a communication unit 24. Each of these units is realized by a process in which one or more programs installed in the setting terminal 20 are executed by the CPU of the setting terminal 20. The acquisition unit 22 uses the communication unit 24 to calculate information indicating the position of the receiver 30 with respect to the base station 40 calculated based on the light (electromagnetic wave) emitted from the base station 40 from the receiver 30. get. The base station position estimation unit 23 estimates the current position of the receiver 30 with respect to a reference position based on the information indicating the position of the receiver 30 with respect to the base station 40 acquired from the receiver 30 by the acquisition unit 22. Then, the data is stored in the base station position storage unit 21. The communication unit 24 communicates with the setting terminal 20 and the receiver 30. The communication unit 24 transmits information stored in the base station position storage unit 21 to the terminal 10 in response to an acquisition request from the terminal 10.

<Processing>
≪Setting process≫
Next, the setting process of the position estimation system 1 will be described with reference to FIGS. 7A and 7B. FIG. 7A is a sequence diagram illustrating a setting process of the position estimation system 1 according to the present embodiment. FIG. 7B is a diagram for explaining an absolute arrangement information calculation method according to the present embodiment. For example, before performing position estimation processing (position tracking) for a game using virtual reality, the following setting processing is performed in advance. Hereinafter, the position information of each base station 40 based on the position of the base station 40-1 in the entire target area of position tracking is referred to as “absolute arrangement information”.

In step S1, the receiver 30 receives irradiation from the base station 40-1 at the first position. Here, the first position is a position where the receiver 30 can receive irradiation from both the base station 40-1 and the base station 40-2. Subsequently, the receiver 30 calculates the relative position and orientation of the receiver 30 with respect to the base station 40-1 at the first position (step S2). This process may be the same process as in the conventional lighthouse method. For example, the vertical vector direction (angle) θ _Y and the horizontal vector direction (angle) θ _X in each of the plurality of sensors 301 are calculated by the above-described equations (1) and (2). Then, based on the preset distances between the plurality of sensors 301 and θ _Y and θ _X in each of the plurality of sensors 301, the relative position and orientation of the receiver 30 with respect to the base station 40-1 ( Each component of the vector from the position of the base station 40-1 to the position of the receiver 30) is calculated. The relative position of the receiver 30 with respect to the base station 40-1 may be handled by converting a value in polar coordinates into a value in orthogonal coordinates. Below, the example in the case of converting into the value in a rectangular coordinate and handling is demonstrated.

  Subsequently, the setting terminal 20 receives the relative position and orientation of the receiver 30 with respect to the base station 40-1 at the first position from the receiver 30 (step S3). Subsequently, the setting terminal 20 stores the relative position and orientation of the receiver 30 with respect to the base station 40-1 at the first position in the base station position storage unit 21 (step S4). The setting terminal 20 may be set in advance with the ID of one base station 40-1 serving as a reference. After the setting process is started in the setting terminal 20, the ID is first set. May be handled as one base station 40-1 serving as a reference. Moreover, the process of step S4 is, for example, more specifically, when a plurality of base station 40 including the base station 40-1 enters a region where position detection target areas overlap, more specifically, This may be performed when the ID of the base station 40 is received within a predetermined period (for example, a period during which a predetermined number of frames are emitted from the base station 40).

In addition, when the receiver 30 exists in the 1st position, the relative position of the receiver 30 with respect to the base station 40-1 can be represented by the vector from the base station 40-1 to the receiver 30. Therefore, as shown in FIG. 7B, for example, the position of the base station 40-1 is the origin O (0, 0, 0) on the three-dimensional coordinate axis (xyz axis) and is located at the first position A. The coordinate values obtained from the reception results of the horizontal laser beam and the vertical laser beam (generally also referred to as position tracking laser beam) from the base station 40-1 of the receiver 30 are (x _A , y _A , z _A ), the vector OA from the origin O to the first position A can be expressed as (x _A , y _A , z _A ). That is, each component of the vector OA is a coordinate value of the first position A with the position O as the origin.

  Subsequently, the receiver 30 receives irradiation from the base station 40-2 at the first position (step S5). Subsequently, the receiver 30 calculates the relative position and orientation of the receiver 30 with respect to the base station 40-2 at the first position (step S6).

Subsequently, the acquisition unit 22 of the setting terminal 20 receives the relative position and orientation of the receiver 30 with respect to the base station 40-2 at the first position from the receiver 30 (step S7). Subsequently, the base station position estimation unit 23 of the setting terminal 20 determines the relative position and orientation of the receiver 30 with respect to the base station 40-1 and the receiver 30 with respect to the base station 40-2 at the first position. The relative position (absolute arrangement information) and orientation of the base station 40-2 with respect to the base station 40-1 are calculated based on the relative position and orientation (step S8). When the receiver 30 exists at the first position, the relative position of the receiver 30 with respect to the base station 40-2 is a vector PA from the position P of the base station 40-2 to the first position A. Can be expressed as That is, at this time, the receiver 30 that is present at the first position and receives the laser beam from the base station 40-2 receives the coordinate value based on the position P of the base station 40-2 based on the received laser beam. (In this system, a coordinate value in which the position P is the origin (0, 0, 0) on the x′-y′-z ′ axis) is obtained, which corresponds to each component of the vector PA. Therefore, in step S6, each component of the vector PA (relative position of the receiver 30 existing at the first position A with respect to the base station 40-2) is calculated. The coordinate value for the position P may take a negative value in the coordinate system of the x′-y′-z ′ axis depending on the position of the receiver 30, but in this case, the corresponding vector component is also negative. become. Here, since vector OP = vector OA−vector PA, each component of the vector PA to the first position A with respect to the position P of the base station 40-2 obtained from the measurement result of the receiver 30 is (x ₁ , Y ₁ , z ₁ ), each component of the vector OP from the origin O to the position P of the base station 40-2 is expressed as (x _A −x ₁ , y _A −y ₁ ) as shown in FIG. 7B. , Z _A −z ₁ ). Therefore, when the position O of the base station 40-1 as an origin, coordinates of the position P of the base station _{40-2 (x A -x 1, y} A -y 1, z A -z 1) is obtained. Subsequently, the base station position estimating unit 23 of the setting terminal 20, the relative position of the base station 40-2 to the base station _{40-1 ((x A -x 1,} y A -y 1, z A -z ₁ ), that is, each component of the vector from the position of the base station 40-1 as the origin O to the position of the base station 40-2) and the direction are stored in the base station position storage unit 21 (step S9).

