JP2020153786A - Position specification device, position specification system, position specification method, and program - Google Patents

Abstract

To specify a position of a person or an object using an appropriate positioning system.SOLUTION: A position specification device 400 includes: a measurement information acquiring unit 422 for acquiring measurement information showing a measurement result of a reception mode when a radio signal transmitted from a transmitter as a positioning object is received by a receiver; a position estimation unit 423 for calculating an estimated position of the transmitter using a positioning system corresponding to the type of the reception mode shown by the measurement information; a position specification unit 424 for specifying the location position of the transmitter from the estimated position, on the basis of a predetermined employment priority according to the positioning system used for calculating the estimated position and an area to which the estimated position belongs; and a display unit 430 for displaying the location position of the transmitter specified by the position estimation unit 423.SELECTED DRAWING: Figure 5

Description

The present invention relates to a positioning device, a positioning system, a positioning method, and a program.

A position identification technique for identifying the location of a person or an object by using various positioning methods is known. For example, Patent Document 1 discloses a position information specifying device that specifies the position information of a mobile device to be positioned based on a plurality of positioning results obtained by using a plurality of positioning methods. When specifying the position of the mobile device, this position information identifying device sequentially evaluates the positioning result by the positioning method with high positioning accuracy, and determines whether or not to adopt it as the position information of the mobile device based on the accuracy of the positioning result. to decide.

Japanese Unexamined Patent Publication No. 2018-66638

Here, from the viewpoint of introduction cost, operating cost, and the like, there is a demand for a technique for using a positioning method with appropriate positioning accuracy according to the moving frequency and moving speed of the positioning target. However, since the position information specifying device disclosed in Patent Document 1 always acquires positioning information by a plurality of positioning methods having different positioning accuracys, the position of a positioning target different from that of the mobile device is specified by using an appropriate positioning method. Is difficult.

The present invention has been made in view of the above circumstances, and is a position identification device, a position identification system, a position identification method, and a program capable of identifying the position of a person or an object by using an appropriate positioning method. The purpose is to provide.

In order to achieve the above object, the positioning device according to the first aspect of the present invention is
A measurement information acquisition means for acquiring measurement information indicating the measurement result of the reception mode when the receiving device receives the wireless signal transmitted from the transmitting device that is the positioning target.
A position estimating means for calculating an estimated position of the transmitting device using a positioning method corresponding to the type of receiving mode indicated by the measurement information, and
Position identifying means for identifying the location position of the transmitting device from the estimated position based on the adoption priority predetermined according to the positioning method used for calculating the estimated position and the area to which the estimated position belongs. When,
A display means for displaying the location position of the transmitting device specified by the position specifying means is provided.

Further, in order to achieve the above object, the position identification system according to the second aspect of the present invention is
It is a position identification system that identifies the location of the positioning target.
A measurement information acquisition means for acquiring measurement information indicating the measurement result of the reception mode when the receiving device receives the wireless signal transmitted from the transmitting device that is the positioning target.
A position estimating means for calculating an estimated position of the transmitting device using a positioning method corresponding to the type of receiving mode indicated by the measurement information, and
Position identifying means for identifying the location position of the transmitting device from the estimated position based on the adoption priority predetermined according to the positioning method used for calculating the estimated position and the area to which the estimated position belongs. When,
A display means for displaying the location position of the transmitting device specified by the position specifying means is provided.

Further, in order to achieve the above object, the position identification system according to the third aspect of the present invention is
A transmitting device that periodically transmits a wireless signal, a first receiving device and a second receiving device that measure the reception mode when the wireless signal is received by different measurement methods, and the transmitting device that is a positioning target. Including a position identification device that identifies the location of
The positioning device is
A communication means for receiving measurement information indicating a measurement result of a receiving mode, which is transmitted from the first receiving device and the second receiving device, respectively.
A position estimating means for calculating an estimated position of the transmitting device using a positioning method corresponding to the type of receiving mode indicated by the measurement information, and
Position identifying means for identifying the location position of the transmitting device from the estimated position based on the adoption priority predetermined according to the positioning method used for calculating the estimated position and the area to which the estimated position belongs. When,
A display means for displaying the location position of the transmitting device specified by the position specifying means is provided.

Further, in order to achieve the above object, the position specifying method according to the fourth aspect of the present invention is:
A measurement information acquisition step for acquiring measurement information indicating the measurement result of the reception mode when the receiving device receives the wireless signal transmitted from the transmitting device that is the positioning target, and
A position estimation step for calculating the estimated position of the transmitting device using the positioning method corresponding to the type of the receiving mode indicated by the measurement information, and
A position identification step for identifying the location position of the transmitting device from the estimated position based on the adoption priority predetermined according to the positioning method used for calculating the estimated position and the area to which the estimated position belongs. And, including.

In addition, in order to achieve the above object, the program according to the fifth aspect of the present invention is
Computer,
Measurement information acquisition means for acquiring measurement information indicating the measurement result of the reception mode when the receiving device receives the wireless signal transmitted from the transmitting device that is the positioning target.
A position estimating means for calculating an estimated position of the transmitting device using a positioning method corresponding to the type of receiving mode indicated by the measurement information.
Position identifying means for identifying the location position of the transmitting device from the estimated position based on the adoption priority predetermined according to the positioning method used for calculating the estimated position and the area to which the estimated position belongs. ,
It functions as a display means for displaying the location position of the transmitting device specified by the position specifying means.

