JP2021009044A5 - - Google Patents

Description

The present invention relates to a position detection system for a mobile device that determines the position of the mobile device in consideration of the operating state of the mobile device, and also relates to an information collection terminal for the mobile device that can be used in the system. ..

Japanese Unexamined Patent Publication No. 2018-1282 (Patent Document 1) discloses an invention in which information on the current position of a device is included in the operation information of the device.

Further, Japanese Patent Application Laid-Open No. 2013-54682 (Patent Document 2) discloses an equipment management system for managing mobile equipment such as aerial work platforms and mobile cranes used at construction sites. In this device management system, a slave station device equipped with an acceleration sensor that measures the acceleration generated by the device and outputs measurement information, and a wireless module that transmits the measurement information output from the acceleration sensor and the device identification information is a device. A master station device that is installed in the office and receives measurement information and identification information transmitted from a wireless module, and a personal computer are installed in an office or the like, and the personal computer is based on the measurement information and identification information received by the master station device. It also has an operating state determination unit that determines the operating status of the device identified by the identification information and outputs the determination information.

Further, in Japanese Patent Application Laid-Open No. 2005-309545 (Patent Document 3), a communication unit is provided in the operation monitoring device, a personal computer is arranged outside the terminal device, and both are connected by wire or wireless to be monitored. It is described to monitor the operating status of mobile equipment as a vehicle. According to this configuration, the vibration data and the detection time stored in the storage unit of the operation monitoring device are transferred to the personal computer via the communication unit. Then, the personal computer is made to analyze the vibration data and the more complicated or large amount of operating conditions regarding the detection time. Further, it is described that vibration data and detection times of a plurality of mobile devices recorded by a plurality of communication terminals can be collectively processed by a personal computer. By doing so, it is possible to monitor the overall operating status of the plurality of mobile devices as well as the individual operating status of each mobile device in the factory.

JP-A-2018-1282 Japanese Unexamined Patent Publication No. 2013-54682 Japanese Unexamined Patent Publication No. 2005-309545

However, Patent Document 1 does not disclose anything about the usage relationship between the operation information and the current position information. Therefore, even if the information on the current position is included in the operation information, a special effect cannot be obtained. The existing position detection system detects the position of mobile devices using radio waves such as beacon signals and GPS signals, but even though the mobile devices are not moving, the reflected beacon signals and , It may be erroneously determined that a mobile device is moving due to the reception of unnecessary radio waves such as unnecessary beacon signals arriving through stairs and reflected GPS signals.

Further, the inventions described in Patent Documents 2 and 3 do not describe that the information on the current position is included in the operation information. As in the inventions described in Patent Documents 2 and 3, when the operation information of a plurality of mobile devices is collected based on the data transmitted from the plurality of slave station devices or the operation monitoring devices by the management computer, the child The amount of data transmitted from the station device or the operation monitoring device to the management computer (management server) increases, and the power required for transmission also increases. As a result, there arises a problem that the power storage capacitor cannot be used without replacement for a long period of time. In addition, if all data processing is performed on the slave station device or operation monitoring device side and the results are saved, an expensive arithmetic unit with high processing capacity must be adopted as the arithmetic unit used in the slave station device or operation monitoring device. In addition, the storage capacity of the storage device for storing data must be increased.

An object of the present invention is to provide a position detection system for a mobile device, which can improve the detection accuracy of the position of the mobile device by using the operation information.

Another object of the present invention is to provide an information collection terminal for a mobile device, which is suitable for achieving the above object and can be attached to a mobile device to acquire operation information and position information and send the information to a management server. It is in.

Still another object of the present invention is to reduce the amount of data communication to the management server and extend the usage period of the power storage capacitor when collecting the operation information of the mobile device by using the output of the acceleration sensor. The purpose is to provide a terminal for collecting information on mobile devices that can be used.

The position detection system for mobile devices of the present invention includes a position determination system that determines the position of one or more mobile devices in a mobile area in which one or more mobile devices move using radio waves, and operation of one or more mobile devices. It is equipped with an operating state determination unit that determines the state. The position-fixing system has a function of invalidating the determination of the position change of the mobile device by the position-fixing system when the operating state-determining unit determines that the mobile device is not in the operating state. If the mobile device is in the operating state, information indicating that the mobile device is in the operating state can be obtained from the operating state determination unit, and if the mobile device is not in the operating state and is stationary, it is in the operating state for that period. No information is available. Therefore, if the position-fixing system detects a change in the position of the mobile device while the operating state determination unit determines that the mobile device is not in the operating state, the judgment of the position-fixing system is incorrect. .. In the present invention, in such a case, the position-determining system invalidates the determination of the position change output by the position-determining system, and the position is not changed, so that erroneous detection can be prevented.

