JP2019128195A - Transmitter search device and program - Google Patents

Abstract

To provide a transmitter search device with high search accuracy of the transmitter.SOLUTION: The search device moves from a first point to a first direction, and then estimates a present area of a transmitter from a change in a reception strength when moved to a second direction perpendicular to the first direction. The search device detects a second point different from the first point of the same strength as the receiving strength measured by the measurement unit at the first point. The search device moves from the first point to the first direction, and then estimates the present area of the transmitter from the change in the reception strength when moved to the second direction perpendicular to the first direction. Then, the search device determines the cross section of the first circle with a radius as the distance converted from the receiving strength measured by the measurement unit around the first point and the second circle around the second point with the radius as the distance in the estimated area.SELECTED DRAWING: Figure 5

Description

  Embodiments described herein relate generally to a transmitter search device for searching for a transmitter such as a beacon and a program for causing a computer to function as the transmitter search device.

  In recent years, services such as product guidance, facility guidance, event notification, and the like have been developed for visitors by arranging transmitters such as beacons at appropriate places in stores, commercial facilities, event venues, and the like. For example, a beacon using a standard called BLE (Bluetooth (registered trademark) Low Energy) is generally used. Since this type of beacon is small and battery-powered, it has the advantage that it can be placed anywhere in the facility. However, on the other hand, there is a risk that the location of the beacon cannot be confirmed and lost when performing maintenance such as battery replacement or when removing the beacon from the facility.

  Therefore, a portable search device that searches for a transmitter by estimating the arrival direction of a radio wave based on the reception intensity of a radio wave transmitted from a transmitter such as a beacon has been known. However, the conventional search device has poor position detection accuracy and sometimes cannot find the transmitter immediately.

JP, 2017-078608, A

  The problem to be solved by the embodiments of the present invention is to provide a transmitter search apparatus capable of searching for transmitters with high accuracy.

  In one embodiment, the transmitter search apparatus includes a receiving unit, a measuring unit, a storage unit, an estimating unit, a detecting unit, and a determining unit. The receiving unit receives radio waves transmitted from the transmitter. The measurement unit measures the reception intensity of the radio wave received by the reception unit. The storage unit stores the reception intensity measured by the measurement unit at the first point. The estimation means estimates the presence area of the transmitter from a change in reception intensity when moving in the first direction from the first point and further moving in the second direction orthogonal to the first direction. To do. The detecting means detects a second point different from the first point at which the same intensity as the received intensity stored in the storage unit is measured by the measuring unit. In the region estimated by the estimating means, the determining means is centered on the first circle centered on the first point and the radius of the distance converted from the received intensity stored in the storage unit. And the intersection with the second circle whose radius is the distance is determined as the position of the transmitter.

The block diagram which shows the principal part circuit structure of the search device which concerns on 1st Embodiment. The flowchart which shows the principal procedure of the process which the processor of a search device performs according to a search program in 1st Embodiment. The flowchart which shows the principal procedure of the process which the processor of a search device performs according to a search program in 1st Embodiment. The flowchart which shows the principal procedure of the process which the processor of a search device performs according to a search program in 1st Embodiment. The figure for demonstrating an example of the search algorithm in 1st Embodiment. The figure for demonstrating the other example of the search algorithm in 1st Embodiment. The schematic diagram which shows an example of the 1st image displayed on a display device in 1st Embodiment. The schematic diagram which shows an example of the 2nd image displayed on a display device in 1st Embodiment. The schematic diagram which shows an example of the 3rd image displayed on a display device in 1st Embodiment. The schematic diagram which shows an example of the 4th image displayed on a display device in 1st Embodiment. The block diagram which shows the principal part circuit structure of the search device which concerns on 2nd Embodiment. The flowchart which shows the principal procedure of the process which the processor of a search device performs according to a search program in 2nd Embodiment. Explanatory drawing of 3rd Embodiment. The flowchart which shows the principal part procedure of the process which the processor of a master apparatus performs according to a search program in 3rd Embodiment. The flowchart which shows the principal procedure of the process which the processor of a slave apparatus performs according to a search program in 3rd Embodiment. The figure for demonstrating an example of the search algorithm in 3rd Embodiment.

Hereinafter, an embodiment of a transmitter search apparatus capable of searching for a transmitter with high accuracy will be described using the drawings.
In this embodiment, a beacon search device (hereinafter, referred to as a search device) for searching for a beacon arranged at an appropriate place of a facility such as a store, a commercial facility, an event hall or the like is exemplified. A beacon transmits a beacon signal including an ID unique to the beacon in a range of several tens of meters once every few seconds in accordance with the BLE standard, and is one aspect of a transmitter.

[First Embodiment]
FIG. 1 is a block diagram showing a main circuit configuration of a search device 10 according to this embodiment. The search apparatus 10 includes a portable housing including a processor 11, a memory 12, a transmission / reception circuit 13, a sensor unit 14, an input device 15, a display device 16, an imaging device 17, a wireless unit 18, and a system transmission path 19. Electronic devices. The system transmission path 19 includes an address bus, a data bus, a control signal line, and the like. The system transmission path 19 connects the processor 11 to the memory 12, the transmission / reception circuit 13, the sensor unit 14, the input device 15, the display device 16, the imaging device 17, and the wireless unit 18 directly or via a signal input / output circuit.

  The processor 11 corresponds to the central part of the search device 10. The processor 11 controls each unit to implement various functions as the search device 10 according to the operating system and application programs.

  The memory 12 includes a non-volatile memory area and a volatile memory area. The memory 12 stores an operating system, an application program, and the like in the non-volatile memory area. The memory 12 also stores data necessary for the processor 11 to execute processing for controlling each unit in a non-volatile or volatile memory area. Further, the memory 12 uses a volatile memory area as a work area in which data is appropriately rewritten by the processor 11.

  The transmission / reception circuit 13 receives a beacon signal transmitted from a beacon and detects a beacon ID from the beacon signal. The beacon ID is a unique code set for each beacon and is included in the beacon signal. The transmission / reception circuit 13 includes an RSSI (Received Signal Strength Indication) measurement circuit 131 for measuring the radio wave reception intensity, and measures the radio wave reception intensity of the received beacon signal, so-called RSSI value. Then, each time the transmitting and receiving circuit 13 receives a beacon signal, the transmitting and receiving circuit 13 supplies the beacon ID detected from the beacon signal and the RSSI value measured by the RSSI measuring circuit 131 as a pair to the processor 11. Here, the transmission / reception circuit 13 constitutes a reception unit, and the RSSI measurement circuit 131 constitutes a measurement unit.