According to the present invention, the positions of people and objects can be specified by using an appropriate positioning method.

It is the schematic of the position identification system which concerns on embodiment of this invention. It is a figure for demonstrating the state in a warehouse. It is a figure which shows an example of the 1st measurement information. It is a figure which shows an example of the 2nd measurement information. It is a block diagram which shows an example of the hardware composition of the position identification apparatus. It is a block diagram which shows an example of the functional structure of a position specifying device. It is a figure which shows an example of the 1st measurement area, the 2nd measurement area, and a blank area in a warehouse. It is a figure for demonstrating a coordinate system. It is a figure which shows an example of the worker / terminal correspondence information. It is a figure which shows an example of the product / tag correspondence information. It is a figure for demonstrating the 1st guard band set as a boundary area in the 1st measurement area adjacent to a blank area. It is a figure for demonstrating the 2nd guard band set as a boundary area in the 2nd measurement area adjacent to a blank area. It is a figure for demonstrating the boundary area set in the boundary part of the adjacent 1st measurement area and 2nd measurement area. It is a figure for demonstrating the 1st guard band. It is a figure for demonstrating the 2nd guard band. It is a figure which shows an example of priority information. It is a flowchart which shows the flow of the location identification processing. It is a figure which shows an example of the position display image.

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

The position identification system 1 according to the embodiment of the present invention is a system for identifying the positions of people and articles indoors. In the present embodiment, a case where the position identification system 1 is used in the warehouse WH and the positions of workers (people) and goods (things) are to be managed will be described as an example. In the warehouse WH, workers perform various operations such as carrying in and out of goods and checking inventory. As shown in FIG. 1, the position identification system 1 includes a mobile terminal 100, a tag device 200, a first signal measurement sensor 300A, a second signal measurement sensor 300B, and a position identification device 400. The first signal measurement sensor 300A, the second signal measurement sensor 300B, and the position identification device 400 are communicably connected via the network NW. The network NW may be wired or wireless, for example, the Internet, LAN (Local Area Network), 3G / LTE line, short-range wireless such as IEEE802.5.4, LPWA wireless, VPN (Virtual Private Network), etc. Communication network. Further, the first signal measurement sensor 300A and the second signal measurement sensor 300B can receive the radio signal transmitted from the mobile terminal 100 and the tag device 200.

Note that FIG. 1 shows one mobile terminal 100, one tag device 200, one first signal measurement sensor 300A, and one second signal measurement sensor 300B, but any number of these devices is arbitrary. The position identification system 1 includes two or more mobile terminals 100, a tag device 200, a first signal measurement sensor 300A, and a second signal measurement sensor 300B. Further, the first signal measurement sensor 300A and the second signal measurement sensor 300B shall measure the reception mode of the radio signal by using different measurement methods.

(Mobile terminal 100)
The mobile terminal 100 is a smartphone, a tablet terminal, or the like, and has a function of periodically (for example, at intervals of several seconds) transmitting a wireless signal (radio wave signal) including identification information (terminal ID) of the own device. As shown in FIG. 2, it is assumed that the managed worker W has the mobile terminal 100 in the warehouse WH. In the present embodiment, the wireless signal periodically transmitted by the mobile terminal 100 is a beacon signal conforming to the BLE (Bluetooth (registered trademark) Low Energy) standard (hereinafter, also simply referred to as “BLE beacon”). And. Since the mobile terminal 100 only needs to have a BLE beacon function, it does not require a screen to be displayed to a person like a smartphone or tablet and a touch panel for operation, and can be miniaturized, such as a worker's helmet or collar. It can be fixed to the shoulder with a clip or the like. The mobile terminal 100 is an example of the transmitting device of the present invention.

(Tag device 200)
The tag device 200 is a tag-shaped transmitting device, and has a function of periodically (for example, at intervals of several seconds) transmitting a radio signal (radio wave signal) including identification information (tag ID) of the own device. As shown in FIG. 2, it is assumed that the tag device 200 is attached to the product P to be managed. In the present embodiment, the radio signal periodically transmitted by the tag device 200 is a BLE beacon as in the case of the mobile terminal 100. The tag device 200 is an example of the transmitting device of the present invention.

The wireless signal transmitted by the mobile terminal 100 and the tag device 200 may be a signal transmitted at regular intervals to notify the existence of the mobile terminal 100, and may be a signal other than the BLE beacon. The mobile terminal 100 and the tag device 200 are examples of the transmitting device according to the present invention.

(1st signal measurement sensor 300A)
The first signal measurement sensor 300A is a sensor that receives BLE beacons transmitted from the mobile terminal 100 and the tag device 200, and measures the arrival angle (AOA (Angle Of Arrival)) of radio waves as a receiving mode thereof. The first signal measurement sensor 300A is an example of the receiving device and the first receiving device according to the present invention. Each time the first signal measurement sensor 300A receives the BLE beacon, the first signal measurement sensor 300A generates the first measurement information indicating the arrival angle and the like of the received BLE beacon and transmits the first measurement information to the position specifying device 400 via the network NW. As shown in FIG. 3A, the first measurement information is, for example, a sensor ID which is identification information of the first signal measurement sensor 300A, a source which is identification information of a mobile terminal 100 or a tag device 200 which is a source of a BLE beacon. Includes ID (terminal ID or tag ID) and arrival angle. The arrival angle is the angle θ _A with respect to the reference line (for example, a perpendicular line) when the arrival angle of the radio wave is viewed from the horizontal direction, and the reference line (for example, north) when the arrival angle of the radio wave is viewed from the vertical direction. Includes the angle φ _A with respect to the direction).