The configuration of the positioning system is arbitrary. For example, when a beacon signal is used for position determination, the position determination system is installed at a plurality of predetermined installation positions in a moving area where one or more mobile devices move, and generates a beacon signal including a beacon ID. A plurality of beacon signal generators and one or more beacon signals are received, a beacon signal for position determination is determined from the radio field strength of the received one or more beacon signals, and the beacon ID of the beacon signal generator is used for position determination. It has a beacon ID determination storage unit that determines and stores as a beacon ID, and a transmission unit that transmits position determination information including a beacon ID for position determination and a terminal ID that identifies itself, and is attached to one or more mobile devices. The information collection terminal and one or more information collection terminals are one or more based on the determined beacon ID and terminal ID for position determination and the information of a plurality of predetermined installation positions in the moving area. It can be configured to include a positioning unit that determines the position of the mobile device in the moving area of the mobile device. By adopting such a configuration, it is possible to eliminate the area where the beacon signal does not reach by appropriately determining the position where the plurality of beacon signal generators are installed.

The configuration of the operating state determination unit is also arbitrary. For example, the operating state determination unit may be configured to determine the operating state of the mobile device based on the output of the acceleration sensor installed in the mobile device.

The information collection terminal detects an operating state determination unit, a power storage device, and a position-fixing system that determines the position of one or more mobile devices in a mobile area in which one or more mobile devices move using radio waves. It has a part. The operating state determination unit includes an acceleration sensor installed in a moving mobile device, a unit operating rate calculation unit that calculates the unit operating rate of the mobile device based on the output of the acceleration sensor, and a storage unit that stores the unit operating rate. It also has a transmitter. The unit operating rate calculation unit is determined by the unit operating section determination unit that periodically determines the unit operating section that can be regarded as operating based on the output of the acceleration sensor, and the unit operating section determination unit. It is equipped with a totaling calculation unit that calculates the unit operating rate based on the totaling result of the unit operating section. Then, it is preferable that the transmitting unit is configured to transmit the unit operating rate stored in the storage unit to the management server. In this way, the unit operating rate required for determining the operating status is calculated by the information collection terminal of each mobile device, so that the data transmitted to the management server is significantly reduced. Moreover, since the number of transmissions to the management server is overwhelmingly reduced, it is possible to significantly delay the decrease in the capacity of the capacitor. As a result, the information collection terminal can be attached to the mobile device for a long period of time, and the operating status of the mobile device can be monitored by the management server.

In the specification of the present application, the "unit measurement period" is a period for measurement by a predetermined acceleration sensor in order to judge the operating status of the mobile device by the operating rate, and can be set to, for example, 50 seconds. .. The "unit measurement number" is a predetermined number of measurements, and can be set to, for example, 50 times. Further, the "unit operation section" is defined as a section in which the number of times the change amount of the output of the acceleration sensor exceeds the predetermined level (A) within the unit measurement period or the number of unit measurements is a predetermined number of times (B) or more. Will be done. Further, the "unit operating rate" is a rate at which a unit operating section appears in a predetermined aggregation period (for example, 30 minutes) or the number of aggregations (for example, 36 times).

The unit operating section determination unit determines in advance the number of times that the amount of change in the output of the accelerometer exceeds a predetermined level (A) within a predetermined unit measurement period (for example, 50 seconds) or the number of unit measurements (for example, 50 times). It is preferable that the section exceeding the number of times (B) is determined as the unit operation section. Further, the totaling calculation unit includes a totaling unit that totals the unit operating sections in a predetermined totaling period (for example, 30 minutes) or the totaling number of times (for example, 36 times), and a calculation unit that calculates the unit operating rate from the totaling result of the totaling unit. It is preferable to have. When the unit operating rate is calculated in this way, complicated calculation is not required, and only the unit operating rate as the calculation result is transmitted, so that the data for transmission can be reduced.

It is preferable that the transmitting unit transmits the unit operating rate for one time and the previous unit operating rate to the management server each time the unit operating rate for one time is issued in consideration of the failure of receiving the data transmission.

It is preferable that the previous unit operating rate is reset from the storage unit each time the transmitting unit makes a transmission. In this way, it is not necessary to increase the capacity of the storage unit, so that the price of the device can be reduced.

The output of the accelerometer differs greatly depending on whether the prime mover of the mobile device is an engine or an electric motor. Therefore, it is preferable that at least one of the predetermined number of times (B), unit measurement period, unit measurement number, aggregation period and aggregation number can be changed according to the type of the prime mover. In this way, the data required for the operation rate calculation can be appropriately detected.