  The sensor unit 14 includes a sensor used to measure the movement state of the search device 10 using a technology called PDR (Pedestrian Dead Reckoning). That is, the sensor unit 14 includes an acceleration sensor required for PDR, a gyro sensor (angular velocity sensor), a geomagnetic sensor (electronic compass), and the like. The value measured by the sensor unit 14 is given to the processor 11. The processor 11 measures, in real time, information on how much the search apparatus 10 has moved, that is, the moving direction (angle) and the moving amount (distance), based on the measurement values of the sensors.

  The input device 15 is a touch panel, a pointing device, a keyboard, or the like. The display device 16 is a liquid crystal display, an LED display, or the like. The input device 15 and the display device 16 act as an interface with a user who searches for a beacon using the search device 10.

  The imaging device 17 is a small digital camera such as a complementary metal oxide semiconductor (CMOS) camera or a charge coupled device (CCD) camera. The imaging device 17 is attached to the search device 10 so as to capture the traveling direction of the search device 10.

  The wireless unit 18 performs wireless communication with other devices via a wireless LAN (Local Area Network). Other devices include a computer as a server.

  As the search device 10 having such a configuration, a known portable computer device such as a smartphone, a tablet terminal, or a notebook computer can be applied.

  2 to 4 are flowcharts showing the main procedure of processing executed by the processor 11 of the search device 10 according to the search program. FIGS. 5 and 6 are explanatory diagrams of a beacon search algorithm by the search program. The search program is one type of application program stored in the memory 12. Hereinafter, the operation of the searching device 10 when the user searches for a desired beacon using the searching device 10 will be described using FIGS. 2 to 6. The contents of the processing illustrated in FIGS. 2 to 6 and described below are merely examples, and the processing procedure and processing contents are not particularly limited as long as similar results can be obtained.

  First, the user operates the input device 15 to start a search program. When the search program is activated, the processor 11 starts processing according to the procedure shown in the flowchart of FIG. First, the processor 11 creates a list of beacons for which the beacon signal has been received by the transmission / reception circuit 13 and causes the display device 16 to display the beacon list. The beacon list is a list of beacon IDs included in the beacon signal. A data table in which beacon names are set in association with beacon IDs may be stored in the memory 12, and a beacon list in which beacon names are listed may be displayed instead of the beacon IDs. Alternatively, a server connected to the search apparatus 10 via the wireless LAN includes the data table, and the search apparatus 10 acquires a beacon name associated with the beacon ID from the server using wireless communication, You may display a list.

  The user who has confirmed the beacon list operates the input device 15 to select one beacon to be searched. The processor 11 waits for the selection of one beacon to be searched, that is, a so-called search beacon, as Act 2. When the processor 11 detects that one search beacon has been selected from the beacon list (Act 2, YES), the processor 11 sets the radio wave reception intensity E 1 of the beacon signal transmitted from the search beacon from the transmission / reception circuit 13 as Act 3. It is acquired and recorded in the first work area of the memory 12. Here, the memory 12 configures a storage unit.

  The processor 11 determines, as Act 4, the base point O and the traveling direction Y of the search device 10 using the PDR technique based on the measured values of the sensors constituting the sensor unit 14. The base point O is the current position of the search device 10. The traveling direction Y is the moving direction of the search device 10. That is, the processor 11 measures the position and moving direction of the searching device 10 as needed based on the measurement values of each sensor required by the PDR with the searching device 10 moving autonomously as a positioning target, and determines the current position as the base point O The movement direction is determined as the signal direction Y.

  The state [I] in FIG. 5 shows an example of the positional relationship between the base point O that is the current position of the search device 10 and its traveling direction Y and the search beacon B. Moreover, the case where the radio wave reception intensity E1 of the beacon signal transmitted from the search beacon B is −60 dB is shown. Since the radio wave reception intensity E1 is −60 dB, the distance d from the base point O to the search beacon B can be estimated. However, it is known that the position of the search beacon B is on the approximate circumference of a circle C whose center is the origin O and whose radius is the distance d.

  Thus, the processor 11 causes the display device 16 to display a first image SC1 (see FIG. 7) for guiding the user to move in the traveling direction Y from the base point O as Act5.

  FIG. 7 is a display example of the first image SC1. In the figure, a thick arrow image G1 indicates the traveling direction Y. The processor 11 acquires an actual image captured by the imaging device 17. Then, the processor 11 creates an augmented reality image in which the image G1 is superimposed on the actual image, and causes the display device 16 to display the augmented reality image as the first image SC1.

  Here, the processor 11 constitutes a first guiding means by executing the processing of Act5. That is, the processor 11 guides the movement in the first direction (traveling direction Y) from the first point (base point O). Specifically, the processor 11 provides guidance by displaying an image G1 for guidance on the display unit (display device 16) so as to be superimposed on an image of the real space imaged by the imaging unit (imaging device 17).

  The user who has confirmed the first image SC1 moves in the direction indicated by the arrow of the image G1. At this time, an actual image in the traveling direction Y is displayed together with the arrow image G1 in the first image SC1. Therefore, the user can easily move in the direction indicated by the arrow.

  The processor 11 detects the moving direction of the search device 10 by using the PDR technology based on the measurement values of the sensors that constitute the sensor unit 14 as Act 6. Then, the processor 11 determines whether the moving direction matches the traveling direction Y as Act7.

  If the movement direction is deviated from the traveling direction Y (Act 7, NO), the processor 11 causes the display device 16 to display an image instructing correction of the movement direction as Act 8. For example, when the moving direction is deviated 10 degrees to the right with respect to the traveling direction Y, correction is instructed by tilting the image G1 of the arrow displayed in the first image CS1 10 degrees to the left. After that, the processor 11 returns to Act6. That is, the processor 11 detects the movement direction of the search device 10 and determines again whether or not the movement direction matches the traveling direction Y.

