JP2020093640A - Facility location management system - Google Patents

Abstract

To provide means which can acquire an accurate locations of a facility.SOLUTION: An operator with a portable terminal 11 goes to a location of a facility 4 and photographs a landmark 5 using a camera 115 installed in the portable terminal 11. An image acquisition part 1102 of the portable terminal 11 acquires an image in which the landmark 5 photographed with the camera 115 is imaged. A location information acquisition part 1104 of the portable terminal 11 acquires present location information from GNSS114 installed in the portable terminal 11. A location identifying part 1109 identifies the location of the facility 4 using the location of the landmark 5 appearing in the image and the location information acquired from GNSS114.SELECTED DRAWING: Figure 3

Description

The present invention relates to a facility position management system.

It is considered to manage the position and state of each facility by creating a database of various facilities near the railways and roads.

Patent Document 1 describes a technique for associating position information of railway facilities with electronic map data in a railway facility GIS information database that stores position information of railway facilities and image data associated with the railway facilities. There is.

JP 2006-32277 A

In order to create and manage a facility database, it is important to accurately acquire the location information of each facility.
In view of the above background, the present invention provides means for enabling accurate acquisition of the position of equipment.

In order to solve the above-mentioned problems, the present invention uses a position in the image of a landmark appearing in an image taken by a mobile terminal and a shooting position of the image measured by the mobile terminal, and A facility location management system for identifying a location is provided as a first aspect.
According to the equipment position management system of the first aspect, the equipment position can be accurately acquired.

In the equipment position management system of the first aspect, a configuration in which the image is an image taken from the location of the equipment by the mobile terminal may be adopted as the second aspect.

In the equipment position management system of the first aspect, in the specification of the location of the equipment, a configuration in which the position of the equipment in the image in the image is used may be adopted as the third aspect.

In the equipment position management system according to any one of the first to third aspects, a configuration in which a shooting direction of the image is used in specifying the position of the equipment may be adopted as the fourth aspect.

In the equipment position management system according to any one of the first to fourth aspects, a configuration in which the distance between the equipment and the landmark is used in specifying the position of the equipment may be adopted as the fifth aspect.

In the equipment position management system according to any one of the first to fifth aspects, identification data for identifying the equipment is acquired by the mobile terminal, and the identification data is associated with the location data indicating the identified location of the equipment. The configuration of attaching and storing may be adopted as the sixth aspect.

In the equipment position management system of a sixth aspect, the image is an image taken by the mobile terminal in a direction corresponding to the installation direction of the equipment, and is specified based on the shooting direction of the image measured by the mobile terminal. A configuration in which direction data indicating the installation direction of the equipment is stored in association with the identification data may be adopted as the seventh aspect.

In the facility position management system according to any one of the first to seventh aspects, a landmark candidate shown in the image is specified using the position measured by the mobile terminal, and whether the candidate is shown in the image. A configuration in which the landmark shown in the image is specified by determining whether or not it may be adopted as the eighth aspect.

In the equipment position management system of any one of the first to eighth aspects, a configuration in which the position of the equipment is a position in a three-dimensional space may be adopted as the ninth aspect.

The figure which showed the structure of the equipment position management system which concerns on 1st Embodiment. The figure which showed the data structure of equipment DB and landmark DB which concern on 1st Embodiment. The block diagram showing the functional composition of the personal digital assistant and the server device concerning a 1st embodiment. The figure which showed the flow of the process in the portable terminal which concerns on 1st Embodiment. The figure for demonstrating specification of the position of the equipment in the portable terminal which concerns on 1st Embodiment. The figure which showed the flow of the process in the portable terminal which concerns on 2nd Embodiment. The figure for demonstrating specification of the position of the equipment in the portable terminal which concerns on 2nd Embodiment. The figure which showed the flow of the process in the portable terminal which concerns on 3rd Embodiment. The figure for demonstrating specification of the position of the equipment in the portable terminal which concerns on 3rd Embodiment. The figure for demonstrating specification of the position of the equipment in the portable terminal which concerns on 4th Embodiment. The figure which showed the flow of the process in the portable terminal which concerns on 5th Embodiment. The figure for demonstrating specification of the position of the equipment in the portable terminal which concerns on 5th Embodiment. The figure for demonstrating acquisition of the data which shows the installation direction of the equipment in the portable terminal in a modification. The figure which showed the flow of the process which determines the presence or absence of the landmark in the portable terminal in a modification.

[Embodiment]
Hereinafter, the equipment position management system 1 according to the first embodiment of the present invention will be described.

FIG. 1 is a diagram showing a configuration of the equipment position management system 1, and FIG. 1(A) is a diagram showing an overall configuration of the equipment position management system 1. The equipment position management system 1 includes a mobile terminal 11 and a server device 12, and the mobile terminal 11 and the server device 12 are connected via a network line 13. The connection between the mobile terminal 11 and the network line 13 is preferably wireless connection. The operator holds the mobile terminal 11 and measures the position of the facility 4. To measure the position of the facility 4, a landmark 5 (a utility pole in FIG. 1) that is a facility whose position is specified in advance is used. A QR code (registered trademark) 4a is attached to the facility 4. The QR code 4a indicates the model number and serial number of the attached facility 4. Examples of the equipment 4 include railroad crossing equipment, traffic lights, various control devices, various detection devices, railway equipment such as signs, transportation equipment other than railway equipment, surveying level points, public infrastructure equipment, and the like. Of these various types of equipment, the equipment whose position is specified in advance can also be used as the landmark 5.

FIG. 1B is a block diagram showing the hardware configuration of the mobile terminal 11. The hardware of the mobile terminal 11 is a computer including a processor 111 and a memory 112. The processor 111 performs various data processing according to programs stored in the memory 112. The memory 112 stores various data such as programs executed by the processor 111.