For automatic setting of the above parameters, a prime mover determination unit that determines the type of prime mover from the output pattern of the acceleration sensor, and a predetermined level, unit measurement period, unit measurement frequency, aggregation period, and based on the determination result of the prime mover determination unit. A setting change unit that automatically changes at least one of the total number of times may be further provided. By adopting such a configuration, parameters can be set automatically, and the convenience of the user can be greatly improved.

If the accelerometer is composed of a uniaxial accelerometer, the uniaxial accelerometer is installed on the mobile device to detect the vibration of the mobile device generated in a direction suitable for determining the unit operating section. .. When the acceleration sensor is composed of a three-axis acceleration sensor, the combined value of the accelerations in the three-axis direction of the three-axis acceleration sensor may be the measured acceleration.

When the acceleration sensor is composed of a three-axis acceleration sensor, it may further include an attitude determination unit that determines the posture of the mobile device from the combination of the outputs of the three-axis acceleration sensor. If the posture determination unit is provided, it is possible to acquire not only the operating rate but also data for grasping the posture status of the work equipment during operation.

It is a block diagram which shows the structure of one Embodiment of the position detection system of a mobile device. It is a figure used for demonstrating the operation of the position detection system of the mobile device of FIG. It is a block diagram which shows the structure of the information collection terminal which incorporates the operation state determination part except the main part of a position determination system. (A) is a diagram showing the relationship between the distance between the beacon signal generator and the information collecting terminal and the radio field intensity, and (B) shows the relationship between the moving distance and the intensity difference of the radio wave intensity in the relationship of FIG. 4 (A). It is a figure which shows. It is a figure used to explain the decision condition. It is a figure which shows the relationship between the distance used to explain the determination condition, and the radio field strength. It is a flowchart which shows the algorithm of the software used in the information collection terminal. It is a block diagram which shows an example of the structure of an example of a unit operation rate calculation unit. It is a block diagram which shows the other example of the structure of one example of a unit operation rate calculation unit. It is a flowchart which shows the algorithm of the program used when the unit operation rate calculation part is realized by using a microcomputer. It is a figure which shows the state when the threshold value A is set with respect to the acceleration change amount of a triaxial acceleration sensor. (A) and (B) are diagrams showing an operation example of steps ST3 to ST5 in FIG. (C) to (G) are diagrams showing an operation example of steps ST9 to ST11 in FIG. It is a figure which shows the operation example of the step ST12 of FIG. It is a figure which shows the conversion rule to 2 bits. It is a figure which shows the conversion table. (A) to (C) are diagrams used for explaining a method of posture determination.

Hereinafter, embodiments of the position detection system for mobile devices of the present invention will be described in detail with reference to the drawings.

[Overall configuration of position detection system for mobile devices]
FIG. 1 is a block diagram showing a configuration of an embodiment of a position detection system for mobile devices. FIG. 2 is a diagram used to explain the operation of the position detection system 1 of the mobile device of FIG. FIG. 3 is a block diagram showing a configuration of an information collection terminal 20 having an operating state determination unit 60 (60A to 60N), excluding the main part of the position determination system 100. The position detection system 1 of the mobile device shown in FIG. 1 is a position determination system that determines the position of one or more mobile devices in the mobile area R to which one or more mobile devices 80 (80A to 80N) move by using radio waves. It includes 100 and an operating state determining unit 60 (60A to 60N) [N is a positive integer] that determines the operating state of one or more mobile devices. When the operating state determination unit 60 (60A to 60N) determines that the mobile device 80 (80A to 80N) is not in the operating state, the position determination system 100 changes the position of the mobile device by the position determination system 100. It is characterized by having a function of invalidating a decision.

If the mobile device 80 (80A to 80N) is in an operating state, information indicating that the mobile device 80 (80A to 80N) is in an operating state can be obtained from the operating state determination unit 60 (60A to 60N), and the mobile device (80A to 80N) can be obtained. If 80A to 80N) is not in the operating state and is stationary, information indicating that the period is in the operating state cannot be obtained. Therefore, when the operation state determination unit 60 (60A to 60N) determines that the mobile device 80 (80A to 80N) is not in the operating state, and the position determination system 100 detects a change in the position of the mobile device, , There is an error in the determination of the position determination system 100. In the present invention, in such a case, the position determination system 100 invalidates the determination of the output position change and makes it assumed that the position is not changed, so that erroneous detection can be prevented.