(2nd signal measurement sensor 300B)
The second signal measurement sensor 300B is a sensor that receives BLE beacons transmitted from the mobile terminal 100 and the tag device 200, and measures the received signal strength (RSSI (Received Signal Strength Indicator)) as a reception mode thereof. The second signal measurement sensor 300B is an example of the receiving device and the second receiving device of the present invention. Each time the second signal measurement sensor 300B receives the BLE beacon, the second signal measurement sensor 300B generates the second measurement information indicating the reception signal strength of the received BLE beacon and the like, and transmits the second measurement information to the position specifying device 400 via the network NW. The second measurement information is, for example, as shown in FIG. 3B, a sensor ID which is identification information of the second signal measurement sensor 300B, a source which is identification information of a mobile terminal 100 or a tag device 200 which is a source of a beacon signal. Includes ID (terminal ID or tag ID) and received signal strength.

The received signal strength is a relative index indicating the strength of the radio wave of the BLE beacon received by the second signal measurement sensor 300B, and is, for example, substantially proportional to the logarithmic value of the electric field strength received by the second signal measurement sensor 300B. It is represented by a numerical value. The larger the value, the stronger the received electric field strength, and the shorter the distance from the second signal measurement sensor 300B to the mobile terminal 100 or the tag device 200.

In the following description, when the first signal measurement sensor 300A and the second signal measurement sensor 300B are not particularly distinguished, they are collectively referred to as “signal measurement sensor 300”. Further, when the first measurement information and the second measurement information are not particularly distinguished, they are collectively referred to as "measurement information".

(Positioning device 400)
The position identification device 400 calculates the estimated positions of the mobile terminal 100 and the tag device 200, which are the positioning targets, by using the corresponding positioning method according to the measurement information acquired from the signal measurement sensor 300, and assigns the estimated positions to the area to which the estimated positions belong. Accordingly, the current positions of the mobile terminal 100 and the tag device 200 are specified based on a predetermined priority. Further, the position specifying device 400 creates and displays a position display image showing the location position of the positioning target.

(Hardware configuration of position identification device 400)
Next, the hardware configuration of the position specifying device 400 will be described with reference to FIG. As shown in FIG. 4, the position identification device 400 includes a CPU (Central Processing Unit) 401, a ROM (Read Only Memory) 402, a RAM (Random Access Memory) 403, an HDD (Hard Disk Drive) 404, a display 405, and an input device. It is equipped with 406 and communication I / F 407. Each of these parts is electrically connected to each other via a bus line BL.

The CPU 401 is an arithmetic unit that controls the entire position specifying device 400 by reading a program or data from the ROM 402 or HDD 404 onto the RAM 403 and executing processing.

The ROM 402 is a non-volatile memory that stores a program executed by the CPU 401, data used when executing the program, and the like. The ROM 402 stores, for example, a control program and data used for the position identification process described later.

The RAM 403 is a volatile memory that temporarily holds various programs and various data read from the ROM 402 and the HDD 404, and is used as a work area of the CPU 401.

HDD 404 is a large-capacity, non-volatile storage device in which the stored contents can be rewritten. The HDD 404 stores, for example, various programs and various data executed by the CPU 401. The position specifying device 400 may include a rewritable non-volatile storage device such as an SSD (Solid State Drive) in place of or in combination with the HDD 404.

The display 405 is a display device such as an LCD (Liquid Crystal Display), a PDP (Plasma Display Panel), or an organic EL (Electro-Luminescence) display, and displays various images under the control of the CPU 401.

The input device 406 is a keyboard, mouse, operation buttons, etc., and receives user operations, input of various data, and the like. The input device 406, for example, accepts operations and data input by the user. The input device 406 may be composed of a touch panel including a display screen of the display 405 and a touch sensor provided on the display screen 405.

The communication I / F 407 is an interface for transmitting / receiving data to / from the signal measurement sensor 300 via the network NW.

(Functional configuration of position identification device 400)
Next, the functional configuration of the position specifying device 400 will be described with reference to FIG. As shown in FIG. 5, the position specifying device 400 includes a storage unit 410, a control unit 420, a display unit 430, an input unit 440, and a communication unit 450.

The storage unit 410 is composed of the HDD 404, and stores various data such as various programs, input data, and transmission / reception data executed by the control unit 420. The storage unit 410 stores, for example, measurement area information 411, sensor installation information 412, boundary area information 413, priority information 414, worker / terminal correspondence information 415, and product / tag correspondence information 416.

The measurement area information 411 is information indicating the type of each area (space) in which the space in the warehouse WH is divided according to the monitoring purpose and the position of the area. In the present embodiment, the space in the warehouse WH is divided into a rectangular parallelepiped of a predetermined size (volume) or a unit space of an area (plane), and each divided unit space is divided into a first measurement area ARa according to a monitoring application. , The second measurement area ARb, or the blank area ARc is assigned. More specifically, as shown in FIG. 6A in a plane with reference to the floor surface WHF of the warehouse WH, the space in the warehouse WH mainly requires monitoring of the position of the worker W and is installed in the area. The first measurement area ARa where the arrival angle of the BLE beacon is measured by the first signal measurement sensor 300A and the second signal measurement sensor 300B installed in the area, which mainly requires monitoring of the position of the product P, BLE. It is divided into a second measurement area ARb in which the reception signal strength of the beacon is measured and a blank area ARc in which monitoring of the worker W and the product P is not particularly required.