The mobile terminal 11 further includes a wireless communication unit 113, a GNSS (Global Navigation Satellite System) 114, a camera 115, a display 116, a microphone 117, a speaker 118, and an azimuth meter 119. The wireless communication unit 113 establishes a wireless connection with the network line 13 and communicates with the server device 12 via the network line 13. The GNSS 114 measures the current position of the mobile terminal 11. As an example of the GNSS 114, GPS (Global Positioning System, Global Positioning System), QZSS (Quasi-Zenith Satellite System, Quasi-Zenith Satellite System) or the like can be used.

The camera 115 is used by an operator to capture images of the facility 4 and the landmarks 5. The camera 115 is also used to read the QR code 4a attached to the equipment 4. It is preferable to use a smartphone, a tablet PC, or the like as the mobile terminal 11, but other devices may be used as long as they are portable. Although the QR code 4a is used in this embodiment, a barcode or another code may be used as long as it can be read by the mobile terminal 11.

The display 116 is used to display images captured by the camera 115, guide display for various operations on the mobile terminal 11, and the like. The microphone 117 is used to receive a voice instruction or the like from an operator. The speaker 118 is used to give a voice response to the operator and to give a voice instruction to the worker. The azimuth meter 119 measures which azimuth the camera 115 is facing at the time of shooting with the camera 115, and outputs azimuth information indicating the shooting direction of the image taken by the camera 115.

FIG. 1C is a block diagram showing the hardware configuration of the server device 12. The hardware of the server device 12 is a computer including a processor 121 and a memory 122. The processor 121 performs various data processing according to the programs stored in the memory 122. The memory 122 stores various data such as programs executed by the processor 121.

The memory 122 is an equipment DB that is a database that stores information about the equipment 4 to be managed, and a landmark that is a database that stores information about the landmarks 5 used when specifying the positional information of the equipment 4 to be managed. DB is stored.

The server device 12 further includes a communication unit 123, and the communication unit 123 makes a network connection with the network line 13 and communicates with the mobile terminal 11 via the network line 13.

FIG. 2 is a diagram showing an example of the data structure of the facility DB and the landmark DB. FIG. 2A is a diagram exemplifying the data structure of the equipment DB. The equipment DB is a collection of data records regarding each piece of equipment to be managed. Each data record includes an equipment ID (Identifier) that identifies the equipment, a description of the equipment, an installation position of the equipment, and an installation direction of the equipment. As the equipment ID, the model number and serial number indicated by the QR code 4a attached to the equipment 4 may be used.

FIG. 2B is a diagram exemplifying the data structure of the landmark DB. The landmark DB is a collection of data records regarding each landmark used when measuring the position of the facility. Each data record includes a landmark ID for identifying a landmark, a landmark name, a landmark position, and a reference image showing the appearance of the landmark.

FIG. 3 is a diagram showing the functional configurations of the mobile terminal 11 and the server device 12. FIG. 3A is a block diagram showing the functional configuration of the mobile terminal 11. When the processor 111 of the mobile terminal 11 executes the process according to the program according to the present embodiment, the computer that is the hardware of the mobile terminal 11 causes the equipment information acquisition unit 1101, the image acquisition unit 1102, and the storage unit 1103. It functions as a position information acquisition unit 1104, an orientation information acquisition unit 1105, a landmark information acquisition unit 1106, an input/output control unit 1107, a wireless communication unit 1108, and a position identification unit 1109.

The equipment information acquisition unit 1101 acquires the image of the QR code 4a of the equipment 4 captured by the camera 115 and reads the QR code 4a in the image to acquire the model number and serial number information of the equipment 4. Information on the acquired model number and serial number of the equipment 4 is stored in the storage unit 1103.

The image acquisition unit 1102 acquires an image of the landmark 5 or the facility 4 captured by the operator with the camera 115 and stores the image in the storage unit 1103.

The position information acquisition unit 1104 acquires position information indicating the current position from the GNSS 114. The acquired position information by the GNSS 114 is stored in the storage unit 1103.

The azimuth information acquisition unit 1105 acquires azimuth information indicating a shooting direction when the camera 115 shoots the landmark 5. The azimuth information can be acquired by inputting the information measured and output by the azimuth meter 119. The acquired azimuth information is stored in the storage unit 1103.

The wireless communication unit 1108 is realized mainly by the wireless communication unit 113 that operates under the control of the processor 111, and transmits/receives data to/from the server device 12. The data transmitted by the wireless communication unit 1108 to the server includes the facility information stored in the storage unit 1103 and the position information by the GNSS 114. The data received by the wireless communication unit 1108 from the server device 12 includes information stored in the landmark DB.

The landmark information acquisition unit 1106 acquires information about the landmark 5 from the server device 12. Specifically, the position information indicating the current position acquired by the position information acquisition unit 1104 and stored in the storage unit 1103 is read and transmitted to the server device 12. The information on the data record in the landmark DB extracted by the server device 12 is received based on the transmitted position information. Alternatively, the landmark information acquisition unit 1106 transmits the image of the landmark 5 acquired by the image acquisition unit 1102 and stored in the storage unit 1103 to the server device 12. The information of the data record in the landmark DB extracted by the server device 12 is received based on the transmitted image of the landmark 5. The information on the landmark 5 received from the server device 12 is stored in the storage unit 1103.

The storage unit 1103 is realized mainly by the memory 112 that operates under the control of the processor 111, and stores various data as described above.

The input/output control unit 1107 controls to display the information stored in the storage unit 1103 on the display 116. Further, the voice of the worker input from the microphone 117 is recognized, and an instruction or a message to the worker is output as voice to the speaker 118.

The position identifying unit 1109 reads out the image acquired by the image acquiring unit 1102 from the storage unit 1103. Then, a value (for example, an angle such as an azimuth angle) indicating the positional relationship of the facility 4 with respect to the landmark 5 is calculated from the position of the landmark 5 in the image or the facility 4 in the image. Further, the position identifying unit 1109 reads the position information of the GNSS 114 and the position information of the landmark 5 stored in the storage unit 1103. Then, based on these two types of positional information, a value (for example, an angle such as an azimuth angle) indicating the positional relationship of the facility 4 with respect to the landmark 5 is calculated. In this way, two values indicating the positional relationship of the facility 4 with respect to the landmark 5 are calculated.