  When the moving direction matches the traveling direction Y (Act 7, YES), the processor 11 acquires the radio wave reception intensity E2 of the beacon signal transmitted from the search beacon B from the transmission / reception circuit 13 as Act 9, and stores the memory. Record in 12 second work areas. Then, the processor 11 obtains a difference value between the radio wave reception intensity E1 recorded in the first work area of the memory 12 and the radio wave reception intensity E2 recorded in the second work area as Act10. The difference value is a change amount (E2−E1) between the radio wave reception intensity E1 at the base point O and the radio wave reception intensity E2 at the local point. The processor 11 determines whether or not the amount of change (E2-E1) is equal to or greater than a predetermined value ± e [dB].

  The radio wave reception intensity increases when the search device 10 moves from the base point O toward the search beacon B and decreases when the search device 10 moves away from the base point O. Therefore, the amount of change (E2-E1) is greater than or equal to the value ± e [dB] somewhere, regardless of the direction of movement.

  If the variation (E2-E1) of the radio wave reception intensity is not equal to or more than the predetermined value ± e [dB] (Act10, NO), the processor 11 returns to Act6. That is, the processor 11 detects the movement direction of the search device 10 and determines again whether or not the movement direction matches the traveling direction Y.

  If the amount of change (E2-E1) in the radio wave reception intensity becomes equal to or greater than the predetermined value ± e [dB] (Act 10, YES), the processor 11 instructs the display device 16 to stop moving as Act 11. Display.

  The state [II] in FIG. 5 shows the positional relationship between the search beacon B and the local point p1 of the search device 10 when the variation (E2-E1) of the radio wave reception strength becomes equal to or greater than the predetermined value ± e [dB]. An example is shown. The predetermined value ± e [dB] is ± 8 [dB]. That is, the search device 10 moves in the direction approaching from the base point O to the search beacon B, and the radio wave reception intensity E2 reaches -52 [dB] at the point p1. In this state, when the axis orthogonal to the traveling direction Y of the search device 10 and passing through the base point O is the X axis, the search beacon B exists in the direction of the traveling direction Y than the X axis, that is, in the area A1. Can be estimated. Incidentally, when the search device 10 moves in a direction away from the base point O with respect to the search beacon B and the radio wave reception intensity E2 reaches −68 [dB], the search beacon B travels in the traveling direction Y with respect to the X axis. It can be estimated that it exists in the opposite direction.

  In Act 11, the processor 11 instructed to stop moving determines whether the radio wave reception intensity E2 is higher than the radio wave reception intensity E1 as Act 12. When the radio wave reception intensity E2 is greater than the radio wave reception intensity E1 (Act 12, YES), the processor 11 recognizes that the area where the search beacon B exists is an area in the traveling direction Y with respect to the X axis as Act 13. On the other hand, when the radio wave reception intensity E2 is smaller than the radio wave reception intensity E1 (Act12, NO), the processor 11 determines that the existence area of the search beacon B is reverse to the traveling direction Y rather than the X axis as Act14. It recognizes that it is an area of the direction "-Y".

  When the processing of Act13 or Act14 is completed, the processor 11 displays the second image SC2 (see FIG. 8) that guides the user from the point p1 to move in the traveling direction “−X” as Act15 of FIG. 16 is displayed. The traveling direction “−X” is one direction orthogonal to the traveling direction Y (left direction when the traveling direction Y is the front).

  FIG. 8 is a display example of the second image SC2. In the figure, a thick arrow image G2 indicates the traveling direction "-X". The processor 11 acquires an actual image captured by the imaging device 17. Then, the processor 11 creates an augmented reality image in which the image G2 is superimposed on the actual image, and causes the display device 16 to display the augmented reality image as the second image SC2.

  Here, the processor 11 constitutes the second guiding means by executing the processing of Act15. That is, the processor 11 moves from the first point (base point O) to the first direction (advancing direction Y) to increase or decrease the radio wave reception intensity by a predetermined value ± e [dB] from the point (point p1) Guide the movement in the direction 2 (traveling direction “−X”). Specifically, the processor 11 guides the display unit (display device 16) by displaying an image G2 for guidance on the display unit (display device 16) so as to overlap the real space image captured by the imaging unit (imaging device 17).

  The user who has confirmed the second image SC2 moves in the direction indicated by the arrow of the image G2. At this time, the real image in the traveling direction “−X” is displayed in the second image SC2 together with the arrow image G2. Therefore, the user can easily move in the direction indicated by the arrow.

  The processor 11 detects the moving direction of the search device 10 by using the PDR technology based on the measurement values of the sensors that constitute the sensor unit 14 as Act 16. Then, the processor 11 determines whether the moving direction matches the traveling direction “−X” as Act 17.

  When the moving direction deviates from the traveling direction “−X” (Act 17, NO), the processor 11 causes the display device 16 to display an image instructing correction of the moving direction as Act 18. For example, when the moving direction is deviated 15 degrees to the left with respect to the traveling direction “−X”, the correction is performed by rotating the arrow image G2 displayed in the second image CS2 15 degrees clockwise. Instruct. After that, the processor 11 returns to Act 16. That is, the processor 11 detects the moving direction of the search device 10 again, and determines again whether the moving direction matches the traveling direction “−X”.

  When the moving direction matches the traveling direction “−X” (Act 17, YES), the processor 11 acquires the radio wave reception intensity E 3 of the beacon signal transmitted from the search beacon B from the transmission / reception circuit 13 as Act 19, The data is recorded in the third work area of the memory 12. Then, the processor 11 obtains, as Act 20, a difference value between the radio wave reception intensity E2 recorded in the second work area of the memory 12 and the radio wave reception intensity E3 recorded in the third work area. The difference value is the amount of change (E3-E2) between the radio wave reception intensity E2 at the point p1 and the radio wave reception intensity E3 at the local point. The processor 11 determines whether or not the amount of change (E3-E2) is equal to or greater than a predetermined value ± e [dB].

  The radio wave reception intensity increases when the search device 10 moves from the point p1 toward the search beacon B and decreases when the search device 10 moves away from the point p1. Therefore, the amount of change (E3-E2) is greater than or equal to the value ± e [dB] somewhere, regardless of the direction of movement.