As shown in FIG. 6B, the position of each area is a representative point of each area in a three-dimensional Cartesian coordinate system including an X-axis, a Y-axis, and a Z-axis having the reference point O of the floor surface WHF as the origin. For example, it is represented by the coordinate values of eight vertices). When the warehouse WH is composed of a plurality of floors, the space on each floor may be divided into each area and managed according to the monitoring purpose.

The sensor installation information 412 is information indicating the installation positions of the first signal measurement sensor 300A and the second signal measurement sensor 300B in the warehouse WH. As shown in FIG. 2, the first signal measurement sensor 300A is installed in a mesh shape at regular intervals (for example, at intervals of 6 meters) on the ceiling surface defining the first measurement area ARa, and the second signal measurement sensor 300B Is installed in a mesh shape at regular intervals on the ceiling surface defining the second measurement area ARb (in FIG. 2, the first signal measurement sensor 300A and the second signal measurement sensor 300B are not distinguished, and the signal measurement sensor 300 and the signal measurement sensor 300 It is written). As shown in FIG. 2, the first signal measurement sensor 300A and the second signal measurement sensor 300B may be installed on the wall surface defining each measurement area. The installation positions of the first signal measurement sensor 300A and the second signal measurement sensor 300B are, for example, the individual installation coordinates of the first signal measurement sensor 300A and the second signal measurement sensor 300B in the same coordinate system as the range of each area described above. Expressed as a value.

The boundary area information 413 is information indicating the position of the boundary area set by the boundary area setting unit 421 of the control unit 420. The details of the boundary area information 413 will be described later.

The priority information 414 is information indicating the priority of adoption of the estimated position when the position specifying unit 424, which will be described later, specifies the location position of the positioning target.

In the worker / terminal correspondence information 415, as shown in FIG. 7A, the worker ID which is the identification information of the worker W and the terminal ID which is the identification information of the mobile terminal 100 possessed by the worker W are associated with each other. This is the information that was given. The control unit 420 can grasp the correspondence relationship between the worker W and the mobile terminal 100 from this information. Further, in the product / tag correspondence information 416, as shown in FIG. 7B, the product ID which is the identification information of the product P and the tag ID which is the identification information of the tag device 200 attached to the product P are associated with each other. Information.

The control unit 420 is composed of a CPU 401, a ROM 402, a RAM 403, and the like, and controls each of the constituent parts of the position specifying device 400. The control unit 420 functionally includes a boundary area setting unit 421, a measurement information acquisition unit 422, a position estimation unit 423, a position identification unit 424, and a position display image generation unit 425. Each of these functional units is realized by the CPU 401 executing a control program stored in the ROM 402.

The boundary area setting unit 421 sets the boundary area at the boundary portion where the areas of different types are adjacent to each other with reference to the measurement area information 411 stored in the storage unit 410, and creates the boundary area information 413 indicating the position of the boundary area. Then, it is stored in the storage unit 410. The boundary area setting unit 421 is an example of the boundary area setting means of the present invention. The boundary area is an area provided to suppress an error in specifying the position of the positioning target in the vicinity of the boundary where different types of areas are adjacent to each other. For example, the blank area ARc and the first measurement area ARa or the second measurement are provided. The area ARb is provided at an adjacent boundary portion, and the first measurement area ARa and the second measurement area ARb are provided at an adjacent boundary portion.

When the blank area ARc and the first measurement area ARa are adjacent to each other, the boundary area setting unit 421 has a boundary area at the edge of the first measurement area ARa adjacent to the blank area ARc, as shown in a plane in FIG. 8A. A first guard band ARag having a constant width is set as. The first guard band ARag is set as a limit region that can ensure the positioning accuracy and reliability of the AOA method (first positioning method) for the positioning target actually existing outside the first measurement area ARa. The area obtained by removing the first guard band ARag from the first measurement area ARa is referred to as the substantially first measurement area ARaa.

Similarly, when the blank area ARc and the second measurement area ARb are adjacent to each other, the boundary area setting unit 421 sets the second guard band ARbg as shown in FIG. 8B. The area obtained by removing the second guard band ARbg from the second measurement area ARb is referred to as the substantially second measurement area ARbb. The second guard band ARbg is set as a limit region capable of ensuring the positioning accuracy and reliability of the RSSI method (second positioning method) for the positioning target actually existing outside the second measurement area ARb.

When the first measurement area ARa and the second measurement area ARb are adjacent to each other, the first signal measurement sensor 300A installed in the first measurement area ARa is actually a mobile terminal 100 located in the first measurement area ARa. In addition to the BLE beacon transmitted from the tag device 200, the BLE beacon transmitted from the mobile terminal 100 and the tag device 200 located in the adjacent second measurement area ARb can be received. The same applies to the second signal measurement sensor 300B installed in the second measurement area ARb.

When the first measurement area ARa and the second measurement area ARb are adjacent to each other, the boundary area setting unit 421 is a boundary portion between the first measurement area ARa and the second measurement area ARb, as shown in a plane in FIG. 9A. A first guard band ARag, an overlapping area ARab, and a second guard band ARbg are set as boundary areas.