The position determination system 100 of the position detection system 1 of the mobile device includes a plurality of beacon signal generators 101 to 10N (N is an arbitrary positive integer) and a plurality of mounted on the plurality of mobile devices 80A, 80B ... 80N, respectively. The information collection terminals 20A to 20N and the management server 70 including the position-determining unit 70A for determining the positions of the mobile devices 80A, 80B ... 80N are provided. Further, the position detection system 1 of the mobile device of the present embodiment includes a plurality of operation state determination units 60 (60A to 60N) in the plurality of information collection terminals 20A to 20N. The plurality of information collection terminals 20A to 20N have built-in beacon ID determination units 30A to 30N including beacon ID determination storage units 40A to 40N and transmission units 50A to 50N.

N of a plurality of beacon signal generators 101 to 10N are provided, and each of the beacon signal generators 101 to 10N of Nos. 1, 2 ... N is one or more to which a plurality of mobile devices 80A, 80B ... 80N move. It is installed at a plurality of predetermined installation positions in the moving area. In FIG. 2, eight beacon signal generators 101, 102 ... 108 are shown in one moving area. The plurality of beacon signal generators 101 to 10N are mounted on the ceiling in the moving area, for example, in order not to hinder the movement of the mobile devices 80A, 80B ... 80N and to avoid the influence of objects existing in the moving area. preferable. As shown in FIG. 2, the beacon signal generators 101, 102 ... 108 are arranged in a matrix with a predetermined distance from each other. Each beacon signal generator 101, 102 ... 108 emits a beacon signal including a unique beacon ID (identifier) downward at a predetermined radio wave strength.

A plurality of information collection terminals 20A to 20N are provided, and one information collection terminal 20A to 20N is attached to each of a plurality of mobile devices 80A to 80N, and a plurality of beacon signal generators 101 to 10N are provided. Each beacon signal emitted by is received by an omnidirectional antenna, and the received result is processed by each of the built-in beacon ID determination units 30A to 30N. In FIG. 2, mobile devices 80A and 80B are equipped with information collection terminals 20A and 20B, respectively. If it is a construction site or a factory, it is preferable that an information gathering terminal is attached to the vehicle body of an aerial work platform or a forklift. If the information collection terminal is provided with a temporary data storage unit, the information collection terminal stores all the measured data in the temporary data storage unit, and is used for position determination later determined by the beacon ID determination units 30A to 30N. Of course, the position-determining information including the beacon ID of the above and the terminal ID for specifying its own information collection terminal may be transmitted to the position-determining unit 70A of the management server 70.

The beacon ID determination units 30A to 30N include beacon ID determination storage units 40A to 40N and transmission units 50A to 50N, and are built into each information collection terminal 20A to 20N. The beacon ID determination storage units 40A to 40N determine a beacon signal for position determination from the radio field strength of one or more received beacon signals in a predetermined determination cycle (specifically, for example, 1 second) for the position determination. The beacon ID of the beacon signal generator that generates the beacon signal is determined and stored as the beacon ID for position determination. The transmitting units 50A to 50N transmit position-determining information including a beacon ID for position-determining and a terminal ID for identifying itself to the position-determining unit 70A.

The position-fixing unit 70A includes a beacon ID and a terminal ID for position-determining periodically transmitted from the information collection terminals 20A to 20N, and a plurality of predetermined beacon IDs and a plurality of predetermined beacon signal generators 101 to 10N in the moving area. Each mobile device 80A in a predetermined determination cycle (specifically, for example, 5 seconds) based on the installation position information (corresponding to the information stored as map data of the installation position of the beacon signal generator in the moving area).・ ・ Determine the position in the moving area. Further, the position-determining system 100 of the present embodiment is moved by the position-determining system 100 when the operating state-determining unit 60 (60A to 60N) determines that the mobile device 80 (80A to 80N) is not in the operating state. It has an invalid function that invalidates the decision to change the position of the device. This invalid function is realized in the transmitters 50A to 50N. Of course, a means for realizing this invalid function may be provided separately from the transmitter. Further, in the present embodiment, the radio wave strength is not directly used for determining the position, but is used for determining the condition for updating the beacon ID for position determination, and is detailed by the radio wave strength at present. It does not determine the position.

In the present embodiment, the current position is determined as to whether or not a mobile device (information collecting terminal) exists within the range of which the radio wave of the beacon signal generator can reach. Therefore, it is not determined how far the mobile device (information collection terminal) is from the beacon signal generator. Therefore, the calculation required for position determination is not complicated.