The position identifying unit 1109 compares the two calculated values. If the difference between the two values is less than or equal to the predetermined value, it is determined that the position information by the GNSS 114 is correct, and the position of the facility 4 is specified based on the position information by the GNSS 114. Then, information indicating the end of measurement is output to the display 116 or the speaker 118 via the input/output control unit 1107 to notify the operator.

The position identifying unit 1109 determines that the GNSS position information has not been correctly acquired when the difference between the positions indicated by the two position information items exceeds a predetermined value. Then, the content instructing to perform the measurement again is output to the display 116 or the speaker 118 via the input/output control unit 1107 to notify the operator.

FIG. 3B is a block diagram showing the functional configuration of the server device 12. When the processor 121 of the server device 12 executes the processing according to the program according to the present embodiment, the computer that is the hardware of the server device 12 stores the position information acquisition unit 1201, the landmark information extraction unit 1202, and the storage unit. It functions as a unit 1203 and a communication unit 1204.

The communication unit 1204 is realized mainly by the communication unit 123 that operates under the control of the processor 121, and transmits/receives data to/from the mobile terminal 11. The storage unit 1203 is realized mainly by the memory 122 that operates under the control of the processor 121, and stores the facility DB and the landmark DB.

The position information acquisition unit 1201 acquires the facility information and the position information that is the measurement result data transmitted from the mobile terminal 11 via the communication unit 1204. The equipment information indicates the model number and serial number of the equipment 4, and corresponds to the equipment ID in the data record of the equipment DB. The position information acquisition unit 1201 searches the data record of the corresponding equipment ID and stores the transmitted position information in the “installation position” of the data record.

The landmark information extraction unit 1202 extracts the landmark 5 based on the position information sent from the landmark information acquisition unit 1106 of the mobile terminal 11 via the communication unit 1204. The landmark information extraction unit 1202 extracts the landmark 5 by comparing the “position” data of each data record in the landmark DB with the position information sent. Then, the data record of the extracted landmark 5 is transmitted to the mobile terminal 11 via the communication unit 1204. Although one data record may be transmitted, data records of a plurality of candidate landmarks may be extracted and transmitted.

In addition, when the image of the landmark 5 is transmitted from the landmark information acquisition unit 1106 of the mobile terminal 11, the landmark information extraction unit 1202 transmits the “reference image” of each data record of the landmark DB. Compare with the image. Then, the landmark 5 shown in the transmitted image is specified, and the data record is transmitted to the mobile terminal 11. Although one data record may be transmitted, data records of a plurality of candidate landmarks may be transmitted.

FIG. 4 is a diagram showing a flow of processing in the mobile terminal 11. The process according to the flow of FIG. 4 is executed when the worker carries the mobile terminal 11 to the position of the facility 4 and measures the position of the facility 4 by the GNSS 114 of the mobile terminal 11. As described below, in the present embodiment, the position indicated by the position information by the GNSS 114 when the worker is at the position of the equipment 4 is specified as the position of the equipment 4.

First, the worker goes to a place where the equipment 4 is installed and points the camera 115 of the mobile terminal 11 to the QR code 4a attached to the equipment 4. The mobile terminal 11 reads the QR code 4a via the camera 115 (step S301). Subsequently, the equipment information acquisition unit 1101 of the mobile terminal 11 acquires the model number and the serial number, which are the equipment information regarding the equipment 4, from the QR code 4a captured by the camera 115 (step S302). These pieces of equipment information are stored in the storage unit 1103. After that, the worker continues to work at the position of the equipment 4 while holding the mobile terminal 11.

The position information acquisition unit 1104 of the mobile terminal 11 acquires the current position information from the GNSS 114 (step S303). The acquired position information by the GNSS 114 is stored in the storage unit 1103. Subsequently, the landmark information acquisition unit 1106 of the mobile terminal 11 reads the position information by the GNSS 114 from the storage unit 1103. Then, the position information is transmitted to the server device 12, and the information on the landmark 5 is acquired from the server device 12. Then, the acquired information on the landmark 5 is displayed on the display 116 (step S304). In the present embodiment, it is assumed that the server device 12 transmits information on a plurality of landmarks 5. The acquired information on the landmark 5 is stored in the storage unit 1103.

The operator looks at the reference images of the plurality of landmarks 5 displayed on the display 116 and selects two landmarks 5 visible in the field of view from the current position. The selection operation can be performed by touching the display 116 with a finger.

Subsequently, the operator shoots an image including the two landmarks 5 with the camera 115 of the mobile terminal 11. The operator points the camera 115 in the direction of the selected two landmarks 5 and looks at the display 116 on which the image to be captured is displayed, and confirms that both of the two landmarks 5 are displayed. The operation of photographing the two landmarks 5 is performed. The image acquisition unit 1102 of the mobile terminal 11 acquires an image including the two landmarks 5 captured by the camera 115 (step S305). The acquired image is stored in the storage unit 1103.

FIG. 5: is a figure for demonstrating the process which pinpoints the position of the equipment 4 using the portable terminal 11. As shown in FIG. FIG. 5A is a view of the positional relationship among the facility 4, the mobile terminal 11, and the two landmarks 5 (referred to as the landmark 5a and the landmark 5b) as viewed from above. Although the portable terminal 11 is held by the worker, the worker is not shown in FIG. 5(A). FIG. 5B is an example of the image acquired by the image acquisition unit 1102 of the mobile terminal 11 in step S305 of FIG. 4, and two landmarks 5a and 5b are shown in the image.