  If the amount of change (E3−E2) in the radio wave reception intensity is not equal to or greater than the predetermined value ± e [dB] (Act 20, NO), the processor 11 returns to Act 16. That is, the processor 11 detects the moving direction of the search device 10 and determines again whether or not the moving direction matches the traveling direction “−X”.

  If the change amount (E3-E2) of the radio wave reception intensity becomes equal to or more than the predetermined value ± e [dB] (Act 20, YES), the processor 11 instructs the display device 16 an image instructing movement stop as Act 21. Display.

  The state [III] in FIG. 5 indicates the positional relationship between the search beacon B and the local point p2 of the search device 10 when the variation (E3-E2) of the radio wave reception intensity is equal to or greater than the predetermined value ± e [dB]. An example is shown. The predetermined value ± e [dB] is ± 8 [dB]. That is, the search device 10 moves in a direction away from the point p1 to the search beacon B, and the radio wave reception intensity E3 reaches −60 [dB] at the point p2. In this state, when an axis orthogonal to the X axis and passing through the base point O and the point p1 is taken as the Y axis, the search beacon B is a region of the traveling direction Y more than the X axis and the traveling direction “− It can be estimated that the region is opposite to the region X, that is, in the region A2.

  In Act 21, the processor 11 instructing to stop moving determines whether the radio wave reception intensity E3 is higher than the radio wave reception intensity E2 as Act 22. When the radio wave reception intensity E3 is greater than the radio wave reception intensity E2 (Act22, YES), the processor 11 recognizes that the existence area of the search beacon B is an area in the movement direction “−X” from the Y axis as Act23. To do. On the other hand, when the radio wave reception intensity E3 is lower than the radio wave reception intensity E2 (Act22, NO), the processor 11 sets the presence area of the search beacon B as the movement direction “−X” as compared with the Y axis as Act24. It is recognized that the region is in the opposite direction X.

  Here, the processor 11 constitutes an estimation means by executing the processes of Act3 to Act24. That is, the processor 11 moves the search device 10 from the first point (base point O) in the first direction Y, and further in the second direction “−X” orthogonal to the first direction Y. The presence area of the search beacon B is estimated from the change in the radio wave reception intensity of the beacon signal from the search beacon B.

  After completing Act 23 or Act 24, the processor 11 determines whether the radio wave reception intensity E3 recorded in the third work area of the memory 12 is equal to the radio wave reception intensity E1 recorded in the first work area, as Act 25. . When the radio wave reception intensity E3 is equal to the radio wave reception intensity E1 (Act 25, YES), the processor 11 proceeds to Act 30 of FIG. If the radio wave reception intensity E3 is not equal to the radio wave reception intensity E1 (Act 25, NO), the processor 11 executes the processes of Act 26 to Act 29 in FIG. 4 and then proceeds to Act 30.

  In Act 26, the processor 11 causes the display device 16 to display an image instructing to search for a point where the radio wave reception intensity becomes the radio wave reception intensity E1 recorded in the first work area. For example, the processor 11 causes the display device 16 to display an image including a message “Please search for a point where the radio wave reception intensity is E1”.

  The user who has confirmed the image carries the search device 10 and slowly moves in the facility in any direction.

  The processor 11 acquires, as Act 27, the radio wave reception intensity E4 of the beacon signal transmitted from the search beacon B from the transmission / reception circuit 13. Then, the processor 11 compares the radio wave reception intensity E1 and the radio wave reception intensity E4 recorded in the first work area of the memory 12 as Act 28. As a result of the comparison, when the radio wave reception intensity E4 does not match the radio wave reception intensity E1 (Act 28, NO), the processor 11 returns to Act 27. That is, the processor 11 acquires the radio wave reception intensity E4 from the transmission / reception circuit 13 again.

  If the radio wave reception intensity E4 matches the radio wave reception intensity E1 (Act 28, YES), the processor 11 causes the display device 16 to display an image for instructing to stop the movement as Act 29. After that, the processor 11 proceeds to Act 30.

  In Act 30, the processor 11 determines that the current position of the search device 10 when the radio wave reception intensity E3 or the radio wave reception intensity E4 matches the radio wave reception intensity E1 is the point P.

  The state [IV] in FIG. 5 indicates the positions of the base point O, the point P, and the search beacon B when the point p2 is determined as the point P because the radio wave reception intensity E3 at the point p2 matches the radio wave reception strength E1. An example of the relationship is shown.

  The processor 11 calculates a distance d converted from the radio wave reception intensity E1 as Act 31. Then, the processor 11 determines the position of the search beacon B as Act 32 based on the positions of the base point O and the point P and the distance d. That is, the processor 11 first creates a first circle C1 having the base point O as the center and the distance d as the radius. Next, the processor 11 creates a second circle C2 with the point P as the center and the distance d as the radius. Then, the processor 11 sets the intersection existing in the area A2 among the intersections where the first circle C1 and the second circle C2 intersect as the position of the search beacon B.

  Here, the processor 11 configures a detection unit by the processes of Act 25 to Act 30. That is, the processor 11 is a second point different from the first point (base point O) at which the same intensity as the radio wave reception intensity E1 stored in the storage unit (memory 12) is measured by the measurement unit (RSSI measurement circuit 131). P1 is detected.

  Further, the processor 11 constitutes a determination unit by the processing of Act31 and Act32. That is, in the area A2 estimated by the estimation means (Act 3 to Act 24), the processor 11 is converted from the radio wave reception intensity E1 stored in the storage unit (memory 12) centering on the first point (base point O) The intersection of a first circle C1 whose radius is the distance d and a second circle C2 whose center is the second point (point P) and whose radius is the distance d is determined as the position of the search beacon B.

  When the position of the search beacon B is determined in this way, the processor 11 causes the display device 16 to display the third image SC3 (see FIG. 9) that guides the user from the point P in the direction of the search beacon B as Act33.

  FIG. 9 is a display example of the third image SC3. In the figure, a thick arrow image G3 indicates the direction of the search beacon B. The processor 11 acquires an actual image captured by the imaging device 17. Then, the processor 11 creates an augmented reality image in which the image G3 is superimposed on the actual image, and causes the display device 16 to display the augmented reality image as the third image SC3.