Then, in the present embodiment, the previous radio wave strength and the current radio wave strength of one beacon signal adopted by the beacon ID determination storage units 40A to 40N of the beacon ID determination units 30A to 30N for determining the beacon ID for position determination. The beacon ID for position determination is not updated until the intensity difference between the beacon and the beacon becomes equal to or less than a predetermined limit threshold value. FIG. 4A is a diagram showing the relationship between the distance between the beacon signal generator and the information collection terminal and the radio field intensity, and FIG. 4B is a diagram showing the relationship between the moving distance and the radio field intensity in the relationship of FIG. 4A. It is a figure which shows the relationship of the difference. As shown in FIGS. 4A and 4B, the radio field intensity of the beacon signal has a large rate of change (intensity difference) of the radio wave strength (RSSI) in the region close to the beacon signal generator, and is from the beacon signal generator. The farther away, the smaller the difference in intensity (rate of change) of radio field intensity (RSSI). Therefore, in the beacon ID determination storage units 40A to 40N, the intensity difference between the previous radio wave strength and the current radio wave strength of one beacon signal adopted for determining the beacon ID for position determination is a predetermined limit threshold value (FIG. 4). For position determination until it becomes less than about 4 dB in the example of (A) (from a different point of view, until the information collection terminal is separated from the beacon signal generator used for determining the beacon ID for position determination last time). Do not update the Beacon ID. In the example of FIG. 4A, the limit threshold value becomes about 4 dB when the distance from 4 m to 6 m is reached.

By doing so, even when the mobile devices 80A to 80N enter the boundary region of the output range of the plurality of beacon signals, the previously determined position-determining beacon ID is retained. When it is detected by the difference in the intensity of the radio wave strength that the mobile device (information collection terminal) is separated from the beacon signal generator used for determining the beacon ID for position determination last time, the beacon ID for position determination is updated. Will be done. The position-fixing unit 70A updates the current position of the mobile device in response to the update of the beacon ID for position-fixing.

Explaining this in accordance with FIG. 2, the mobile device (worker) 80A equipped with the information collection terminal 20A is performing work while repeatedly moving within the work area R. In such a case, if the beacon ID (current position) for position determination is determined simply by the radio field strength, the position of the mobile device 80A is frequently among the beacon signal generators 101, 102, 103 and 104 in a short time. It switches and fluctuates. In the present embodiment, for example, assuming that the mobile device 80A moves from the direction in which the beacon signal generator 103 is installed into the work area where the beacon signal generator 102 is installed, the four beacon signal generators 101 to Only the radio field strength of the beacon signal generator 103 used to determine the beacon ID (current position) for position determination first in 104 became a problem, and the previous radio wave strength and the current radio wave strength of the beacon signal generator 103 became a problem. The beacon ID (current position) for position determination is not updated unless the intensity difference between the two is equal to or less than a predetermined limit threshold.

In the example of FIG. 2, if the mobile device 80A moves only within a certain work area without being far from the beacon signal generator 103, the radio wave strength of the other beacon signal generators 101, 102 or 104 is higher. Even so, the beacon ID (current position) for position determination is not updated by that alone. Then, when the work in the work area is completed and the mobile device 80A moves, the difference in the intensity of the radio wave strength between the previous time and the current time of the beacon signal generator 103 becomes small, which is because the mobile device 80A is from the beacon signal generator 103. Since it is far away, the beacon ID of the beacon signal generator having the highest radio field strength at that time is adopted as the beacon ID for position determination to update the current position. For example, if the worker enters the radio wave region of the beacon signal generated by the beacon signal generator 102, the position specified by the beacon ID of the beacon signal generator 102 is updated as the current position where the worker currently exists.

When controlled in this way, for example, even though the mobile device 80A equipped with the information collection terminal 20A is in the vicinity of the beacon signal generator 103 within 1 second, the beacon signal from the beacon signal generator 103 is correctly received. If this is not possible, the radio wave strength is measured lower than the actual value, and a beacon signal such as a farther beacon signal generator 102 is adopted to prevent a malfunction in which the current position is updated.

This limit threshold (about 4 dB in the example of FIG. 4A) is set so as to prevent erroneous detection due to reception of the outputs of two or more beacon signal generators 101. Theoretically, the limit threshold is the strength difference (the previous beacon signal used to determine the position-determining beacon ID) within the boundary region where the output ranges of two or more beacon signal generators 101 ... overlap. If the difference between the radio field strength and the radio wave strength this time) is set so as not to be equal to or less than the limit threshold value, it is possible to prevent the beacon ID for position determination from switching frequently and realize accurate position detection. Specific numerical values are determined based on the radio wave strength emitted by the beacon signal generator 101 ..., the installation interval, and the like.

The beacon ID determination storage units 40A to 40N average the radio field strengths of a plurality of beacon signals received in a measurement cycle (1/10 second in the present embodiment) shorter than the determination cycle within one cycle of the determination cycle. Value is calculated, this average value is determined as the radio field strength, and it is saved in the internal memory. The beacon ID determination storage units 40A to 40N determine the beacon ID for position determination based on this average value. That is, the beacon ID determination storage units 40A to 40N record and hold the average value of the previous radio wave strength in the internal memory, and when the beacon ID for position determination is determined, the previous radio wave read from the internal memory. I try to compare the strength with the newly calculated average value of the radio field strength this time. By using the average value in this way, it is possible to correct the variation in the measurement data and minimize the influence of the measurement error.