In FIG. 5A, the angle α is an angle of view that can be captured by the camera 115 of the mobile terminal 11, and is a known value. Hereinafter, the angle α will be referred to as the “angle of view α”. Since the two landmarks 5a and 5b are shown in the image, the two landmarks 5a and 5b exist within the angle of view α. The positions of the landmarks 5a and 5b are known from the information of the landmark 5 acquired from the server device 12 in step S304 of FIG. The position of the mobile terminal 11 is also known from the position information by the GNSS 114 acquired in step S303 of FIG.

The position identifying unit 1109 of the mobile terminal 11 shifts from the mobile terminal 11 to the landmark 5a based on the position information (indicating the position of the mobile terminal 11) by the GNSS 114 stored in the storage unit 1103 and the position information of the landmarks 5a and 5b. The angle β formed by the direction from the mobile terminal 11 to the landmark 5b is calculated (FIG. 4, step S306).

Subsequently, the position identifying unit 1109 calculates the angle β shown in FIG. 5A based on the image shown in FIG. 5B (FIG. 4, step S307). The angle β can be calculated from the width A of the image shown in FIG. 5B, the interval B between the landmarks 5a and 5b in the image, and the angle of view α.

Subsequently, the position identifying unit 1109 compares the angle β calculated based on the position information in step S306 with the angle β calculated based on the image in step S307 (FIG. 4, step S308). Then, it is determined whether or not the position information by the GNSS 114 (that is, the information indicating the position of the equipment 4) is correct (FIG. 4, step S309). If the difference between the values of the two angles β exceeds the predetermined value, it is determined that the position information by the GNSS 114 is incorrect, and it is necessary to return to step S303 and execute the process again. To notify the operator. When the difference between the values of the two angles β is less than or equal to the predetermined value, it is determined that the position information by GNSS is correct. In this case, the position specifying unit 1109 specifies that the position indicated by the position information by the GNSS is the position of the equipment 4 (step S310).

Then, the wireless communication unit 1108 reads out the equipment information of the equipment 4 stored in the storage unit 1103 and the position information of the identified equipment 4, and transmits the information to the server device 12 (step S311).

Next, the equipment position management system 1 according to the second embodiment of the present invention will be described. The configuration of the equipment position management system 1 according to the second embodiment is the same as that of the first embodiment described with reference to FIGS. 1 to 7, but the process flow in the mobile terminal 11 is the same as that of the first embodiment. Is different.

FIG. 6 is a diagram showing a flow of processing in the mobile terminal 11 according to the second embodiment. The process according to the flow of FIG. 6 is performed when the worker carries the mobile terminal 11 to the position of the equipment 4 and measures the position of the equipment 4 by the GNSS 114 of the mobile terminal 11, as in the first embodiment. To be executed. Similar to the first embodiment, in this embodiment, the position indicated by the position information by the GNSS 114 when the worker is at the position of the equipment 4 is specified as the position of the equipment 4.

Similar to steps S301 to S303 in FIG. 4, the facility information acquisition unit 1101 and the position information acquisition unit 1104 function in steps S401 to S403. The equipment information is acquired from the QR code 4a of the equipment 4, and the current position information of the mobile terminal 11 is acquired by the GNSS 114. These pieces of information are stored in the storage unit 1103.

Subsequently, the landmark information acquisition unit 1106 reads the position information by the GNSS 114 from the storage unit 1103 and transmits it to the server device 12. Then, the information on the landmark 5 is acquired from the server device 12, and the acquired information on the landmark 5 is displayed on the display 116 (step S404). In the present embodiment, it is assumed that the information of at least one landmark 5 is transmitted from the server device 12. The acquired information on the landmark 5 is stored in the storage unit 1103.

The operator looks at the reference image or the like of the landmark 5 displayed on the display 116 and searches for one corresponding landmark 5 that is visible in the field of view. Subsequently, the operator uses the camera 115 of the mobile terminal 11 to shoot an image including one landmark 5 at the horizontal center position. At this time, the mobile terminal 11 preferably causes the display 116 to display a mark indicating the central position on the captured image. The operator points the camera 115 in the direction of the one landmark 5, looks at the display 116 on which the image to be captured is displayed, and confirms that the one landmark 5 is displayed at the center position. The operation of photographing one landmark 5 is performed. The image acquisition unit 1102 of the mobile terminal 11 acquires an image including one landmark 5 captured by the camera 115 (step S405). The acquired image is stored in the storage unit 1103.

FIG. 7 is a diagram for explaining the process of identifying the position of the facility 4 using the mobile terminal 11 in the second embodiment. FIG. 7A is a view of the positional relationship among the equipment 4, the mobile terminal 11, and one landmark 5 as viewed from above. Although the mobile terminal 11 is held by the worker, the worker is not shown in FIG. 7(A). FIG. 7B is an example of the image acquired by the image acquisition unit 1102 of the mobile terminal 11 in step S405 of FIG. 6, and one landmark 5 is imaged in the horizontal center position. ing.

In FIG. 7A, the angle α is the angle of view that can be photographed by the camera 115 of the mobile terminal 11 and is a known value, like the angle α in FIG. In the image, the landmark 5 exists within the angle of view α. The angle λ is an azimuth angle in the direction from the mobile terminal 11 to the landmark 5. Hereinafter, the angle λ will be referred to as “azimuth angle λ”.

Here, the azimuth refers to the angle of the position in the horizontal coordinate system with respect to the reference azimuth. For example, the reference azimuth is north, and the clockwise direction is a positive angle. In FIG. 7A, the arrow in the N (north) direction is the reference azimuth.

Before the operator changes the orientation of the mobile terminal 11 after the image shown in FIG. 7B is acquired, the azimuth information acquisition unit 1105 of the mobile terminal 11 acquires the azimuth information from the azimuth meter 119. Then, the azimuth angle of the direction in which the camera 115 of the mobile terminal 11 is facing is acquired (step S406). This azimuth indicates the azimuth λ in the direction from the mobile terminal 11 to the landmark 5 because the landmark 5 is displayed at the center position of the image.