  Thereafter, the manager carrying the receiver 30 and the setting terminal 20 moves from the first position to the second position. Here, the second position is a position where the receiver 30 can receive irradiation from at least one of the base station 40-1 and the base station 40-2 and the base station 40-3. In addition, below, the case where it is a position which can receive irradiation from both the base station 40-2 and the base station 40-3 is demonstrated as an example as a 2nd position.

  Subsequently, the receiver 30 receives the irradiation from the base station 40-2 at the second position (step S10). Subsequently, the receiver 30 calculates the relative position and orientation of the receiver 30 with respect to the base station 40-2 at the second position (step S11). The process of step S11 is performed when, for example, at least one of the base station 40-1 and the base station 40-2 and a position detection target area of a plurality of base stations 40 including other base stations 40 enter an overlapping area. Specifically, it may be performed when the optical ID information of at least one of the base station 40-1 and the base station 40-2 and the optical ID information of the other base station 40 are received within a predetermined period. .

  Subsequently, the setting terminal 20 receives the relative position and orientation of the receiver 30 with respect to the base station 40-2 at the second position from the receiver 30 (step S12). Subsequently, the setting terminal 20 stores the relative position and orientation of the receiver 30 with respect to the base station 40-2 at the second position (step S13). Subsequently, the receiver 30 receives the irradiation from the base station 40-3 at the second position (step S14). Subsequently, the receiver 30 calculates the relative position and orientation of the receiver 30 with respect to the base station 40-3 at the second position (step S15).

  Subsequently, the acquisition unit 22 of the setting terminal 20 receives the relative position and orientation of the receiver 30 with respect to the base station 40-3 at the second position from the receiver 30 (step S16). Subsequently, the base station position estimation unit 23 of the setting terminal 20 determines the relative position and orientation of the receiver 30 with respect to the base station 40-2 at the second position, and the receiver 30 with respect to the base station 40-3. Based on the relative position and orientation of the base station 40-1, the relative position (absolute arrangement information) and orientation of the base station 40-3 with respect to the base station 40-1 are calculated (step S17). Subsequently, the base station position estimation unit 23 of the setting terminal 20 stores the relative position (absolute arrangement information) and direction of the base station 40-3 with respect to the base station 40-1 in the base station position storage unit 21. Store (step S18).

When the receiver 30 is present at the second position, the relative position of the receiver 30 with respect to the base station 40-2 is a vector PB from the position P of the base station 40-2 to the second position B. Can be expressed as In step S11, each component of the vector PB is calculated in the same manner as the calculation of the vector PA described above. Here, since vector OB = vector OP + vector PB, each component of the vector PB to the second position B with respect to the position P of the base station 40-2 acquired in step S11 is (x ₂ , y ₂ , z ₂ ), the components of the vector OB from the origin O to the second position B are (x _A −x ₁ + x ₂ , y _A −y ₁ + y ₂ , z _A ) as shown in FIG. 7B. -Z ₁ + z ₂ ). Each component of the vector OB calculated in this way is a coordinate value of the second position B with the position O as the origin.

Similarly, when the receiver 30 is in the second position, the relative position of the receiver 30 with respect to the base station 40-3 is changed from the position Q of the base station 40-3 to the second position B. The vector QB can be expressed as In step S15, each component of the vector QB is calculated in the same manner as the calculation of the vector PA described above. Since the vector OQ = vector OP + vector PB−vector QB, each component of the vector QB to the second position B with respect to the position Q of the base station 40-3 acquired in step S15 is (x ₃ , y ₃ , z ₃ ), as shown in FIG. 7B, the components of the vector OQ from the origin O to the position Q of the base station 40-3 are (x _A −x ₁ + x ₂ −x ₃ , y _A −y). ₁ + _y 2 _{-y 3,} can be calculated by _{z A -z 1 + z 2 -z} 3). Therefore, when the position O of the base station 40-1 as an origin, coordinates of the position Q of the base station _{40-3 (x A -x 1 + x} 2 -x 3, y A -y 1 + y 2 -y 3, z _A- z < ₁ > + z < ₂ > -z < ₃ >) is obtained.

  If there are four or more base stations, the same processing as in steps S10 to S18 is repeated. That is, the measurement may be performed sequentially at a position where irradiation can be received from both the measured base station 40 and the base station 40 to be measured. Thereby, the relative position of the base station 40-4,... Relative to the base station 40-1 (that is, each position of the base station 40-4... From the position of the base station 40-1 as the origin O). Each component))) and orientation of the vector going to can be calculated and stored.

  Subsequently, the communication unit 24 of the setting terminal 20 transmits the position and orientation of the other base station 40 with respect to the base station 40-1 stored in the base station position storage unit 21 to the terminal 10 (step S19). . Subsequently, the acquisition unit 12 of the terminal 10 stores the position and orientation of the other base station 40 with respect to the base station 40-1 received from the setting terminal 20 in the base station position storage unit 11 (step S20). That is, the base station position storage unit 11 generates, for each of the base stations 40-2..., Each component of the vector from the base station 40-1 as the origin O toward itself (the origin of the base station 40-2. Corresponding to the position of the coordinate system of O).