The first guard band ARag and the second guard band ARbg are slightly different from those formed when the blank area ARc described above and the first measurement area ARa or the second measurement area ARb are adjacent to each other, and conceptually, As shown in FIGS. 9B and 9C, the first measurement area ARa and the second measurement area ARb are superposed by a predetermined amount toward the other side adjacent to each other, and are formed at the edge in the expansion direction of each area. Here, the predetermined amount is a predetermined volume amount according to the propagation distance of the BLE beacon transmitted from the mobile terminal 100 and the tag device 200, the reception accuracy of the first signal measurement sensor 300A and the second signal measurement sensor 300B, and the like. It may be (area amount). The guard band is usually set in an area where the accuracy of each positioning method deteriorates in order to eliminate the calculation of the estimated position with low accuracy. The shape of the guard band may be rectangular as shown, or may be a circular outer shell, an arc outer shell, or the like.

The overlapping area ARab is an area in which the first guard band ARag and the second guard band ARbg are removed from the overlapping portion in which the first measurement area ARa and the second measurement area ARb are superimposed on each other. The area excluding the boundary area from the first measurement area ARa is referred to as the substantially first measurement area ARaa, and the area excluding the boundary area from the second measurement area ARb is referred to as the substantially second measurement area ARbb. When the boundary area is set, the boundary area setting unit 421 creates boundary area information 413 indicating the position of the boundary area and stores it in the storage unit 410. The position of the boundary area is represented by a coordinate value in the three-dimensional Cartesian coordinate system shown in FIG. 6B or a coordinate value in the two-dimensional Cartesian coordinate system, similarly to the position of each area in the measurement area information 411.

The measurement information acquisition unit 422 acquires the first measurement information from the first signal measurement sensor 300A and the second measurement information from the second signal measurement sensor 300B via the communication unit 450. The measurement information acquisition unit 422 is an example of the measurement information acquisition means of the present invention. Further, the step in which the measurement information acquisition unit 422 acquires the first measurement information and the second measurement information is an example of the measurement information acquisition step of the present invention. A plurality of measurement information acquisition units 422 may be provided corresponding to each positioning method such as the AOA method and the RSSI method.

The position estimation unit 423 calculates the estimated position at the time when the positioning target transmits the radio signal based on the measurement information acquired by the measurement information acquisition unit 422. The position estimation unit 423 is an example of the position estimation means of the present invention. Further, the step in which the position estimation unit 423 calculates the estimated position of the positioning target is an example of the position estimation step of the present invention. For example, when the measurement information acquisition unit 422 acquires the first measurement information regarding the same positioning target (mobile terminal 100 or tag device 200) from at least two first signal measurement sensors 300A, the position estimation unit 423 performs the first measurement. After taking into account the installation position of the first signal measurement sensor 300A that transmitted the information, the estimated position of the positioning target is calculated using the AOA method (first positioning method) based on the arrival angle indicated by each first measurement information. .. The installation position of the first signal measurement sensor 300A may be acquired by reading out the sensor installation information 412 described above.

Although it is difficult to accurately grasp the time when the positioning target emits radio waves, the speed of the radio waves is sufficiently high in the positioning space, so that the position estimation unit 423 is positioned by each signal measurement sensor 300. The time when the target radio wave is received is treated as the time when the positioning target transmits the radio wave. Further, a plurality of position estimation units 423 may be provided corresponding to each positioning method such as the AOA method and the RSSI method.

In the AOA method, in the case of three-dimensional positioning, the arrival direction of the radio wave is estimated from the arrival angle of the radio wave measured by two or more first signal measurement sensors 300A that have received the BLE beacon transmitted from the positioning target, and these arrival directions are obtained. The estimated position of the time when the positioning target transmits the radio signal is calculated from the intersection of the directions. In the case of two-dimensional positioning, the arrival direction of the radio wave is estimated from the arrival angle of the radio wave measured by one or more first signal measurement sensors 300A that have received the BLE beacon transmitted from the positioning target, and this arrival direction and the reference plane (for example, , Horizontal plane) and the intersection, or the intersection of these arrival directions, the estimated position of the positioning target is calculated. In the case of two-dimensional positioning, it is assumed that the mobile terminal 100 and the tag device 200 are located at a constant height from the floor surface, for example, and that the Z coordinate value is positioned at a constant value. Hereinafter, the estimated position of the positioning target calculated by the position estimation unit 423 using the AOA method is referred to as a “first estimated position”.

Further, in the position estimation unit 423, for example, the measurement information acquisition unit 422 receives the second measurement information regarding the same positioning target (mobile terminal 100 or tag device 200) and the same BLE beacon from at least three second signal measurement sensors 300B. When acquired, positioning is performed using the RSSI method (second positioning method) based on the received signal strength indicated by the second measurement information, taking into account the installation position of the second signal measurement sensor 300B that transmitted the second measurement information. Calculate the estimated position of the target. The installation position of the second signal measurement sensor 300B may be acquired by reading the sensor installation information 412 described above.

In the RSSI method, the distance from each of the second signal measurement sensors 300B to the positioning target is calculated from the received signal strength measured by three or more second signal measurement sensors 300B that have received the BLE beacon transmitted from the positioning target. Further, according to the principle of triangulation, the estimated position of the positioning target is calculated from the intersection of a circle or a sphere whose radius is the distance calculated around each of the second signal measurement sensors 300B. Hereinafter, the estimated position of the positioning target calculated by the position estimation unit 423 using the RSSI method is referred to as a “second estimated position”.