The position of the landmark 5 is known from the information of the landmark 5 acquired from the server device 12 in step S404 of FIG. The position of the mobile terminal 11 is also known from the position information by the GNSS 114 acquired in step S403 of FIG. The N (north) direction is also known.

The position identifying unit 1109 of the mobile terminal 11 calculates the azimuth angle λ in the direction from the mobile terminal 11 to the landmark 5 from the known position of the landmark 5, the position of the mobile terminal 11, and the known N direction (FIG. 6). , Step S407).

Subsequently, the position identifying unit 1109 compares the azimuth angle λ calculated based on the position information in step S407 with the azimuth angle λ calculated based on the azimuth information obtained by the azimuth meter 119 in step S406 (FIG. 6). , Step S408). Then, it is determined whether or not the position information by the GNSS 114 (that is, the information indicating the position of the equipment 4) is correct (FIG. 6, step S409). If the difference between the values of the two azimuth angles λ exceeds the predetermined value, it is determined that the position information by the GNSS 114 is incorrect, and it is necessary to return to step S403 and execute the process again. It is output to 118 to notify the operator. If the difference between the two azimuth angles λ is less than or equal to a predetermined value, it is determined that the position information by the GNSS 114 is correct. In this case, the position specifying unit 1109 specifies that the position indicated by the position information by the GNSS 114 is the position of the equipment 4 (FIG. 6, step S410).

Subsequently, the wireless communication unit 1108 reads out the equipment information of the equipment 4 stored in the storage unit 1103 and the position information of the identified equipment 4 and transmits the information to the server device 12 (FIG. 6, step S411).

Next, an equipment position management system 1 according to the third embodiment of the present invention will be described. The configuration of the equipment position management system 1 according to the third embodiment is the same as that of the first embodiment described with reference to FIGS. 1 to 7, but the process flow in the mobile terminal 11 is the same as that of the first embodiment. Is different.

FIG. 8 is a diagram showing a flow of processing in the mobile terminal 11 according to the third embodiment. The process according to the flow of FIG. 8 is executed in the following cases. The worker goes to the equipment 4 with the mobile terminal 11, but does not take the landmark 5 from the position of the equipment 4. The worker moves to a point where both the equipment 4 and the landmark 5 can be seen, and takes an image including both the equipment 4 and the landmark 5 at that location.

Similar to steps S301 to S303 of FIG. 4, in steps S501 to S503, the facility information acquisition unit 1101 and the position information acquisition unit 1104 function. Then, the equipment information is acquired from the QR code 4a of the equipment 4, and the current position information of the mobile terminal 11 is acquired by the GNSS 114. These pieces of information are stored in the storage unit 1103.

Subsequently, the landmark information acquisition unit 1106 reads the position information by the GNSS 114 from the storage unit 1103 and transmits it to the server device 12. Then, the information on the landmark 5 is acquired from the server device 12, and the acquired information on the landmark 5 is displayed on the display 116 (step S504). In the present embodiment, it is assumed that the information of at least one landmark 5 is transmitted from the server device 12. The acquired information on the landmark 5 is stored in the storage unit 1103. Subsequently, the worker holds the mobile terminal 11 and moves away from the position of the facility 4 and moves to a point where both the facility 4 and the landmark 5 are within the field of view.

At the point of movement, the worker uses the camera 115 of the mobile terminal 11 to take an image of the facility 4 and the landmark 5. The image acquisition unit 1102 of the mobile terminal 11 acquires an image including the facility 4 and the landmark 5 captured by the camera 115, and stores the image in the storage unit 1103 (step S505). The position information acquisition unit 1104 acquires the current position information by the GNSS 114 before the worker moves from the shooting point (step S506).

FIG. 9 is a diagram for explaining the process of identifying the position of the facility 4 using the mobile terminal 11 in the third embodiment. FIG. 9A is a diagram of the positional relationship between the equipment 4, the mobile terminal 11, and one landmark 5 at the time when the image is acquired, as viewed from above. Although the mobile terminal 11 is held by the worker, the worker is not shown in FIG. 9A. FIG. 9B is an example of the image acquired by the image acquisition unit 1102 of the mobile terminal 11 in step S505 of FIG. 8, and the equipment 4 and one landmark 5 are shown in the image.

In FIG. 9A, the angle α is an angle of view that can be captured by the camera 115 of the mobile terminal 11, and is a known value. The facility 4 and one landmark 5 exist within the angle of view α. The position of the landmark 5 is known from the information of the landmark 5 acquired from the server device 12 in step S504 of FIG. The position of the mobile terminal 11 is also known from the position information by the GNSS 114 acquired in step S506 of FIG. Further, regarding the position of the equipment 4, the position information by the GNSS 114 is acquired in step S503 of FIG.

The position identifying unit 1109 of the mobile terminal 11 determines the angle γ shown in FIG. 9A from the known position information of the mobile terminal 11 by the GNSS 114, the position information of the landmark 5 and the position information of the facility 4 by the GNSS 114. It is calculated (FIG. 8, step S507). The angle γ is an angle formed by the direction from the mobile terminal 11 to the landmark 5 and the direction from the mobile terminal 11 to the facility 4.

Subsequently, the position identifying unit 1109 calculates the angle γ shown in FIG. 7A based on the image shown in FIG. 9B (FIG. 8, step S508). The angle γ can be calculated from the width A of the image shown in FIG. 9B, the distance C between the facility 4 and the landmark 5 in the image, and the angle of view α.

Subsequently, the position identifying unit 1109 compares the angle γ calculated based on the position information in step S507 with the angle γ calculated based on the image in step S508 (FIG. 8, step S509). Then, it is determined whether or not the position information (that is, the information indicating the position of the equipment 4) by the GNSS 114 acquired in step S503 is correct (FIG. 8, step S510). If the difference between the values of the two angles γ exceeds the predetermined value, it is determined that the position information of the GNSS acquired in step S503 is incorrect, and it is necessary to return to step S503 and execute the process again. It is output to the display 116 or the speaker 118 to notify the operator. When the difference between the values of the two angles γ is less than or equal to the predetermined value, it is determined that the position information by the GNSS 114 acquired in step S503 is correct. In this case, the position specifying unit 1109 specifies the position indicated by the position information by the GNSS 114 acquired in step S503 as the position of the equipment 4 (FIG. 8, step S511).