  FIG. 8 is a diagram illustrating the setting process of the position estimation system 1 according to the present embodiment. FIG. 8A illustrates an example in which the positions in the room 501, the room 502, and the hallway 503 are set to be estimable when the room 501 and the room 502 are connected by the hallway 503. In FIG. 8A, a base station 40-1 and a base station 40-2 are installed at two corners of a room 501, and a base station 40-3 and a base station 40-4 are installed at two corners of a room 502. ing. Reference numeral 40-1a is a position detection target area by the laser light emitted from the base station 40-1, and reference numeral 40-2a is a position detection target area by the laser light emitted from the base station 40-2. Reference numeral 40-3a is a position detection target area by the laser light emitted from the base station 40-3, and reference numeral 40-4a is a position detection target area by the laser light emitted from the base station 40-4. In this embodiment, the rooms 501 and 502 are all target areas for position tracking, and the base stations 40-1 and 40-2 (either the base station 40-1 or the base station 40-2 according to the conventional lighthouse method, or (Use at the same time) to track the position of the room 501 and use the base stations 40-3 and 40-4 (either the base station 40-3 and the base station 40-4 according to the conventional lighthouse method or at the same time) 502 position tracking is performed.

  In this embodiment, as shown in FIG. 8A, each of the rooms 501 and 502 is included in one of the set position detection target areas. FIG. 8B shows a range irradiated by the base station 40-1, the base station 40-2, the base station 40-3, and the base station 40-4 installed as shown in FIG. .

The “lateral laser light” emitted from the base station 40-1, base station 40-2, base station 40-3, and base station 40-4 installed as shown in FIG. It is not irradiated to the area shielded by obstacles such as the walls of the room 501 and the room 502. Therefore, the actual irradiation range is as shown in FIG. Area 504 in room 501 is irradiated with light from base station 40-4 installed in room 502. Area 505 in room 502 is irradiated with light from base station 40-1 installed in room 501. In this case, the first position described above may be an arbitrary position in the room 501, for example. Thereby, the relative position of the base station 40-2 with respect to the base station 40-1 can be calculated. Further, the above-described second position may be an arbitrary position in the region 504, for example. Thereby, the relative position of the base station 40-4 with respect to the base station 40-1 can be calculated. Subsequently, the relative position of the base station 40-3 with respect to the base station 40-1 can be calculated by receiving irradiation of the base station 40-3 and the base station 40-4 at an arbitrary position in the room 502, for example. . In this way, the position information (absolute arrangement information) of the base stations 40-1 to 40-4 is acquired.

  In this embodiment, when position tracking is performed in two (plurality) of rooms, the plurality of base stations 40 are divided into two groups, one group performs position tracking of one room, and the other group includes To track the position of the other room. That is, each of the base stations in which the range of the position detection target area is defined is responsible for position tracking of a part of the entire target area for position tracking, and all of the target areas for the position tracking are set in all of the base stations. Try to cover everything. At this time, by using the base stations 40-1 and 40-2, regions defined by the position detection target regions 40-1a and 40-2a corresponding to the room 501 (regions defined by calibration; 1), the position in the position detection target areas 40-3a and 40-4a corresponding to the room 502 is defined by using the base stations 40-3 and 40-4. A position in the region (second prescribed region) can be estimated. However, as it is, the terminal 10 as the information processing apparatus does not know whether the detected position is detected in the first specified area or in the second specified area. However, in the present embodiment, as described above, each of the base stations 40-1 to 40-4 also transmits optical ID information for identifying itself, and the terminal 10 further performs all of position tracking. The positional relationship of the base stations 40-1 to 40-4 in the target area is grasped. Therefore, the terminal 10 assigns the calculated position based on the optical ID information and the positional relationship (absolute arrangement information) of the plurality of base stations to the appropriate one of the first prescribed area and the second prescribed area. Can be applied to. Therefore, since the information processing apparatus such as the terminal 10 can recognize which position in which room the receiver 30 is located, it can always perform position tracking across a plurality of rooms.

  FIG. 9 is a diagram illustrating the setting process of the position estimation system 1 according to this embodiment. In the example of FIG. 9A, in the conventional lighthouse method (position tracking method using two base stations), a plurality of bases are arranged in a large space that is so wide that it is difficult to perform position tracking with an acceptable accuracy. A station 40 is installed. Reference numeral 40-5a is a position detection target area by the laser beam emitted from the base station 40-5, and reference numeral 40-6a is a position detection target area by the laser beam emitted from the base station 40-6. In this embodiment, the room 610 is the entire target area for position tracking. Also in this case, in the same manner as described above, the base station 40-1 with respect to the base station 40-1 is sequentially received by receiving the irradiation from the other base station 40 with reference to the base station 40-1 that has received the irradiation first. Or a relative position of 40-6 can be calculated. For example, as shown in FIG. 9B, the base station 40-2 with respect to the base station 40-1 at the first position in the area 601 where the position detection target areas of the base station 40-1 and the base station 40-2 overlap. The relative position and orientation of are calculated. Subsequently, for example, as shown in FIG. 9C, the base station for the base station 40-2 at the second position in the region 602 where the position detection target regions of the base station 40-2 and the base station 40-3 overlap. Calculate the relative position and orientation of 40-3. Then, the relative position and orientation of the base station 40-3 with respect to the base station 40-1 are calculated using the already calculated relative position and orientation of the base station 40-2 with respect to the base station 40-1. To do.