  Here, the processor 11 constitutes a third guiding means by executing the processing of Act33. That is, the processor 11 guides to the position of the search beacon B determined by the determination means (Act 31 and Act 32). Specifically, the processor 11 provides guidance by displaying an image G3 for guidance on the display unit (display device 16) so as to be superimposed on an image of the real space imaged by the imaging unit (imaging device 17).

  The user who has confirmed the third image SC3 moves in the direction indicated by the arrow of the image G3. At this time, an actual image in the traveling direction is displayed in the third image SC3 together with the arrow image G3. Therefore, the user can easily move in the direction indicated by the arrow.

  The processor 11 detects the moving direction of the search device 10 using the PDR technology based on the measurement values of the respective sensors that constitute the sensor unit 14 as Act 34. Then, the processor 11 determines, as Act 35, whether or not the moving direction matches the direction of the search beacon B. When the moving direction is deviated from the direction of the search beacon B (Act 35, NO), the processor 11 causes the display device 16 to display an image instructing correction of the moving direction as Act 36, as in Act 8 or Act 18. After that, the processor 11 returns to Act 35. That is, the processor 11 detects the moving direction of the search device 10 again, and determines again whether the moving direction matches the direction of the search beacon B.

  When the moving direction matches the direction of the search beacon B (Act 35, YES), the processor 11 determines whether the search device 10 has reached the position of the search beacon B as Act 37. When the search device 10 has not reached the position of the search beacon B (Act 37, NO), the processor 11 returns to Act 35. That is, the processor 11 detects the moving direction of the search device 10 again, and determines again whether the moving direction matches the direction of the search beacon B.

  If the search device 10 determines that the position of the search beacon B has been reached (Act 37, YES), the processor 11 causes the display device 16 to display a fourth image SC4 indicating that the position of the search beacon B has been reached as Act 38.

  FIG. 10 is a display example of the fourth image SC4. In the figure, a star image G4 indicates the position of the search beacon B. The processor 11 acquires an actual image captured by the imaging device 17. Then, the processor 11 creates an augmented reality image in which the image G4 is superimposed on the actual image, and causes the display device 16 to display the augmented reality image as the fourth image SC4.

  Here, the processor 11 configures notification means by executing the process of Act 38. That is, when the processor 11 reaches the position of the search beacon B determined by the determination unit (Act 31 and Act 32), the processor 11 makes a notification by causing the display device 16 to display the fourth image SC4.

  The user who has confirmed the fourth image SC4 searches for the vicinity indicated by the star in the image G4. At this time, the fourth image SC4 displays the star image G4 and the surrounding real image. Therefore, the user can easily search for the search beacon B.

  Thus, the processor 11 ends the information processing according to the search program.

  By the way, in the description of the above embodiment, in Act 15 of FIG. 3, the processor 11 causes the display device 16 to display the second image SC2 for guiding the user to move from the point p1 to the traveling direction “−X”. In this regard, the processor 11 may cause the display device 16 to display a second image SC2 that guides the user of the movement from the point p1 to the traveling direction X.

  FIG. 6 is an explanatory diagram of a state when moving in the traveling direction X from the point p1. [V] in FIG. 6 indicates the location of the search device 10 when the amount of change in radio wave reception intensity (E3-E2) becomes equal to or greater than the predetermined value ± e [dB] by moving from the point p1 to the traveling direction X An example of a positional relationship between a point p2 and a search beacon B is shown. The predetermined value ± e [dB] is ± 8 [dB]. That is, the search device 10 moves from the point p1 toward the search beacon B, and the radio wave reception intensity E3 reaches −44 [dB] at the point p2. Also in this case, it is possible to estimate that the search beacon B is present in the region in the traveling direction Y more than the X axis and in the region A2 in the traveling direction X more than the Y axis. In this case, since the radio wave reception intensity E3 does not coincide with the radio wave reception intensity E1 in Act 25 of FIG. 3, the processes of Act 26 to Act 30 of FIG. 4 are executed. As a result, a point P where the radio wave reception intensity E4 is equal to the radio wave reception intensity E1 is determined.

  The state [VI] in FIG. 6 moves from the point p2 in an arbitrary direction, and the positional relationship between the base point O, the point P, and the search beacon B when the radio wave reception intensity E4 reaches the point P equal to the radio wave reception intensity E1. An example is shown. Also in this case, the processor 11 calculates the distance d converted from the radio wave reception intensity E1. The processor 11 first creates a first circle C1 having the base point O as the center and the distance d as the radius. Next, the processor 11 creates a second circle C2 with the point P as the center and the distance d as the radius. Then, the processor 11 sets the intersection existing in the area A2 among the intersections where the first circle C1 and the second circle C2 intersect as the position of the search beacon B.

  As described above in detail, according to the present embodiment, the user can carry the search device 10 and specify the position of the search beacon B with high accuracy simply by moving within the facility according to the guidance displayed on the display device 16. can do. Therefore, since the time required for searching for the search beacon B can be shortened, the processing efficiency of the search work can be improved.

  In addition, since the guidance image displayed on the display device 16 is an augmented reality image in which an actual image captured by the imaging device 17 is displayed, there is an advantage that the user can easily move according to the guidance.

  Note that the predetermined value ± e [dB] used in the processing of Act 20 in FIG. 3 may not necessarily match the predetermined value ± e [dB] used in the processing of Act 10. However, by matching, in Act 25, the radio wave reception intensity E3 may be equal to the radio wave reception intensity E1. When the radio wave reception intensity E3 is equal to the radio wave reception intensity E1, the processes of Act26 to Act29 are omitted. Therefore, the search time can be shortened.

Second Embodiment
Next, a second embodiment of the search device 10 will be described using FIG. 11 and FIG.
FIG. 11 is a block diagram illustrating a main circuit configuration of the search device 10 according to the second embodiment. In FIG. 11, the same reference numerals as in FIG. 1 described in the first embodiment denote the same parts in FIG. That is, the search device 10 according to the second embodiment has the vibration unit 110 added. The vibration unit 110 is connected to the processor 11 via the system transmission path 19. The vibration unit 110 may be a known one mounted on a smartphone, a tablet terminal or the like.