The position specifying unit 424 refers to the measurement area information 411, the boundary area information, and the priority information 414 stored in the storage unit 410, identifies the area to which the estimated position by the position estimating unit 423 belongs, and then performs the priority information. The location of the positioning target is specified based on 414. The position specifying unit 424 is an example of the position specifying means of the present invention. Further, the step in which the position specifying unit 424 specifies the location of the positioning target is an example of the position specifying step of the present invention.

As shown in FIG. 10, the priority information 414 is associated with an area to which the first estimated position belongs, an area to which the second estimated position belongs, a combination thereof, and an adoption priority. "-" Indicates that the estimated position has not been calculated. In the item of adoption priority, the estimated position having the higher adoption priority among the first estimated position and the second estimated position, or "not adopted" indicating that the estimated position is not adopted is set. In the priority information 414 shown in FIG. 10, for example, when only the first estimated position is calculated and the first estimated position belongs to the substantially first measurement area, this first estimated position is adopted and the first estimated position is set. It is stipulated that this first estimated position is not adopted when it belongs to the first guard band ARag. Further, when the first estimated position and the second estimated position are calculated, the first estimated position belongs to the substantially first measurement area, and the second estimated position belongs to the second guard band ARbg, the first estimated position has priority. It is stipulated that it should be adopted.

The position specifying unit 424 is the first estimation of the positioning target when the estimated position of the positioning target calculated by the position estimation unit 423 is one, that is, the position estimation unit 423 uses either the AOA method or the RSSI method. When only one of the position and the second estimated position is calculated, the position specifying unit 424 first identifies the area to which the estimated position by the position estimating unit 423 belongs by referring to the boundary area information 413. Subsequently, the position specifying unit 424 identifies the location position of the positioning target based on the adoption priority corresponding to the area to which the estimated position belongs with reference to the priority information 414. Explaining the case where the estimated position by the position estimation unit 423 is only the first estimated position using the AOA method, as shown in FIG. 10, the position specifying unit 424 has its first estimated position in the substantially first measurement area. If it belongs, the first estimated position is adopted and specified as the location position of the positioning target, while if the first estimated position belongs to the first guard band AAg, the first estimated position is not adopted. Does not specify the location of the positioning target.

On the other hand, when there are two estimated positions of the positioning target calculated by the position estimation unit 423, that is, the position estimation unit 423 calculates the first estimated position using the AOA method and positioning using the RSSI method. When the second estimated position of the target is calculated, first, the area to which the first estimated position belongs and the area to which the second estimated position belongs are specified by referring to the measurement area information 411 and the boundary area information 413, respectively. Subsequently, the position specifying unit 424 identifies the location position of the positioning target based on the adoption priority corresponding to the combination of the area to which the first estimated position belongs and the area to which the second estimated position belongs with reference to the priority information 414. To do. For example, as shown in FIG. 10, the position specifying unit 424 is the first when the area to which the first estimated position belongs is the substantially first measurement area and the area to which the second estimated position belongs is the second guard band ARbg. Specify the estimated position as the location. Further, when the area to which the first estimated position belongs and the area to which the second estimated position belongs are both the first guard band ARag, the position specifying unit 424 determines the first estimated position if the positioning target is the mobile terminal 100. If the positioning target is the tag device 200, the second estimated position is specified as the location position. When the plurality of position estimation units 423 calculate the estimated position by each positioning method such as the AOA method and the RSSI method, the time required for each process may be different. Therefore, the position specifying unit 424 considers in advance the time required for calculating the estimated position by the plurality of positioning methods, and when the location position is specified, the plurality of position estimating units 423 input each estimated position with a specific time width. It will be tolerated.

The position display image generation unit 425 generates a position display image that reflects the location position of the positioning target specified by the position identification unit 424 on the floor map, and controls and displays the position display image 430. The position display image generation unit 425 is an example of the display means of the present invention together with the display unit 430 described later.

The display unit 430 is composed of a display 405, and under the control of the control unit 420, performs analog signal conversion processing or the like on the image data for display to display various images. The display unit 430 displays, for example, the position display image generated by the position display image generation unit 425.

The input unit 440 is composed of an input device 406, and receives user operations, input of various data, and the like. The input unit 440 generates, for example, an operation signal corresponding to the received operation and supplies the operation signal to the control unit 420.

The communication unit 450 is composed of the communication I / F 407, and transmits / receives data to / from the signal measurement sensor 300 via the network NW under the control of the control unit 420. For example, the communication unit 450 transmits a control signal instructing the start and end of measurement to the signal measurement sensor 300, and receives measurement information from the signal measurement sensor 300. The communication unit 450 is an example of the communication means of the present invention.

Next, with reference to the flowchart shown in FIG. 11, the location identification process executed by the control unit 420 of the position identification device 400 will be described. In the location identification process, the estimated position of the positioning target is calculated using the corresponding positioning method based on the measurement information acquired from the signal measurement sensor 300, and the location is specified and specified according to the area to which the estimation process belongs. This is a process of displaying a position display image that reflects the location position.

When the location location identification process is started, the control unit 420 determines whether or not one or more first measurement information regarding the same positioning target has been acquired within a predetermined time (step S101). The position estimation unit 423 determines whether or not the measurement information acquisition unit 422 has acquired one or more first measurement information having the same source ID within a predetermined time. Here, the predetermined time is, for example, an interval at which the mobile terminal 100 and the tag device 200 transmit the BLE beacon.