  Subsequently, for example, in the third position in the area 603 where the position detection target areas of the base station 40-2 and the base station 40-4 overlap, the relative position of the base station 40-4 with respect to the base station 40-2 and Calculate the orientation. Then, the relative position and orientation of the base station 40-4 relative to the base station 40-1 are calculated using the relative position and orientation of the base station 40-2 relative to the base station 40-1 that have already been calculated. To do. Subsequently, for example, as illustrated in FIG. 9D, the base station for the base station 40-4 at the fourth position in the region 604 where the position detection target regions of the base station 40-4 and the base station 40-5 overlap. Calculate the relative position and orientation of 40-5. Then, the relative position and orientation of the base station 40-5 with respect to the base station 40-1 are calculated using the already calculated relative position and orientation of the base station 40-4 with respect to the base station 40-1. To do. Subsequently, for example, in the fifth position in the region 605 where the irradiation ranges of the base station 40-4 and the base station 40-6 overlap, the relative position and orientation of the base station 40-6 with respect to the base station 40-4 are determined. calculate. Then, the relative position and orientation of the base station 40-6 relative to the base station 40-1 are calculated using the relative position and orientation of the base station 40-4 relative to the base station 40-1 that has already been calculated. To do. In this way, the absolute arrangement information of the base stations 40-1 to 40-6 is acquired.

  In the present embodiment, when position tracking is performed in a large room 610, each of the six base stations 40-1 to 40-6 is included in the position detection target areas 40-1a to 40-6a. Provided. That is, the base stations 40-1 to 40-6 are provided so that any area of the room 610 is included somewhere in the position detection target areas 40-1a to 40-6a. Therefore, no matter where the receiver 30 is in the room 610, the receiver 30 is always located within the position detection target area corresponding to one of the base stations 40-1 to 40-6. The relative position with reference to the base station 40 corresponding to can be estimated. Furthermore, in this embodiment, the positional relationship (absolutely arrangement information) of the base stations 40-1 to 40-6 in the room 610 is grasped, and each of the base stations 40-1 to 40-6 Since the optical ID information for specifying the signal is also transmitted, it is possible to recognize in which position detection target region the receiver 30 whose position is being specified is located. The terminal 10 grasps each positional relationship of the position detection target areas 40-1a to 40-6a based on the absolute arrangement information of the base stations 40-1 to 40-6. Therefore, if it is known in which position detection target area the receiver 30 is included and in which position, the position in the room 610 that is the entire target area of position tracking can be estimated (detected). it can. Therefore, position tracking can always be performed with an acceptable accuracy even in a large room 610.

≪Location estimation process≫
Next, the position estimation process of the position estimation system 1 will be described with reference to FIG. FIG. 10 is a flowchart showing position estimation processing of the receiver 30 and the terminal 10 according to the present embodiment. Before performing the following position estimation process (position tracking), the terminal 10 determines that the position and orientation of the other base station 40 with respect to the base station 40-1 are the base station 40-1 by the process of step S20 in FIG. It is stored in the station position storage unit 11. Note that, by the following position estimation process, for example, an image corresponding to the current position of the terminal 10 can be generated with reference to the position of the base station 40-1.

  In step S101, the receiver 30 receives light ID information, vertical laser light, and horizontal laser light irradiation in this order from one base station 40 at an arbitrary position. Subsequently, the receiver 30 receives the reception result of the vertical direction laser light and the reception result of the horizontal direction laser light received in step S101, and receives the reception result of the one base station 40 at the arbitrary position. Is calculated (step S102). This calculation method may be a conventional calculation method using the lighthouse method. Subsequently, the estimation unit 13 of the terminal 10 specifies the base station 40 that is the oscillation source of the light received in step S101 based on the optical ID information received in step S101 acquired by the acquisition unit 12. (Step S103). The receiver 30 calculates the relative position information of the receiver 30 with respect to the one base station 40 calculated in step S102 (corresponding to each component of the vector from the position of the one base station 40 toward the position of the receiver 30). The base station specifying information indicating the base station 40 specified in step S103 is transmitted to the terminal 10, and the terminal 10 receives each of the transmitted information. Instead of acquiring the relative position and orientation of the receiver 30 with respect to the base station 40 calculated by the receiver 30, the following processing may be performed. First, the acquisition unit 12 of the terminal 10 acquires a time-series signal from which light by irradiation is detected from the receiver 30. Subsequently, the estimation unit 13 of the terminal 10 calculates the relative position and orientation of the receiver 30 with respect to the base station 40. Thereby, since the process of calculating the position and the like is performed in the terminal 10, it is not necessary to provide the receiver 30 with a device for calculating the position and the like.

  The estimation unit 13 of the terminal 10 refers to the base station position storage unit 11 based on the received base station specifying information, and the base station indicated by the base station specifying information from the base station 40 (for example, the base station 40-1) as the origin O 40. Each component of the vector directed to the position of 40 is obtained, and the vector directed from the position of the base station as the origin O to the current position of the receiver 30 based on each component of the obtained vector and the relative position information. Is calculated, the current position of the receiver 30 (at the time of irradiation reception) with respect to the base station 40-1 is calculated (step S104), and the process is terminated.

Here, it demonstrates concretely using FIG. 7B. For example, it is assumed that the receiver 30 receives the optical ID information and the position tracking laser beam from the base station 40-3 in step S101. Next, in step S102, the receiver 30 calculates each component of the vector QC indicating the relative position of the current position C with respect to the position Q of the base station 40-3, and outputs it as relative position information. Next, in step S103, the receiver 30 specifies that the source of the received position tracking laser light is the base station 40-3 based on the optical ID information received in step S101, and Base station specifying information indicating the station 40-3 is output. When the terminal 10 receives the relative position information and the base station specifying information, the base station 40− stored in the base station position storage unit 11 obtained based on the received base station specifying information in step S104. The position of the current position C with respect to the base station 40-1 is acquired from the position of 3 (each component of the OQ vector) and the received relative position information. Here, each component of the vector OQ to the base station 40-3 with respect to the position O of the base station 40-1 is stored in advance in the base station position storage unit 11 in the setting process. Therefore, the current position with respect to the base station 40-1 can be calculated by vector OC = vector OQ + vector QC (relative position information). Specifically, the vector QC calculated in step S102 is (x _C , y _C , z _C ), and the vector OQ is (x _A −x ₁ + x ₂ −x) as described with reference to FIG. 7B. ₃ , y _A −y ₁ + y ₂ −y ₃ , z _A −z ₁ + z ₂ −z ₃ ), the vector OC is (x _A −x ₁ + x ₂ −x ₃ + x _C , y _A −y _{1 + y 2 -y 3 + y} C, z A -z 1 + z 2 -z 3 + y C) can be calculated by. Each component of the vector OC becomes a position (coordinates) with the position O as the origin.