  FIG. 12 is a flowchart showing a part of the process executed by the processor 11 of the search device 10 according to the search program in the second embodiment in a simplified manner, and FIG. 2 to FIG. 4 described in the first embodiment. The same reference numerals as in FIG. That is, FIG. 12 shows that the processing procedure from Act1 to Act33 is the same as that in the first embodiment.

  In the second embodiment, after Act 33, the processor 11 vibrates the vibration unit 110 in the first vibration pattern as Act 34. The first vibration pattern is arbitrary. For example, the first vibration pattern may be a pattern that periodically repeats the vibration of the first time t1. Alternatively, the first vibration pattern may be a pattern in which a constant vibration is continued for a second time t2. The user who confirms the vibration of the first vibration pattern can know sensuously that the position of the search beacon B is estimated and the movement in the estimated direction is guided.

  Thereafter, the processor 11 executes the same process as the process of Act 34 to Act 38 described in the first embodiment. However, the processor 11 vibrates the vibration unit 110 with the second vibration pattern as Act 42 when the display device 16 displays an image instructing correction of the moving direction in Act 36. The second vibration pattern is an arbitrary vibration pattern different from the first vibration pattern. For example, the second vibration pattern may be a pattern that periodically repeats vibration at a third time t3 different from the first time t1. Alternatively, the second vibration pattern may be a pattern in which constant vibration is continued until the moving direction becomes the direction of the search beacon B. The user who has confirmed the vibration of the second vibration pattern can sensibly know that the moving direction is shifted.

  Further, when the fourth image SC4 is displayed on the display device 16 in Act 38, the processor 11 vibrates the vibration unit 110 in the third vibration pattern as Act 43. The third vibration pattern is optional. For example, the third vibration pattern may be a pattern in which vibration is periodically repeated for a fourth time t4 different from the first time t1 or the third time t3. Alternatively, the third vibration pattern may be a pattern in which constant vibration is continued until a confirmation operation is performed. The confirmation operation is a kind of operation on the input device 15 by the user. The user who has confirmed the vibration of the third vibration pattern can know sensuously that the position of the search beacon B has been reached.

  Here, the processor 11 constitutes a notification unit by executing the processing of Act38 and Act43.

  As described above in detail, according to the second embodiment, not only the image display on the display device 16 but also the vibration of the search device 10 can notify the user that the position of the search beacon B has been reached. it can.

  The second embodiment is not limited to the above. For example, the processor 11 continues the vibration generated in Act 41 until the search device 10 reaches the position of the search beacon B. If the processor 11 detects that the position of the search beacon B has been reached (Act 37, YES), the processor 11 stops the vibration of the vibration unit 110. Even with such a configuration, it is possible to notify the user that the position of the search beacon has been reached. In this case, for example, the vibration cycle is changed in accordance with the change in distance such that the vibration cycle becomes faster as the distance to the search beacon B becomes shorter. By doing so, the user has an effect of being able to sensuously know whether the user is approaching the search beacon B or not.

  Alternatively, the search device 10 may be equipped with a voice device, and the user may use voice to notify the user of arrival at the point P, correction instruction of movement direction, arrival of the search beacon B at the estimated position, and the like.

Third Embodiment
Next, a third embodiment of the search device 10 will be described with reference to FIGS. In addition, the same code | symbol is attached | subjected to the part which is common in 1st Embodiment, and the detailed description is abbreviate | omitted.

  FIG. 13 is an explanatory diagram of the third embodiment. In the third embodiment, two search devices 10 are used. One search device 10 is a master device 10M, and the other search device 10S is a slave device 10S. The slave device 10S is not limited to one. Any one of the plurality of search devices 10 may be the slave device 10S. Incidentally, the search device 10 may be that of the first embodiment or may be that of the second embodiment.

  In the third embodiment, the master device 10M is used by the first user, and the slave device 10S is used by the second user. The master device 10M and the slave device 10S can be connected to the network 20 via the wireless unit 18, respectively, and can perform two-way data communication using radio via the network 20.

  FIG. 14 is a flow chart showing an essential procedure of processing executed by the processor 11 (hereinafter referred to as the processor 11M) of the master device 10M according to the search program, and FIG. Is a flow chart showing the main procedure of the process executed according to the search program. FIG. 16 is an explanatory diagram of a beacon search algorithm in the third embodiment.

  Hereinafter, the operation of the search device 10 when the first user uses the master device 10M and the second user uses the slave device 10S to search for a desired beacon will be described using FIGS. 14 to 16. explain. Note that the contents of the processing illustrated in FIGS. 14 to 16 and described below are merely examples, and the processing procedure and processing contents are not particularly limited as long as similar results can be obtained.

  First, the first user operates the input device 15 to start the search program. When the search program is activated, the processor 11M starts the process of the procedure shown in the flowchart of FIG.

  First, the processor 11M creates, as Act 51, a list of beacons that have received a beacon signal by the transmission / reception circuit 13, and causes the display device 16 to display the beacon list. The processor 11M waits for the search beacon B to be selected as Act52.

  The first user who has confirmed the beacon list operates the input device 15 to select one beacon to be searched. When the processor 11M detects that one search beacon B is selected from the beacon list (Act 52, YES), the processor 11M controls the wireless unit 18 as Act 53 to send a search request notification command to the slave device 10S. Output. The command includes the beacon ID of the search beacon B.

  Note that the command transmission destination slave device 10S may be set in advance in the master device 10M. Alternatively, the processor 11M may detect another search device 10 closest to the master device 10M using wireless communication technology, and set the detected search device 10 as a slave device 10S.

  After transmitting the search request notification command, the processor 11M executes the same processing as Act3 to Act14 of FIG. 2 described in the first embodiment as Act54 to Act59.

  On the other hand, the processor 11S waits for a search request notification command as Act 71 in FIG. When receiving the search request notification command via the wireless unit 18, the processor 11S acquires the beacon ID of the search beacon B from the command as Act 72. Then, the processor 11S acquires the radio wave reception intensity E5 of the beacon signal transmitted from the search beacon B from the transmission / reception circuit 13 and records it in the first work area of the memory 12.

  If the slave device 10S can not receive the beacon signal transmitted from the search beacon B, the processor 11S wirelessly transmits an error response command to the master device 10M. The processor 11M that has received the error response command notifies the error, and ends the process according to the search program.