In this embodiment, the "average value" is obtained as a simple average of a plurality of radio wave intensities of a plurality of beacon signals received in a predetermined measurement cycle shorter than the determination cycle within a period of one cycle. In the embodiment, it is obtained as the median value of the radio wave strengths of a plurality of beacon signals, or as a simple average value of the remaining radio wave strengths excluding the maximum and minimum values of the radio wave strengths of the plurality of beacon signals.

The beacon ID determination storage units 40A to 40N change the beacon ID for position determination under the following beacon ID update conditions in addition to the above determination conditions. This determination condition will be described with reference to FIGS. 5 and 6. As shown in FIG. 6, when passing through the area where the four beacon signal generators 1'to 4'are installed by the walking route shown in the figure, the information collection terminal mounted on the mobile device generates the four beacon signals. The radio field strength of the beacon signal received from the device is as shown in FIG. In FIG. 6, the beacon signal generators 1'to 4'are simplified as "beacon 1'to 4'".

Intensity difference D between the radio strength of one beacon signal (beacon 1'in FIG. 6) first used to determine the beacon ID for position determination and the radio strength of the other beacon signal (beacon signal generator 2'). However, when it becomes larger than a predetermined intensity difference threshold (for example, 10 dB), the intensity difference becomes larger than the intensity difference threshold of another beacon signal generator 2 (beacon signal generator 2'in FIGS. 5 and 6). Let the beacon ID be a new beacon ID for position determination. The position-fixing unit 70A updates the current position of the information collection terminal based on the update of the beacon ID for position-fixing. This is because when the signal strength of the beacon signal from the other beacon signal generator 2'is clearly high, there is no difference that there is a mobile device near the beacon signal generator 2', and there is no risk of erroneous detection. Therefore, it is possible to determine the position with higher accuracy by updating the current position.

In this current position update process, for example, there is a strength difference in which the difference between the current radio field strength of the beacon signal determined last time and the radio wave strength of the beacon signal with the strongest reception strength in this time exceeds the strength difference threshold of 10 dBm. Applies to cases. This intensity difference threshold value is determined according to the radio wave intensity of the beacon signal emitted by the beacon signal generator 101, the installation interval, the assumed moving speed of the mobile device 80A, and the like.

Furthermore, in the beacon ID determination storage units 40A to 40N of the present embodiment, the difference in the intensity of the radio field intensity of the beacon signal adopted for determining the beacon ID for position determination used for determining the current position becomes equal to or less than the limit threshold value. Further, when the intensity difference between the radio strength of one beacon signal used for determining the beacon ID for position determination and the radio strength of the other beacon signal is larger than the predetermined intensity difference threshold, the position determination is performed. It is determined which of the plurality of predetermined peak hold value ranges the peak hold value of the radio field intensity of the position-determining beacon signal adopted for determining the beacon ID belongs to, and the peak to which the peak hold value belongs is determined. When the next measured peak hold value is within the hold value range, the beacon ID for position determination is not updated, and when the peak hold value range is exceeded, one or more beacon signals received at that time are received. Of these, an update condition is adopted in which the beacon ID of the beacon signal having the highest radio strength is used as the beacon ID for position determination. The position-fixing unit 70A updates the current position of the mobile device based on the information of the beacon ID for position-fixing and the installation positions of the plurality of beacon signal generators.

The peak hold value is the value of the strongest radio wave intensity among the received beacon signals for each cycle, and therefore, the beacon signal generator adopted by the mobile device for determining the beacon ID for position determination. When the radio wave intensity becomes stronger as it gets closer, the value is recorded and updated in the beacon ID determination storage units 40A to 40N each time. In the process of moving the mobile device away from the beacon signal generator, the radio field strength gradually weakens, so that the peak hold value is not updated.

The peak hold value range can be arbitrarily set according to the radio wave intensity emitted by the beacon signal generators 101 to 10N, the installation interval, and the like. Table 1 shows an example of the relationship between the peak hold value in the present embodiment and the peak hold value range corresponding to the peak hold value. For example, if the peak hold value is -60 dBm, the corresponding peak hold value range is "peak hold value -20". Therefore, when the peak hold value measured thereafter falls below -80 dBm, the peak hold value range is set. It will exceed.