  Further, for example, in FIG. 8, a room 501 that is a part of the entire target area for position tracking is included in the position detection target areas 40-1a and 40-2a of the base stations 40-1 and 40-2. The room 502, which is the remaining part of all the target areas for position tracking, is included in the position detection target areas 40-3a and 40-4a of the base stations 40-3 and 40-4. In other words, when the receiver 30 receives light from the base stations 40-1 and 40-2, the receiver 30 exists in the room 501, and the receiver 30 receives light from the base stations 40-3 and 40-4. Can be said to be present in the room 502. Therefore, if the base station that oscillated the position tracking laser light can be identified in step S103, the terminal 10 determines which position (identified by the optical ID information) in which room (position tracking laser light) in step S104. In other words, the position (coordinates) in the entire target area of position tracking can be acquired. At this time, the base stations 40-1 and 40-3 may simultaneously oscillate laser light, and the base stations 40-2 and 40-4 may simultaneously oscillate laser light at different timings. Alternatively, for each of the base stations 40-1 to 40-4, if the coordinates based on itself are associated with the coordinates in all the target areas of position tracking in advance, the base station receives the coordinates, If the position is specified with reference to the position, the position in the entire target area of the position tracking corresponding to the position can be obtained.

  An example of the position estimation process of the position estimation system 1 will be described with reference to FIG. The base station 40-1, base station 40-2, base station 40-3, and base station 40-4 installed as shown in FIG. 8A irradiate the range as shown in FIG. 8B. In this case, for example, irradiation is performed in the following order.

  First, the base station 40-2 and the base station 40-3 installed so that the position detection target areas do not overlap each other perform a series of irradiations simultaneously. In this series of irradiation, the base station 40 performs irradiation with optical ID information, a horizontal laser beam, and a vertical laser beam. Subsequently, the base station 40-1 performs a series of irradiation. Subsequently, the base station 40-4 performs a series of irradiations. Note that the above-described irradiation order is an example, and a timing at which a plurality of base stations 40 installed so that position detection target areas do not overlap each other simultaneously performs a series of irradiation, and other base stations 40 have a series of irradiation. It is only necessary that the irradiation timing is divided in time.

  FIG. 11 is a diagram for explaining position estimation processing of the position estimation system 1 according to the present embodiment. As shown in FIG. 9A, even when a plurality of base stations 40 are installed in a room 610 which is a large space, the position detection target areas are installed so as not to overlap each other, as described above. The timing at which a plurality of base stations 40 perform a series of irradiations simultaneously and the timing at which each other base station 40 performs a series of irradiations are divided in time.

  For example, as shown in FIG. 11A, the base station 40-2 and the base station 40-5 installed so that the position detection target areas do not overlap each other perform a series of irradiation simultaneously. Subsequently, for example, as illustrated in FIG. 11B, the base station 40-1 and the base station 40-6 installed so that the position detection target areas do not overlap each other perform a series of irradiation simultaneously. Subsequently, for example, as illustrated in FIG. 11C, the base station 40-3 performs a series of irradiation. Subsequently, for example, as illustrated in FIG. 11D, the base station 40-4 performs a series of irradiation. In this way, the base stations 40 installed so that the position detection target areas do not overlap each other are simultaneously irradiated, so that the time interval for tracking the position is shortened, so that the tracking accuracy is improved.

  FIG. 12 is a diagram illustrating a signal detected by the receiver 30 according to the present embodiment. After receiving a flash indicating the start of each frame (not shown), the sensor 301 receives optical ID information indicating the ID of the base station 40, a horizontal laser beam, and a vertical laser in each frame by a series of irradiation from the base station 40. Receive light. In the following description, it is assumed that the sensor 301 determines whether light is received at a predetermined sampling interval, and outputs “1” when light is received, and outputs “0” when light is not received. To do.

  In the example of FIG. 12, it is assumed that the sensor 301A outputs a signal “0001001000000100”, for example. In this case, in the sampled time-series order, “0001” as the first four values is information indicating the ID of the base station 40-1, and the subsequent six values “001000” and “000100” Each is processed as information indicating the angle (vector direction) in the horizontal direction and vertical direction of the sensor 301A with respect to the base station 40-1. Before receiving the first frame, the sensor 301A is notified of the start of the first frame, for example, by flashing from the base station 40-1.

  In the example of FIG. 12, it is assumed that the sensor 301B outputs a signal “0001010000001000”, for example. In this case, in the sampled time-series order, “0001” as the first four values is information indicating the ID of the base station 40-1, and the subsequent six values “010000” and “000010” are Each is processed as information indicating the angle (vector direction) in the horizontal direction and vertical direction of the sensor 301B with respect to the base station 40-1. In this way, if a plurality of sensors 301 can receive a series of irradiations from one base station 40, the horizontal and vertical angles (vector orientations) of each of the plurality of sensors 301 with respect to the base station 40 can be obtained. , Based on the distance information between the plurality of sensors 301 stored in advance, the relative position of the receiver 30 with respect to the one base station 40 (vector directed from the one base station 40 to the position of the receiver 30) Each component) and direction can be calculated.