  The processor 11S which recorded the radio wave reception intensity E5 in the memory 12 performs Act 73 on the basis of the measurement values of the respective sensors constituting the sensor unit 14 using the PDR technology to determine the current position and the traveling direction of the slave device 10S. X ". Then, the processor 11S causes the display device 16 to display an image for guiding the user of the movement from the current position to the traveling direction "-X". This image is, for example, an image similar to the first image SC1 shown in FIG. In this case, the arrow image G1 is the traveling direction “−X”. The moving direction “−X” may be the X direction which is the opposite direction.

  The processor 11S detects, as Act 74, the moving direction of the slave device 10S using the PDR technique, based on the measurement values of the sensors constituting the sensor unit 14. Then, the processor 11S determines, as Act 75, whether or not the moving direction matches the traveling direction “−X”.

  When the moving direction deviates from the traveling direction “−X” (Act 75, NO), the processor 11S causes the display device 16 to display an image instructing correction of the moving direction as Act 76. For example, when the movement direction is shifted 10 degrees to the right with respect to the traveling direction “−X”, correction is instructed by tilting the image G1 of the arrow to the left 10 degrees. Thereafter, the processor 11 returns to Act 74, detects the moving direction of the slave device 10S, and determines again whether or not the moving direction matches the traveling direction “−X”.

  When the moving direction matches the traveling direction “−X” (Act 75, YES), the processor 11S acquires the radio wave reception intensity E6 of the beacon signal transmitted from the search beacon B from the transmission / reception circuit 13 as Act 77. And recorded in the second work area of the memory 12. Then, in Act 78, the processor 11S obtains a difference value between the radio wave reception intensity E5 recorded in the first work area of the memory 12 and the radio wave reception intensity E6 recorded in the second work area. The difference value is the amount of change (E6-E5) between the radio wave reception intensity E5 at the time of command reception of the search request notification and the radio wave reception intensity E6 at the local point. The processor 11 determines whether the amount of change (E6-E5) has become equal to or greater than a predetermined value ± e [dB].

  If the variation (E6-E5) of the radio wave reception intensity is not equal to or more than the predetermined value ± e [dB] (Act 78, NO), the processor 11S returns to Act 74. That is, the processor 11 detects the movement direction of the search device 10, and determines again whether the movement direction matches the traveling direction "-X".

  When the amount of change (E6-E5) in the radio wave reception intensity is equal to or greater than the predetermined value ± e [dB] (Act 78, YES), the processor 11S displays an image instructing the stop of movement as Act 79 on the display device 16. Display. Further, the processor 11S controls the radio unit 18 so as to transmit the radio wave reception intensity E5 recorded in the first work area as Act 80 and the radio wave reception intensity E6 recorded in the second work area to the master device 10M. By this control, data including the radio wave reception intensity E5 and the radio wave reception intensity E6 is wirelessly transmitted from the slave apparatus 10S to the master apparatus 10M via the network 20.

Description will be returned to FIG.
The processor 11M recognizes in Act 58 that the existence region of the search beacon B is a region in the traveling direction Y with respect to the X axis, or in Act 59 is a region in the direction "-Y" opposite to the traveling direction Y with respect to the X axis. If it is recognized, Act 60 waits for data wirelessly transmitted from the slave device 10S. When the processor 11M receives data including the radio wave reception intensity E5 and the radio wave reception intensity E6 via the wireless unit 18 (Act 60, YES), it determines whether the radio wave reception intensity E6 is larger than the radio wave reception intensity E5 as Act 61 It is determined whether or not. If the radio wave reception intensity E6 is larger than the radio wave reception intensity E5 (Act 61, YES), the processor 11M recognizes that the existence area of the search beacon B is an area in the “−X” direction than the Y axis as Act 62. . On the other hand, if the radio wave reception intensity E6 is smaller than the radio wave reception intensity E5 (Act 61, NO), the processor 11 determines that the existence region of the search beacon B is the region in the X direction than the Y axis as Act 63. Recognize.

  FIG. 16 is a state diagram when the first user and the second user are both at the position of the base point O. [IIV] in FIG. 16 shows an example of the positional relationship between the base point O, the first point p1, the second point p2, and the search beacon B. The first point p1 is that the amount of change [E2-E1] in the radio wave reception intensity of the beacon signal from the search beacon B received by the master device 10M is a predetermined value ± because the first user has moved in the traveling direction Y. It is the point where it became e [dB] or more. Similarly, the second point p2 is the amount of change in the radio wave reception intensity of the beacon signal from the search beacon B received by the slave device 10S [E6−E] when the second user moves in the traveling direction “−X”. E5] is a point at which a predetermined value ± e [dB] or more is obtained. The predetermined value ± e [dB] is ± 8 [dB].

  That is, [IIV] in FIG. 16 shows a state in which the master device 10M moves from the base point O toward the search beacon B and the radio wave reception intensity E2 reaches −52 [dB] at the point p1. . [IIV] in FIG. 16 shows a state where the slave device 10S moves away from the base point O with respect to the search beacon B, and the radio wave reception intensity E6 reaches −68 [dB] at the point p2. .

  In this state, when the axis orthogonal to the traveling direction Y of the master device 10M and passing through the base point O is the X axis, it is possible to estimate that the search beacon B is present in the area of the traveling direction Y than the X axis. Furthermore, when the axis orthogonal to the X axis and passing through the base point O and the point p1 is the Y axis, the search beacon B is a region in the traveling direction Y with respect to the X axis and the traveling direction “−X” with respect to the Y axis. It can be estimated that it exists in a region opposite to that, that is, in the region A2.

  After completing the process of Act 62 or Act 63, the processor 11M executes the processes of Act 26 to Act 38 of FIG. 4 described in the first embodiment. That is, the processor 11M causes the display device 16 to display an image instructing to search for a point where the radio wave reception intensity E4 becomes the radio wave reception intensity E1 recorded in the first work area.

  The user who has confirmed the image carries the search device 10 and slowly moves in any direction in the facility.

  If the radio wave reception intensity E4 of the beacon signal transmitted from the search beacon B matches the radio wave reception intensity E1, the processor 11M causes the display device 16 to display an image for instructing to stop moving. Further, the processor 11M determines that the current position of the master device 10M when the radio wave reception intensity E4 coincides with the radio wave reception intensity E1 is the point P.