When it is determined that one or more first measurement information regarding the same positioning target has been acquired (step S101: YES), the control unit 420 calculates the first estimated position of the positioning target (step S102). The position estimation unit 423 is positioned by the AOA method based on the arrival angle indicated by each of the two or more first measurement information, taking into account the installation position of the first signal measurement sensor 300A that has transmitted the first measurement information. The first estimated position of is calculated.

After executing the process of step S102, or when it is determined in step S101 that one or more first measurement information regarding the same BLE beacon has not been acquired (step S101: NO), the control unit 420 has the same BLE. It is determined whether or not three or more second measurement information regarding the beacon has been acquired (step S103). The position estimation unit 423 determines whether or not the measurement information acquisition unit 422 has acquired the second measurement information of three or more having the same signal identification information. Here, the second measurement information of three or more having the same signal identification information is transmitted from the second signal measurement sensor 300B of three or more that measures the received signal strength of the BLE beacon transmitted from a single positioning target. Information.

When it is determined that three or more second measurement information related to the same positioning target has been acquired (step S103: YES), the control unit 420 calculates the second estimated position of the positioning target (step S104). The position estimation unit 423 positions the position by the RSSI method based on the received signal strength indicated by each of the three or more second measurement information, taking into account the installation position of the second signal measurement sensor 300B that has transmitted the second measurement information. Calculate the second estimated position of the target.

After executing the process of step S104, or when it is determined in step S103 that three or more second measurement information regarding the same BLE beacon has not been acquired (step S103: NO), the control unit 420 makes the first estimation. It is determined whether or not at least one of the position and the second estimated position has been calculated (step S105). The position specifying unit 424 determines according to the calculation result by the position estimating unit 423. When it is determined that neither the first estimated position nor the second estimated position has been calculated (step S105: NO), the control unit 420 returns the process to step S101.

When it is determined that at least one of the first estimated position and the second estimated position has been calculated (step S105: YES), the control unit 420 stores the measurement area information 411, the boundary area information 413, and the priority stored in the storage unit 410. The degree information 414 is read out to the ROM 402 (step S106).

Subsequently, the control unit 420 identifies the area to which the estimated position belongs by referring to the measurement area information 411 and the boundary area information 413 (step S107). When only one of the first estimated position and the second estimated position is calculated by the position estimation unit 423, the position identification unit 424 refers to the measurement area information 411 and the boundary area information 413 for the area to which the calculated estimated position belongs. To identify. Further, when both the first estimated position and the second estimated position are calculated by the position estimation unit 423, the position specifying unit 424 refers to the measurement area information 411 and the boundary area information 413, and the first estimated position belongs to the position estimation unit 423. The area and the area to which the second estimated position belongs are specified respectively.

Next, the control unit 420 identifies the location position with reference to the priority information 414 (step S108). When the position specifying unit 424 specifies only one of the area to which the first estimated position belongs and the area to which the second estimated position belongs, the position specifying unit 424 specifies the location position based on the adoption priority corresponding to the area. When both the area to which the first estimated position belongs and the area to which the second estimated position belongs are specified, the location position is specified based on the adoption priority corresponding to these combinations.

The control unit 420 displays a position display image that reflects the location position of the specified positioning target (step S109). The position display image generation unit 425 generates a position display image that reflects the location position of the positioning target specified by the position identification unit 424 on the floor map in the warehouse, and controls and displays the position display image 430. For example, as shown in FIG. 12, the position display image generation unit 425 determines the location of the worker W if the positioning target is the mobile terminal 100, and the location of the product P if the positioning target is the tag device 200. A position display image is generated by reflecting it on the floor map. In the position display image shown in FIG. 12, the worker W is represented by ○ and the product P is represented by □, and when the product P is loaded or placed on a rack or the like, it is lowered so that the vertical relationship can be recognized. The larger the product, the larger it is. Further, although not shown, the identification information (worker ID, product ID) of the worker W and the product P is displayed in the vicinity of ◯ and □, or each is color-coded so that each can be identified. In addition to the floor map, the display format may be to display the area, worker ID, and product ID in a list.

After executing the process of step S109, the control unit 420 returns the process to step S101, and repeatedly executes a series of processes from step S101 to step S108.

As described above, the position identification device 400 according to the present embodiment estimates the mobile terminal 100 and the tag device 200 to be positioned by using the corresponding positioning method according to the measurement information acquired from the signal measurement sensor 300. The position is calculated, and the location position of the mobile terminal 100 and the tag device 200 is specified based on a predetermined priority according to the area to which the estimated position belongs. The position specifying device 400 displays the specified mobile terminal 100 and the tag device 200 as the locations of the corresponding workers W and the product P. As a result, the position specifying device 400 can specify the position of a person or an object by using an appropriate positioning method.

The present invention is not limited to the above-described embodiment, and various modifications and applications are possible without departing from the gist of the present invention.

In the above embodiment, the position identification system 1 calculates the estimated position of the positioning target by using the AOA method as the first positioning method and the RSSI method as the second positioning method. The positioning method is not limited to this, and other measurement methods (for example, an arrival time (TOA: Time Of Arrival) method, an arrival time difference (TDOA: Time Difference Of Arrival) method) may be used. Further, the measurement method is not limited to two, the first positioning method and the second positioning method, and the estimated position may be calculated using two or more measurement methods.