  In the example of FIG. 12, the sensor 301A receives irradiation from the base station 40-1 in the first frame, irradiation from the base station 40-2 in the second frame, and base station 40-3 in the third frame. Not receiving irradiation from. This is because, for example, the sensor 301A is not located in the position detection target area of the base station 40-3, or the receiver 30 is tilted, for example, and the sensor 301A can receive irradiation from the base station 40-3. This is because it is not facing the direction.

<Modification>
Next, a modification of the position estimation process of the position estimation system 1 will be described with reference to FIG. FIG. 13 is a diagram illustrating the position estimation process of the position estimation system 1 according to the present embodiment. Instead of performing a series of irradiations in sequence, a plurality of base stations 40 in which the position detection target areas overlap, the position detection target area of the base station 40 is set in advance according to the installation position, thereby detecting the position of each base station 40 The target areas may not overlap.

  In the example of FIG. 13, the irradiation angles of the “longitudinal laser beam” and the “lateral laser beam” are set so that the position detection target areas of the base station 40-1 and the base station 40-4 do not include the corridor 503. Set. In this case, for example, first, the base station 40-2 and the base station 40-3 installed so that the position detection target areas do not overlap each other due to the wall of the room or the like perform a series of irradiation simultaneously. Subsequently, the base station 40-1 and the base station 40-4 installed so that the position detection target areas do not overlap each other perform a series of irradiations simultaneously.

  As a result, the time interval for tracking the position is further shortened, and the tracking accuracy is further improved.

  In the present embodiment, in all target areas for position tracking (for example, areas including rooms 501 and 502 and room 610), a plurality of base stations 40 (preferably three or more base stations) are connected to any of the above target areas. Is also included in one of the position detection target areas corresponding to each of the plurality of base stations 40 (that is, position detection corresponding to each of the plurality of base stations 40 out of all the target areas). In addition to the position tracking laser light, each base station 40 uses an ID for uniquely identifying itself in the light (light). (With ID information).

  Therefore, the receiver 30 as a position tracking target is a light receiving unit (sensor 301) that receives a laser beam for estimating (specifying) a position with respect to a coordinate axis defined in the predetermined position detection target area. Thus, the ID information of the base station corresponding to the position detection target area can be acquired. That is, information (vertical laser light and horizontal laser light) for acquiring a relative position with respect to a certain base station, and ID information for specifying a base station serving as a reference for the relative position Both can be acquired by the same member. Therefore, an increase in cost and size of the receiver 30 can be suppressed.

  In the present embodiment, since the ID is transmitted by light, even when a certain receiver 30 receives ID information from another base station at the same time, it interferes with the carrier portion of the other ID information. There is nothing. Therefore, as shown in FIG. 9A, in order to perform position tracking in all of the large room 610, it is more effective when a plurality of base stations 40 are provided in an unobstructed area. In this case, depending on the location, the receiver 30 receives ID information from a plurality of base stations 40. However, since the respective ID information does not interfere with each other, the receiver 30 correctly recognizes each ID information. It can be done.

  In the present embodiment, the information processing apparatus such as the terminal 10 grasps the positional relationship among a plurality of base stations provided in the entire target area for position tracking, and further receives the receiver 30 based on the optical ID information. Identifies the base station that is the source of the position tracking laser light received by. Therefore, the relative position with respect to a certain base station can be acquired, and the position of the base tracking station in all the target areas for position tracking can be acquired from the above positional relationship. The absolute position in the entire target area of the vessel 30 can be obtained. Therefore, it is indoor, and the entire target area for position tracking is an area consisting of multiple rooms, an area where the target area is spatially distributed, such as a multi-storey building, an area with a complicated shape, or a room Even in a wide area such as 610, the position of the receiver 30 can be acquired in all the target areas of position tracking supported by the base station 40 as described above. As described above, the analysis of the light reception result of the position tracking laser light (longitudinal laser light and lateral laser light) functions to acquire the relative position of the laser light with respect to the oscillation source. The analysis of the received light function functions so as to identify the section where the receiver 30 that has received the light is located among all the target areas of the position tracking roughly divided by the arrangement position of the base station. Then, based on the analysis results, the absolute position in the entire target area for position tracking is estimated. In the optical ID information according to the present embodiment, position information acquired as a relative position with respect to a certain reference point (base station) in a part of the entire target area is converted into absolute position information in the entire target area. It is used as a bridge to drop.

[Second Embodiment]
In 1st Embodiment, the receiver 30 demonstrated the example which performs the setting of the base station 40 so that it may not receive irradiation from the several base station 40 simultaneously. In the second embodiment, an example in which position information is not estimated when irradiation is simultaneously received from a plurality of base stations 40 will be described. In the second embodiment, in a region where irradiation from a plurality of base stations 40 does not overlap, the time interval for tracking the position is further shortened, so that the tracking accuracy is further improved. Note that the second embodiment is the same as the first embodiment except for a part thereof, and thus description thereof will be omitted as appropriate.

<Processing>
≪Location estimation process≫
Next, the position estimation process of the position estimation system 1 will be described with reference to FIG. FIG. 14 is a flowchart showing position estimation processing of the receiver 30 and the terminal 10 according to the present embodiment.

  In step S201, the receiver 30 receives irradiation from one or more base stations 40 at an arbitrary position. Subsequently, the acquisition unit 12 of the terminal 10 acquires, from the receiver 30, a time-series signal in which light due to irradiation is detected (Step S202).