  State [IIIV] in FIG. 16 illustrates an example of the positional relationship between the point P, the base point O, and the search beacon B where the radio wave reception intensity E4 at the master device 10M matches the radio wave reception intensity E1. As described above, the processor 11M calculates the distance d converted from the radio wave reception intensity E1 or E4. Then, the processor 11M determines the position of the search beacon B based on the positions of the base point O and the point P and the distance d. That is, the processor 11M first creates a first circle C1 whose center is the base point O and whose radius is the distance d. The processor 11 then creates a second circle C2 centered on the point P and having a radius d. Then, the processor 11 sets the intersection existing in the area A2 among the intersections where the first circle C1 and the second circle C2 intersect as the position of the search beacon B.

  When the position of the search beacon B is thus determined, the processor 11M causes the display device 16 to display the third image SC3. When the processor 11M determines that the master device 10M has reached the position of the search beacon B, the processor 11M causes the display device 16 to display the fourth image SC4.

  As described above, according to the third embodiment, in the first embodiment, the slave device 10S substitutes for the processing described in Act 15 to Act 25 of FIG. 3. The processing by the slave device 10S is performed in parallel when the master device 10M is executing the processing from Act 54 to Act 59 in FIG. Therefore, compared with 1st and 2nd embodiment, there exists an effect which can shorten time until determining the position of a search beacon.

  In the third embodiment, a server is connected to the network 20. Then, the master device 10M and the slave device 10S use radio communication to transmit radio wave reception intensity information and the like to the server in real time. On the other hand, the server executes the information processing shown in the flowchart of FIG. 14 based on information such as radio wave reception intensity received from the master device 10M. The server executes the information processing shown in the flowchart of FIG. 15 based on information such as the radio wave reception intensity received from the slave device 10S. Such a configuration may be adopted.

  As mentioned above, although the search apparatus 10 which can search a beacon with high precision was demonstrated, the embodiment of the search apparatus 10 is not limited to this.

  For example, in the said embodiment, although the transmitter searched with the search apparatus 10 was made into the beacon, the transmitter of search object is not limited to a beacon. Even when searching for one transmitter that periodically transmits a radio signal, the search device 10 of each embodiment can be applied.

  Further, the correction instructions in Act 8, Act 18, and Act 36 in FIGS. 2 to 4 are not limited to instructing correction of the moving direction. If the moving speed of the search device 10 is fast, the fluctuation of the radio wave reception intensity E becomes fast, and there is a possibility that the processing cannot catch up. For this reason, the processor 11 may include the instruction to detect the moving speed based on a signal from the sensor unit 14 and to instruct that the moving speed is slower than the threshold value in the correction instruction.

  Transfer of the search device 10 is generally performed in a state where a program such as a search program is stored in the memory 12. However, the present invention is not limited to this, and the program may be transferred without being stored in the memory. In this case, a search program or the like assigned separately from the search device 10 may be written in a writable storage device included in the search device 10 in accordance with an operation of the user or the like. Transfer of the search program or the like can be performed by recording on a removable recording medium or by communication via a network. The recording medium may store a program such as a CD-ROM, a memory card, etc., and may be in any form as long as the device is readable. Further, the function obtained by installing or downloading the program may be realized in cooperation with an OS (operating system) in the apparatus.

  In addition, although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and the gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

  DESCRIPTION OF SYMBOLS 10 ... Search apparatus, 10M ... Master apparatus, 10S ... Slave apparatus, 11 ... Processor, 12 ... Memory, 13 ... Transmission / reception circuit, 131 ... RSSI measurement circuit, 14 ... Sensor unit, 15 ... Input device, 16 ... Display device, 17 ... imaging device, 18 ... wireless unit.

Claims (6)

A receiver for receiving radio waves transmitted from a transmitter;
A measurement unit for measuring the reception intensity of the radio wave received by the reception unit;
A storage unit for storing the reception intensity measured by the measurement unit at a first point;
The region where the transmitter exists is estimated from the change in the received intensity when moving in the first direction from the first point and further moving in the second direction orthogonal to the first direction. Estimating means,
Detecting means for detecting a second point different from the first point measured by the measuring unit with the same intensity as the received intensity stored in the storage unit;
In the area estimated by the estimation means, a first circle whose center is the first point and whose radius is the distance converted from the reception intensity stored in the storage unit, and the second point Determining means for determining the position of the transmitter as a point of intersection with a second circle having the center and the radius as the distance;
A transmitter search device comprising: First guiding means for guiding movement in the first direction from the first point;
Second guiding means for guiding movement in the second direction from a point where the reception intensity has increased or decreased by a predetermined value due to movement in the first direction from the first point;
Third guiding means for guiding to the position of the transmitter determined by the determining means;
The transmitter search device according to claim 1, further comprising: A display unit for displaying an image of real space imaged by the imaging means;
Further equipped,
The transmitter search device according to claim 2, wherein the first to third guidance units display an image for the guidance superimposed on an image displayed on the display unit. Informing means for informing when the position of the transmitter determined by the determining means is reached;
The transmitter search device according to any one of claims 1 to 3, further comprising: A communication unit that communicates with another search device including the reception unit and the measurement unit, and that receives the reception intensity when the other search device moves from a third point in the second direction;
And further
The estimating means estimates the presence area of the transmitter from the change in the received intensity when moving in the first direction from the first point and the change in the received intensity received by the communication means; The transmitter search device according to claim 1. A receiving unit that receives radio waves transmitted from a transmitter, a measuring unit that measures reception intensity of radio waves received by the receiving unit, and the reception intensity measured by the measuring unit at a first point are stored. A computer having a storage unit,
The region where the transmitter exists is estimated from the change in the received intensity when moving in the first direction from the first point and further moving in the second direction orthogonal to the first direction. Estimation means,
Detecting means for detecting a second point different from the first point measured by the measuring unit with the same intensity as the received intensity stored in the storage unit; and
In the area estimated by the estimation means, a first circle whose center is the first point and whose radius is the distance converted from the reception intensity stored in the storage unit, and the second point Determining means for determining the position of the transmitter as a point of intersection with a second circle centered on the radius of the distance;
Program to function as.