In the above embodiment, the control program that defines the operation of the position specifying device 400 is stored in the ROM 402. However, the present invention is not limited to this, and relates to the above-described embodiment by implementing a control program for executing the above-mentioned various processes on an existing general-purpose computer, framework, workstation, or the like. It may function as a device corresponding to the position specifying device 400.

In the above embodiment, the boundary area setting unit 421, the measurement information acquisition unit 422, the position estimation unit 423, the position identification unit 424, and the position display image generation unit 425 are housed in the control unit 420, but a plurality of each are housed in the control unit 420. It may be distributed and arranged in the position specifying device 400.

The method of providing such a program is arbitrary, and for example, it is stored and distributed on a computer-readable recording medium (flexible disc, CD (Compact Disc) -ROM, DVD (Digital Versatile Disc) -ROM) or the like. Alternatively, the program may be stored in a storage on a network such as the Internet and provided by downloading the program.

1 ... Position identification system, 100 ... Mobile terminal, 200 ... Tag device, 300A ... First signal measurement sensor, 300B ... Second signal measurement sensor, 400 ... Position identification device, 401 ... CPU, 402 ... ROM, 403 ... RAM, 404 ... HDD, 405 ... Display, 406 ... Input device, 407 ... Communication I / F, 410 ... Storage unit, 411 ... Measurement area information, 412 ... Sensor installation information, 413 ... Boundary area information, 414 ... Priority information, 415 ... Worker / terminal correspondence information, 416 ... Product / tag correspondence information, 420 ... Control unit, 421 ... Boundary area setting unit, 422 ... Measurement information acquisition unit, 423 ... Position estimation unit, 424 ... Position identification unit, 425 ... Position Display image generation unit, 430 ... Display unit, 440 ... Input unit, 450 ... Communication unit, ARa ... First measurement area, ARaa ... Substantial first measurement area, ARag ... First guard band, ARb ... Second measurement area, ARbb … Actual second measurement area, ARbg… second guard band, ARab… overlapping area, ARc… blank area, BL… bus line, NW… network, P… product, W… worker, WH… warehouse, WHF… floor

Claims (7)

A measurement information acquisition means for acquiring measurement information indicating the measurement result of the reception mode when the receiving device receives the wireless signal transmitted from the transmitting device that is the positioning target.
A position estimating means for calculating an estimated position of the transmitting device using a positioning method corresponding to the type of receiving mode indicated by the measurement information, and
Position identifying means for identifying the location position of the transmitting device from the estimated position based on the adoption priority predetermined according to the positioning method used for calculating the estimated position and the area to which the estimated position belongs. When,
A display means for displaying the location position of the transmitting device specified by the position specifying means is provided.
Positioning device. A boundary area setting means for setting a boundary area at a boundary portion where different measurement areas are adjacent to each other in the measurement area divided according to the installation position of the receiving device is provided.
The position specifying means identifies the area to which the estimated position belongs from the measurement area and the boundary area.
The position identifying device according to claim 1. The reception mode is the arrival angle or reception signal strength of the radio signal.
The positioning device according to claim 1 or 2. It is a position identification system that identifies the location of the positioning target.
A measurement information acquisition means for acquiring measurement information indicating the measurement result of the reception mode when the receiving device receives the wireless signal transmitted from the transmitting device that is the positioning target.
A position estimating means for calculating an estimated position of the transmitting device using a positioning method corresponding to the type of receiving mode indicated by the measurement information, and
Position identifying means for identifying the location position of the transmitting device from the estimated position based on the adoption priority predetermined according to the positioning method used for calculating the estimated position and the area to which the estimated position belongs. When,
A display means for displaying the location position of the transmitting device specified by the position specifying means is provided.
Positioning system. A transmitting device that periodically transmits a wireless signal, a first receiving device and a second receiving device that measure the reception mode when the wireless signal is received by different measurement methods, and the transmitting device that is a positioning target. Including a position identification device that identifies the location of
The positioning device is
A communication means for receiving measurement information indicating a measurement result of a receiving mode, which is transmitted from the first receiving device and the second receiving device, respectively.
A position estimating means for calculating an estimated position of the transmitting device using a positioning method corresponding to the type of receiving mode indicated by the measurement information, and
Position identifying means for identifying the location position of the transmitting device from the estimated position based on the adoption priority predetermined according to the positioning method used for calculating the estimated position and the area to which the estimated position belongs. When,
A display means for displaying the location position of the transmitting device specified by the position specifying means is provided.
Positioning system. A measurement information acquisition step for acquiring measurement information indicating the measurement result of the reception mode when the receiving device receives the wireless signal transmitted from the transmitting device to be positioned, and the measurement information acquisition step.
A position estimation step for calculating the estimated position of the transmitting device using the positioning method corresponding to the type of the receiving mode indicated by the measurement information, and
A position identification step for identifying the location position of the transmitting device from the estimated position based on the adoption priority predetermined according to the positioning method used for calculating the estimated position and the area to which the estimated position belongs. And, including
Positioning method. Computer,
Measurement information acquisition means for acquiring measurement information indicating the measurement result of the reception mode when the receiving device receives the wireless signal transmitted from the transmitting device that is the positioning target.
A position estimating means for calculating an estimated position of the transmitting device using a positioning method corresponding to the type of receiving mode indicated by the measurement information.
Position identifying means for identifying the location position of the transmitting device from the estimated position based on the adoption priority predetermined according to the positioning method used for calculating the estimated position and the area to which the estimated position belongs. ,
It functions as a display means for displaying the location position of the transmitting device specified by the position specifying means.
program.

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