Subsequently, the wireless communication unit 1108 reads out the equipment information of the equipment 4 and the position information of the identified equipment 4 stored in the storage unit 1103, and transmits the equipment information to the server device 12 (FIG. 8, step S512).

Next, the equipment position management system 1 according to the fourth embodiment of the present invention will be described. The configuration of the equipment position management system 1 according to the fourth embodiment is the same as that of the first embodiment described with reference to FIGS. 1 to 7. The image is acquired in the same manner as in the third embodiment, but in the third embodiment, the images of the facility 4 and the landmark 5 are acquired at one point, whereas in the present embodiment, the image is acquired. The difference is that images of the facility 4 and the landmark 5 are acquired at two points.

In the present embodiment, the processing flow in the mobile terminal 11 is the same as the processing from when the worker moves from the position of the equipment 4 to a certain point and takes an image of the equipment 4 and the landmark 5 as shown in FIG. This is the same as steps S501 to S506 in the third embodiment).

FIG. 10 is a diagram for explaining the process of identifying the position of the facility 4 using the mobile terminal 11 in the fourth embodiment. FIG. 10A is a view of the positional relationship among the equipment 4, the mobile terminal 11, and one landmark 5 at the time when the image is acquired, as viewed from above. Although the portable terminal 11 is held by the worker, the worker is not shown in FIG. 10(A). The operator holds the mobile terminal 11 and goes to the point X to take an image including the facility 4 and the landmark 5, and then goes to the point Y to take an image including the facility 4 and the landmark 5.

FIG. 10B is an example of an image acquired by the image acquisition unit 1102 of the mobile terminal 11 at the point X, and FIG. 10C is an example of an image similarly acquired at the point Y. The facility 4 and one landmark 5 are shown in each of the two images.

In FIG. 10A, the angle α is an angle of view that can be captured by the camera 115 of the mobile terminal 11, and is a known value. At both the point X and the point Y, the facility 4 and one landmark 5 exist within the angle of view α. In the present embodiment, at each of the point X and the point Y, the same processing as steps S505 to S508 of FIG. 8 is performed.

The position specifying unit 1109 calculates the angle γ1 shown in FIG. 10(A) based on the image shown in FIG. 10(B). The angle γ1 is an angle formed by the direction from the mobile terminal 11 toward the landmark 5 and the direction from the mobile terminal 11 toward the facility 4 at the point X. The angle γ1 can be calculated from the width A of the image shown in FIG. 10B, the distance C1 between the facility 4 and the landmark 5 in the image, and the angle of view α.

Subsequently, the position identifying unit 1109 calculates the angle γ2 shown in FIG. 10A based on the image shown in FIG. 10C. The angle γ2 is an angle formed by the direction from the mobile terminal 11 toward the landmark 5 and the direction from the mobile terminal 11 toward the facility 4 at the point Y. The angle γ2 can be calculated from the width A of the image shown in FIG. 10C, the distance C2 between the facility 4 and the landmark 5 in the image, and the angle of view α.

The position of the landmark 5 is known from the information of the landmark 5 acquired from the server device 12 in step S504 of FIG. The position of the mobile terminal 11 at the point X and the point Y is also known from the position information by the GNSS 114 acquired in step S506 of FIG. The position identifying unit 1109 calculates the position of the equipment 4 from the position information and the calculated angles γ1 and γ2.

The direction L1 from the point X to the facility 4 and the direction L2 from the point Y to the facility 4 are specified by calculating the landmark 5 whose position is known and the angles γ1 and γ2 at the two known points X and Y. It Since the equipment 4 exists at the intersection of the direction L1 and the direction L2, the position of the equipment 4 can be calculated.

The position identifying unit 1109 of the mobile terminal 11 calculates the position of the facility 4 based on the angles γ1 and γ2 as described above. Then, the position specifying unit 1109 reads the position information by the GNSS 114 acquired in step S503 of FIG. 8 from the storage unit 1103. The position information obtained by the GNSS 114 is acquired when the worker is at the position of the equipment 4, and indicates the position of the equipment 4. The position identifying unit 1109 compares the position of the equipment 4 indicated by the position information by the GNSS 114 with the position of the equipment 4 calculated based on the angles γ1 and γ2.

Then, it is determined whether or not the position information (information indicating the position of the equipment 4) by the GNSS 114 acquired in step S503 of FIG. 8 is correct. If the difference between the two positions exceeds the predetermined value, it is determined that the position information by the GNSS 114 acquired in step S503 of FIG. 8 is not correct, and it is necessary to return to step S503 and execute the process again. It is output to the display 116 or the speaker 118 to notify the operator.

If the difference between the two positions is less than or equal to the predetermined value, it is determined that the GNSS position information acquired in step S503 of FIG. 8 is correct. In this case, the position specifying unit 1109 specifies that the position indicated by the position information by the GNSS 114 acquired in step S503 of FIG. 8 is the position of the facility 4. Subsequently, the wireless communication unit 1108 reads out the equipment information of the equipment 4 stored in the storage unit 1103 and the position information of the identified equipment 4, and transmits the information to the server device 12.

Next, the equipment position management system 1 according to the fifth embodiment of the present invention will be described. The configuration of the equipment position management system 1 according to the fifth embodiment is the same as that of the first embodiment described with reference to FIGS. 1 to 7, but the process flow in the mobile terminal 11 is the same as that of the first embodiment. Is different. Further, similarly to the third embodiment, the worker moves to a point away from the position of the equipment 4 and acquires an image including the equipment 4 and the landmark 5, but the distance between the equipment 4 and the landmark 5 is The difference is that it is known.