  Subsequently, the estimation unit 13 of the terminal 10 determines whether or not the receiver 30 is simultaneously irradiated from a plurality of base stations 40 (step S203). In this case, for example, binary data (for example, irradiation (1), absence (0)) obtained from the optical ID information received by the receiver 30 from each base station 40 is stored in the base station position storage unit 11. It is determined that the irradiation has been received at the same time when it does not match any of the binary data indicating the ID that is present. For example, time-series signals (optical ID information) in which flash on / off patterns, which are IDs of the base station 40-1, the base station 40-2, the base station 40-3, and the base station 40-4, are detected are respectively “ It is assumed that the cases are “0001”, “0010”, “0100”, and “1000”. In this case, when the sensor 301 of the receiver 30 is simultaneously irradiated from the base station 40-1 and the base station 40-4, the flashes “0001” and “1000” are present and not present (on and off). The flash on / off pattern detected by the sensor 301 is “1001”. In this case, since the ID of “1001” is not stored in the base station position storage unit 11, it is determined that the irradiation is performed at the same time.

  If it is irradiated simultaneously from a plurality of base stations 40 (YES in step S203), it is determined that there is an error, and the process ends. When irradiation is not simultaneously received from a plurality of base stations 40 (NO in step S203), the estimation unit 13 of the terminal 10 presents the current state (at the time of irradiation reception) of the receiver 30 for the base station 40 at the arbitrary position. ) Is calculated (step S204).

  Subsequently, the estimation unit 13 of the terminal 10 is based on the information stored in the base station position storage unit 11, the ID of the base station 40, and the relative position and orientation of the receiver 30 with respect to the base station 40. The current position with respect to the base station 40-1 is calculated (step S205), and the process ends.

  An example of the position estimation process of the position estimation system 1 according to the second embodiment will be described with reference to FIG. The base station 40-1, base station 40-2, base station 40-3, and base station 40-4 installed as shown in FIG. 8A irradiate the range as shown in FIG. 8B. In this case, for example, irradiation is performed in the following order.

  First, the base station 40-2 and the base station 40-3 installed so that the position detection target areas do not overlap each other perform a series of irradiations simultaneously. Subsequently, the base station 40-1 and the base station 40-4 perform a series of irradiations simultaneously. In this case, in the region 504 and the region 505 where the position detection target regions of the base station 40-1 and the base station 40-4 overlap, the base station 40-1 and the base station 40-4 performed a series of irradiations simultaneously. Do not estimate the position.

  For this reason, in the area | region 504 and the area | region 505, the time interval at the time of tracking a position doubles. However, in the regions other than the region 504 and the region 505, as in the modification of the first embodiment described above, the time interval for tracking the position is further shortened, so that the tracking accuracy is further improved.

  Next, another example of the position estimation process of the position estimation system 1 according to the second embodiment will be described with reference to FIG. FIG. 15 is a diagram illustrating the position estimation process of the position estimation system 1 according to this embodiment.

  Instead of performing a series of irradiations in sequence, a plurality of base stations 40 where the position detection target areas overlap, by setting the irradiation range of the base station 40 in advance according to the installation position, the position detection target areas of each base station 40 May not overlap.

  In the example of FIG. 15, as in the example of FIG. 9A, a plurality of base stations 40 are installed in a relatively large space. In this case, for example, it may be divided into two groups so that the position detection target regions do not overlap each other as much as possible, and irradiation may be performed alternately. In this case, for example, first, as shown in FIG. 15A, the base station 40-1, the base station 40-3, and the base station 40-6 simultaneously perform a series of irradiation. Subsequently, as shown in FIG. 15B, the base station 40-2, the base station 40-4, and the base station 40-5 simultaneously perform a series of irradiation.

  In this case, in the area 651 where the position detection target areas of the base station 40-1 and the base station 40-3 overlap, and in the area 652 where the position detection target areas of the base station 40-3 and the base station 40-6 overlap, 40-1, the base station 40-3, and the base station 40-6 do not estimate the position when a series of irradiations are performed simultaneously. In the area 653 where the position detection target areas of the base station 40-2 and the base station 40-4 overlap, and in the area 654 where the position detection target areas of the base station 40-4 and the base station 40-5 overlap, the base station 40 -2, base station 40-4, base station 40-5 does not estimate the position when a series of irradiations are performed simultaneously.

[Third Embodiment]
In 2nd Embodiment, when irradiation was simultaneously received from the several base station 40, the example which does not estimate position information was demonstrated. In the third embodiment, when irradiation is received from a plurality of base stations 40 at the same time, using the position information of the plurality of base stations 40 stored in advance, signals received from the irradiation simultaneously are received from each base station 40. An example will be described in which position information is estimated by being separated into signals by irradiation. In the third embodiment, since the time interval for tracking the position is further shortened, the tracking accuracy is further improved. Note that the third embodiment is the same as the first to second embodiments except for a part thereof, and thus the description thereof will be omitted as appropriate.

<Processing>
≪Location estimation process≫
Next, the position estimation process of the position estimation system 1 will be described with reference to FIG. FIG. 16 is a flowchart showing position estimation processing of the receiver 30 and the terminal 10 according to the present embodiment.

  In step S301, the receiver 30 receives irradiation from one or more base stations 40 at an arbitrary position. Subsequently, the acquisition unit 12 of the terminal 10 acquires, from the receiver 30, a time-series signal in which light due to irradiation is detected (Step S302). Subsequently, the estimation unit 13 of the terminal 10 determines whether or not the receiver 30 is simultaneously irradiated from a plurality of base stations 40 (step S303). This step may be performed in the same manner as step S203. In the case of simultaneous irradiation from a plurality of base stations 40 (YES in step S303), the estimation unit 13 of the terminal 10 uses a time-series signal in which simultaneously irradiated light is detected as a signal generated by irradiation from each base station 40. (Step S304). Subsequently, the estimation unit 13 of the terminal 10 calculates the current position with respect to the base station 40-1 from the separated signal using information stored in the base station position storage unit 11 (step S305), and performs processing Exit.

  FIG. 17 is a diagram illustrating the position estimation processing of the receiver 30 and the terminal 10 according to the present embodiment.