例えば図１において、移動機器８０Ａについてのビーコン信号発生器１０３からのビーコン信号のピークホールド値が－６０ｄＢｍだったとすると、移動機器８０Ａが現在いる作業領域内を移動している間は、次に測定したピークホールド値が－８０ｄＢｍを超えず、位置決定用のビーコンＩＤの更新が行われない。移動機器８０Ａが現在の作業領域を離れて他の作業領域に移動して行くと、ビーコン信号発生器１０３からの次に測定したピークホールド値がだんだん弱くなり、やがて－８０ｄＢｍを超え、そのときに初めて位置決定用のビーコンＩＤが更新される。

For example, in FIG. 1, assuming that the peak hold value of the beacon signal from the beacon signal generator 103 for the mobile device 80A is -60 dBm, the next measurement is performed while the mobile device 80A is moving in the current working area. The peak hold value is not exceeded -80 dBm, and the beacon ID for position determination is not updated. As the mobile device 80A leaves the current work area and moves to another work area, the next measured peak hold value from the beacon signal generator 103 gradually weakens and eventually exceeds -80 dBm, at which time. The beacon ID for position determination is updated for the first time.

In this way, even before the signal strength of the beacon signal from the other beacon signal generator 101 ... is clearly significantly changed, if no error occurs even if the beacon ID for position determination is updated, It enables updating and enables more accurate position determination.

In this embodiment, the peak hold value is obtained as a simple average of the peak values of the radio field strengths of the plurality of beacon signals, but in other embodiments, the median value of the peak values of the radio field strengths of the plurality of beacon signals is obtained. Or, it is calculated as a simple average value of the peak hold values of the remaining radio field strengths excluding the maximum and minimum values of the peak values of the radio field strengths of a plurality of beacon signals. As a result, even if the measured radio field intensity data varies, the possibility of erroneous position determination can be greatly reduced.

The position detection system of this embodiment includes a BLE beacon that emits a beacon signal including a beacon ID, an information collection terminal worn by a worker (mobile device), and a base station that receives transmission data from the information collection terminal. , It can be configured by a server and an application that receives data from a base station and performs each process. The position determination unit 70A is constructed in the management server 70.

[Algorithm of position-fixing system]
Next, the software algorithm used in the information collection terminals 20A to 20N of the present embodiment will be described with reference to FIG. 7. FIG. 7 shows that one information collecting terminal 20A, 20B ... determines the position of the information collecting terminal 20A, 20B ..., that is, the position of the mobile device 80A, 80B ... at a predetermined determination cycle. The process of arithmetic processing for updating the beacon ID for position determination used in the above is shown. This arithmetic processing is performed for each of the plurality of information collection terminals 20A, 20B, and so on.

In FIG. 7, the beacon ID determination storage unit 40A ... Determines whether or not the beacon has been received within one cycle (step S1), and if there is a beacon reception, the information within one cycle has a predetermined measurement cycle shorter than the determination cycle. For the received data received by the collection terminal 20A ..., the average value of the radio wave intensity is calculated for each beacon ID emitted by each beacon signal generator 101 ..., and the calculated average value is used as the radio wave strength. It is recorded and held in the internal memory of the beacon ID determination storage unit 40A ... (Step S2). As described above, the average value is a simple average of the radio field strength for each ID received in a predetermined measurement cycle shorter than the determination cycle within the period of one cycle.

Next, when the process proceeds to step S3, it is determined whether or not the operation state determination unit 60 determines whether or not "operation" is determined in the unit operation section. If it is determined to be "operation", the process proceeds to step S4, and if it is not determined to be "operation", the process proceeds to step S12, and the beacon ID is not updated.

Proceeding to step S4, the beacon ID determination storage unit 40A ... Determines in advance the strength difference between the radio wave strength of the previous beacon signal and the radio wave strength of the current beacon signal adopted for determining the beacon ID for position determination. The arithmetic processing of whether or not it is equal to or less than the limit threshold is executed. Next, arithmetic processing (step) of whether or not the intensity difference between the signal intensity of one beacon signal adopted for determining the beacon ID for position determination and the signal intensity of the other beacon signal is larger than the predetermined intensity difference threshold. S5) and the peak hold value range are set according to the peak hold value, and the calculation process (steps S6 and 7) of whether or not the measured peak hold value is within the peak hold value range is performed. Since these three processes are performed on the premise of the determination in step S8 or less, which will be described later, the arithmetic processes may be performed in parallel regardless of the order of the arithmetic operations.

First, it is determined whether or not the determination in step S4 is OK (step S8), and if No (the intensity difference exceeds the limit threshold value), the beacon ID for position determination is not updated (step S12), one cycle before. The beacon ID for determining the position of is adopted. If step S8 is Yes, then it is determined whether the determination in step S5 is OK (step S9), and if No, the beacon ID for position determination is not updated (the intensity difference is smaller than the intensity difference threshold) (step S9). Step S12), if step S5 is Yes, it is determined whether the determination in step S7 is OK (step S10), if Yes, the beacon ID for position determination is updated (step S11), and if No, the position is determined. The beacon ID for determination is not updated (step S12).