FIG. 11 is a diagram showing a flow of processing in the mobile terminal 11 according to the fifth embodiment. Similar to FIG. 8 (third embodiment), the process according to the flow of FIG. 11 is executed in the following cases. The worker goes to the equipment 4 with the mobile terminal 11, but does not take the landmark 5 from the position of the equipment 4. The worker moves to a point where both the equipment 4 and the landmark 5 are visible, and takes an image including both the equipment 4 and the landmark 5 at that point.

The processes of steps S601 to S606 in FIG. 11 are the same as steps S501 to S506 of FIG. 8 (third embodiment), and thus the description thereof will be omitted.

FIG. 12 is a diagram for explaining the process of identifying the position of the equipment 4 using the mobile terminal 11 in the fifth embodiment. FIG. 12A is a view of the positional relationship among the equipment 4, the mobile terminal 11, and one landmark 5 at the time when the image is acquired, as viewed from above. Although the portable terminal 11 is held by the worker, the worker is not shown in FIG. 12(A).

In the present embodiment, it is assumed that the distance D between the facility 4 and the landmark 5 is known. The distance D between the facility 4 and the landmark 5 is measured by the operator. The measurement can be performed using a measure, a distance meter, or the like. If the mobile terminal 11 is provided with a distance measuring function, it may be used. This measurement may be performed when the worker goes to the position of the equipment 4 during the processing of steps S601 to S603, or may be performed in advance.

FIG. 12B is an example of the image acquired by the image acquisition unit 1102 of the mobile terminal 11 in step S605 of FIG. 11, and the facility 4 and one landmark 5 are shown.

In FIG. 12A, the angle α is a known angle of view that can be captured by the camera 115 of the mobile terminal 11. The facility 4 and one landmark 5 exist within the angle of view α. The position of the landmark 5 is known from the information of the landmark 5 acquired from the server device 12 in step S604 of FIG. The position of the mobile terminal 11 is also known from the position information by the GNSS 114 acquired in step S606 of FIG.

The position identifying unit 1109 of the mobile terminal 11 calculates the angle μ shown in FIG. 12(A) based on the image shown in FIG. 12(B). The angle μ is an angle formed by the direction from the mobile terminal 11 to the landmark 5 and the direction from the mobile terminal 11 to the facility 4. The angle μ can be calculated from the width A of the image shown in FIG. 12B, the distance E between the facility 4 and the landmark 5 in the image, and the angle of view α.

Subsequently, the position identifying unit 1109 has the equipment 4 of FIG. 12A based on the position information of the landmark 5 and the position information of the mobile terminal 11 stored in the storage unit 1103 and the calculated angle μ. The direction M from the mobile terminal 11 is specified.

Although the distance D between the landmark 5 and the equipment 4 is known, as shown in FIG. 12A, the position where the distance from the landmark 5 is D in the direction M is specified at two locations. .. It is the position shown by the equipment 4 and equipment 4x in FIG. 12(A). The position specifying unit 1109 calculates the positions of the two positions specified as candidates for the position of the equipment 4 (FIG. 11, step S607). The position specifying unit 1109 displays the calculated candidate position on the display 116 of the mobile terminal 11 to allow the operator to select one.

Subsequently, the position identifying unit 1109 reads the position information by the GNSS 114 acquired in step S603 of FIG. 11 from the storage unit 1103. This position information is acquired at the position of the equipment 4, and indicates the position of the equipment 4. Subsequently, the position identifying unit 1109 compares the position of the equipment 4 indicated by the position information by the GNSS with the calculated and selected position of the equipment 4 (FIG. 11, step S608).

Then, it is determined whether or not the position information (information indicating the position of the equipment 4) by the GNSS 114 acquired in step S603 of FIG. 11 is correct (FIG. 11, step S609). If the difference between the two positions exceeds the predetermined value, it is determined that the position information by the GNSS acquired in step S603 of FIG. 11 is incorrect, and it is necessary to return to step S603 and execute the process again. It is output to the display 116 or the speaker 118 to notify the operator. Alternatively, if there is a possibility that the operator made a mistake in selecting the two calculated candidates, the position not selected may be used for the determination again.

When the difference between the two positions is equal to or less than the predetermined value, the position identifying unit 1109 determines that the position information by GNSS acquired in step S603 of FIG. 11 is correct. In this case, the position specifying unit 1109 specifies that the position indicated by the position information by the GNSS 114 acquired in step S603 of FIG. 11 is the position of the equipment 4 (FIG. 11, step S610). Then, the wireless communication unit 1108 reads out the equipment information of the equipment 4 stored in the storage unit 1103 and the position information of the identified equipment 4, and transmits the equipment information to the server device 12 (FIG. 11, step S611).

[Modification]
The embodiments described above can be variously modified. Below, the example of those modifications is shown. It should be noted that two or more modified examples shown below may be appropriately combined.

(1) In the above-described embodiment, the mobile terminal 11 acquires position information indicating the installation position of the equipment 4 and transmits the position information to the server device 12. However, it is assumed that the installation direction of the equipment 4 is acquired. Good. There is a sign or the like as a facility for which it is preferable to acquire the installation direction.

FIG. 13 is a diagram for explaining acquisition of the installation direction of the equipment 4 by the mobile terminal 11. FIG. 13A shows a case where the azimuth meter 119 provided in the mobile terminal 11 is used. FIG. 13B shows a case where the landmark 5 is used. Although the mobile terminal 11 is held by an operator, the illustration of the operator is omitted.

In FIG. 13A, the worker holds the mobile terminal 11 and stands in front of the display surface of the facility 4 (for example, a sign) and shoots the camera 115 toward the facility 4. The image acquisition unit 1102 of the mobile terminal 11 acquires an image of the facility 4. At this time, the azimuth information acquisition unit 1105 of the mobile terminal 11 acquires the azimuth information from the azimuth meter 119 and acquires the azimuth angle of the shooting direction. Since the equipment 4 is photographed from the front, the installation direction (azimuth) of the equipment 4 can be obtained by obtaining the azimuth angle of the photographing direction.