  In the example of FIG. 17, the sensor 301A includes a flash indicating the start of the first frame (not shown) in the first frame by a series of irradiation from the base station 40-1 and the base station 40-2. Receives optical ID information, horizontal laser light, and vertical laser light. In this case, it is assumed that the time-series signal by which the light from the base station 40-1 is detected by the sensor 301A is, for example, “0001001000000100” as in the example of FIG. Further, it is assumed that the time-series signal in which the light by the irradiation from the base station 40-2 is detected by the sensor 301A is “0010000001001000”, for example.

  In this case, when the two signals are received simultaneously, the time-series signal detected by the sensor 301A is “1” output by irradiation from the base station 40-1 and irradiation from the base station 40-2. It is “0011001001100100” to which the above signals are added. Here, “0011” is information indicating the IDs of the plurality of base stations 40 in time series order, and “001001” and “001100” are the angles of the horizontal direction and the vertical direction of the sensor 301A with respect to the plurality of base stations 40 ( Vector direction). “0011” indicating the IDs of the plurality of base stations 40 can be separated into “0010” and “0001”. Information “001001” indicating the lateral angle (vector direction) of the sensor 301A with respect to the plurality of base stations 40 can be separated into “001000” and “000001”. Information “001100” indicating the vertical angle (vector direction) of the sensor 301A with respect to the plurality of base stations 40 can be separated into “001000” and “000100”.

  Therefore, the information indicating the horizontal and vertical angles (vector directions) from the base station 40 with the ID “0010” is “001000” “001000”, “001000” “000100”, “000001” “001000”. "," 000001 ", and" 000100 ". Similarly, information indicating the horizontal and vertical angles (vector directions) from the base station 40 with ID “0001” is “001000”, “001000”, “001000”, “000100”, “000001”, “000001” There are four possibilities: “001000”, “000001”, “000100”.

  Here, since the relative position of each base station 40 with respect to the base station 40-1 is stored in the base station position storage unit 11, the horizontal direction and the vertical direction from the base station 40 whose ID is “0010” are stored. For each of the four vector directions in the direction, the position (intersection point) where the other three vector directions from the base station 40 whose ID is “0001” intersect in the horizontal direction and the vertical direction intersects with each other. 1 as the current position. Even when irradiation is simultaneously received from three or more base stations 40, the positions at which the vector directions from each base station 40 intersect are determined for each of the separated vector directions, as described above. As the current position.

  When irradiation is not received simultaneously from a plurality of base stations 40 (NO in step S303), the estimation unit 13 of the terminal 10 presents the current state of the receiver 30 with respect to the base station 40 (at the time of irradiation reception) at the arbitrary position. ) Is calculated (step S306). Subsequently, the estimation unit 13 of the terminal 10 is based on the information stored in the base station position storage unit 11, the ID of the base station 40, and the relative position and orientation of the receiver 30 with respect to the base station 40. The current position with respect to the base station 40-1 is calculated (step S307), and the process ends.

  As mentioned above, although the Example of this invention was explained in full detail, this invention is not limited to such specific embodiment, In the range of the summary of this invention described in the claim, various deformation | transformation・ Change is possible.

  A part of the processing in each functional unit of the terminal 10 and the setting terminal 20 may be realized by cloud computing configured by one or more computers, for example.

  A part of the processing in the receiver 30 may be executed in the terminal 10 or the setting terminal 20. Further, a part of the processing in the terminal 10 and the setting terminal 20 may be executed in the receiver 30. The receiver 30 and the terminal 10, and the receiver 30 and the setting terminal 20 may be configured as an integrated device.

10 terminal 11 base station position storage unit 12 acquisition unit 13 estimation unit 20 setting terminal 21 base station position storage unit 22 acquisition unit 23 base station position estimation unit 30 receiver 40 base station

Claims (2)

A plurality of base stations that scan a first laser beam in a first direction and scan a second laser beam in a second direction perpendicular to the first direction at a timing different from the scanning; Each of the plurality of base stations irradiates ID extraction light at a timing different from that of the first laser light and the second laser light so as to be interpreted as an ID that identifies the base station. A base station,
A receiver configured to be movable, and receiving the first laser light, the second laser light, and the ID extraction light;
Means for identifying the base station that is the oscillation source of the ID extraction light received by the reception unit, among the plurality of base stations, by the ID extraction light received by the reception unit;
Means for acquiring the position of the receiving unit relative to the oscillation source base station according to the timing of receiving the first laser beam and the second laser beam received by the receiving unit;
Means for acquiring the position of the receiving unit based on a predetermined position based on the position of the specified base station and the acquired position of the receiving unit with respect to the acquired base station of the oscillation source A position estimation system characterized by that. For position tracking including a first laser beam scanned in a first direction and a second laser beam scanned in a second direction perpendicular to the first direction at a timing different from the scanning A plurality of base stations each irradiating laser light and irradiating ID extraction light at a timing different from the position tracking laser light so as to be interpreted as an ID identifying itself; At least a part of the irradiation range of the position tracking laser light emitted from each of the plurality of base stations is a position detection target region corresponding to each of the plurality of base stations, and any of all target regions of position tracking A plurality of base stations provided so as to be included in any of the position detection target areas corresponding to each of the plurality of base stations,
A receiver configured to be movable and receiving the position tracking laser light and the ID extraction light;
Means for identifying the base station that is the oscillation source of the ID extraction light received by the reception unit, among the plurality of base stations, by the ID extraction light received by the reception unit;
Means for acquiring a position of the receiving unit with respect to the oscillation source base station based on timings of receiving the first laser beam and the second laser beam included in the position tracking laser beam received by the receiving unit; ,
Based on the position of the specified base station and the position of the reception unit with respect to the acquired base station of the oscillation source, the reception unit based on a predetermined position in all target areas of the position tracking A position estimation system comprising: means for acquiring the position of