In FIG. 13(B), as in the case of FIG. 13(A), the user holds the portable terminal 11 and stands in front of the display surface of the equipment 4 (for example, a sign), and the camera 115 faces the equipment 4 to take an image. At this time, the landmark 5 is inserted within the angle of view α for shooting. The landmark 5 that falls within the angle of view α is searched in advance based on the landmark information from the server device 12.

The image acquisition unit 1102 of the mobile terminal 11 acquires an image of the facility 4 and the landmark 5. At this time, the position information acquisition unit 1104 of the mobile terminal 11 acquires the current position information from the GNSS 114. Then, the installation direction (azimuth) of the facility 4 is calculated from the position information of the landmark 5 acquired from the server device 12 and the position information of the GNSS 114.

As described above, the mobile terminal 11 transmits the acquired installation direction information to the server device 12 together with the equipment information acquired from the QR code 4a. The information on the installation direction of the equipment 4 transmitted to the server device 12 is stored in the “installation direction” of the data record of the equipment DB shown in FIG. 2A, which is stored in the memory 122 of the server device 12. ..

The above-described work of acquiring the installation direction of the equipment 4 is performed when the worker goes to the installation position of the equipment 4 to measure the position of the equipment 4 in the first to fourth embodiments. May be.

(2) In the above-described embodiment, when two or more pieces of landmark information sent from the server device 12 are sent, the operator selects the landmark information by looking at the display on the display 116 of the mobile terminal 11. The mobile terminal 11 may determine and notify whether or not the landmark exists within the field of vision of the person.

FIG. 14 is a diagram showing a flow of processing for determining the presence/absence of a landmark within the field of view. The process according to the flow of FIG. 14 is performed when the worker is at the position of the equipment 4 and tries to specify the positional information of the equipment 4.

First, the position information acquisition unit 1104 of the mobile terminal 11 acquires position information from the GNSS 114 (step S701). Subsequently, the landmark information acquisition unit 1106 transmits the position information to the server device 12 and acquires the landmark information from the server device 12 (step S702). The landmark information to be acquired is transmitted from the server device 12 as a plurality of landmark information that may be visible in the field of view from the current position.

The worker points the camera 115 of the mobile terminal 11 in a part of the field of view. The image acquisition unit 1102 acquires an image of a part of the field of view captured by the camera 115 (step S703). Subsequently, the image acquisition unit 1102 compares the reference image of each landmark information with the acquired image and determines whether or not the image of the landmark is included in the acquired image (step S704). If it is determined that the image of the landmark appears in the acquired image, the landmark exists in the field of view, and the process proceeds to the process of specifying the positional information of the facility (step S705). The process of step S705 is the process in the above-described first to fifth embodiments.

If it is determined that the image of the landmark does not appear in the acquired image, the input/output control unit 1107 of the mobile terminal 11 issues a notification prompting to change the shooting direction (the direction in which the camera 115 is directed) or the shooting location ( Step S706).

The process according to the flow of FIG. 14 can be repeatedly executed by the worker performing a specific operation on the mobile terminal 11. After step S706, the direction of the camera 115 is changed and the process is started. You can

(3) In the above-described embodiment, the positional information of the equipment 4 is acquired only in the horizontal plane, but three-dimensional positional information including the position in the height direction may be acquired. The position information in the height direction can be obtained by GNSS, but a pressure gauge may be used. For example, when a facility in a high-rise building is to be managed, it is preferable to acquire three-dimensional position information in order to store which floor the facility is installed.

(4) In the above-described embodiment, the mobile terminal 11 and the server device 12 transmit and receive data, but the mobile terminal 11 alone may execute the process. The position information of the landmark 5 to be photographed by the facility 4 to which the worker is heading is stored in advance in the memory 112 in the mobile terminal 11, and the acquired facility information and position information of the facility 4 are also stored in the memory 112 in the mobile terminal 11. If so, it is not necessary to send and receive data to and from the server device 12.

1... Equipment position management system, 4... Equipment, 5... Landmark, 11... Mobile terminal, 12... Server device, 13... Network line, 111... Processor, 112... Memory, 113... Wireless communication unit, 121... Processor, 122 ...Memory, 123... Communication unit, 1101...Facility information acquisition section, 1102... Image acquisition section, 1103... Storage section, 1104... Position information acquisition section, 1105... Direction information acquisition section, 1106... Landmark information acquisition section, 1107... Input/output control unit, 1108... Wireless communication unit, 1109... Position specifying unit, 1201... Position information acquisition unit, 1202... Landmark information extraction unit, 1203... Storage unit, 1204... Communication unit.

Claims (9)

An equipment position management system that identifies the location of equipment by using the position of a landmark in the image taken by the mobile terminal in the image and the shooting position of the image measured by the mobile terminal. The equipment position management system according to claim 1, wherein the image is an image taken from the location of the equipment by the mobile terminal. The facility position management system according to claim 1, wherein a position in the image of the facility shown in the image is used in specifying the position of the facility. The equipment position management system according to any one of claims 1 to 3, wherein a shooting direction of the image is used in specifying a position of the equipment. The facility position management system according to any one of claims 1 to 4, wherein a distance between the facility and the landmark is used in specifying the position of the facility. The identification data for identifying the facility is acquired by the mobile terminal, and the identification data and the position data indicating the identified position of the facility are stored in association with each other. Equipment position management system. The image is an image taken by the mobile terminal in a direction corresponding to the installation direction of the equipment, and the direction data indicating the installation direction of the equipment specified based on the shooting direction of the image measured by the mobile terminal is used. The equipment position management system according to claim 6, which is stored in association with identification data. A landmark candidate shown in the image is identified by using the position measured by the mobile terminal, and a landmark shown in the image is identified by determining whether or not the candidate is shown in the image. The equipment position management system according to any one of claims 1 to 7. The facility position management system according to claim 1, wherein the facility position is a position in a three-dimensional space.