The current position of the position determining unit 70 is updated by setting the installation position of any of the beacon signal generators 101 to 10N having the highest radio field strength measured this time as the current position of the mobile device 80A.

Finally, the transmission data is recorded and held in the beacon ID determination storage unit 40A ... for the determination of the next cycle, the beacon ID and the terminal ID are transmitted (step S13), and the processing of one determination cycle is completed. .. Specifically, the beacon ID for position determination, the radio field strength of the beacon signal used for determination, and the peak hold value are updated. A position storage unit for storing the determined current position is built in the position determination unit 70A.

[Explanation of operating status determination unit]
Except for the main part of the position determination system 100 shown in FIG. 3, the configuration in the information collection terminal 20 including the operation state determination unit 60 will be described below. The information collection terminals 20A to 20N in which the operating state determination unit 60 is built are configured as one unit mounted on the mobile device 80.

In FIG. 3, 80 is a mobile device including an aerial work platform or the like driven by a prime mover 5 including an electric motor or an internal combustion engine. The operating state determination unit 60 determines whether the type of the prime mover 5 is an electric motor or an internal combustion engine based on the uniaxial or triaxial acceleration sensor 11 installed on the workbench of the mobile device 80 and the output of the acceleration sensor 11. It includes a prime mover determination unit 12 and an operation state determination unit 60 that collects operation information of the mobile device 80 based on the output of the acceleration sensor 11.

When the accelerometer 11 is composed of a uniaxial accelerometer, the uniaxial accelerometer is installed on the mobile device to detect the vibration of the mobile device generated in a direction suitable for collecting operation information. do. When the acceleration sensor 11 is composed of a three-axis acceleration sensor, the combined value of the acceleration in the three-axis direction of the three-axis acceleration sensor may be used as the measured acceleration. When the composite value is used, the vibration of mobile equipment can be detected regardless of the installation orientation.

The output of the accelerometer differs greatly depending on whether the prime mover is an engine or an electric motor. Therefore, the prime mover determination unit 12 determines the type of the prime mover from the fluctuation pattern of the output of the acceleration sensor 11. In the present embodiment, based on the determination result of the prime mover determination unit 12, a predetermined level (threshold value A, threshold value B) required for the operation rate calculation described later, a unit measurement period, a unit measurement number of times, an aggregation period and an aggregation number ( At least one of the parameters) can be changed according to the type of prime mover. In this way, the data required for the operation rate calculation can be appropriately detected. For automatic setting of these parameters, at least a predetermined level, unit measurement period, unit measurement count, aggregation period, and aggregation number based on the determination result of the prime mover determination unit 12 that determines the type of the prime mover from the output pattern of the acceleration sensor 11. The operation state determination unit 60 is provided with a setting change unit 14 that automatically changes one. By adopting such a configuration, parameters can be set automatically, and the convenience of the user can be greatly improved.

The operating state determination unit 60 further includes a unit operating rate calculation unit 15 that periodically calculates the unit operating rate of the mobile device 80 based on the output of the acceleration sensor 11, and data necessary for the calculation of the unit operating rate calculation unit 15. A storage unit 16 for storing a unit operating rate is provided. Further, the information collection terminal 20 of the mobile device of the present embodiment includes a transmission unit 50 that transmits the unit operating rate stored in the storage unit 16 to the management server 70, and a power storage unit 18.

When the storage unit 16 stores the unit operation rate for a predetermined number of times, the transmission unit 50 transmits the unit operation rate stored in the storage unit 16 to the management server 70. The transmission unit 50 of the present embodiment transmits the unit operation rate for one time and the previous unit operation rate to the management server 70 each time the unit operation rate for one time is issued. It should be noted that the unit operating rate for three or more times may be transmitted at one time, but if the capacity of the transmitted data is small, the unit operating rate for one time is sent to the management server each time the unit operating rate for one time is issued. There is no significant effect on the reduction of power consumption even if it is transmitted to. The management server 70 is installed at a location away from the information collection terminal 20 of the mobile device. The power storage device 18 may be either a primary battery, a rechargeable secondary battery, a capacitor, or the like. The capacitor 18 is used as a power source for all the constituent means of the information collecting terminal 20 of the mobile device. Therefore, when the voltage drops due to discharge, it is replaced or charged.

In the information collection terminal 20 of the mobile device of the present embodiment, the unit operating rate calculation unit 15 periodically calculates the unit operating rate required for determining the operating status, and outputs the unit operating rate, so that the management server 70 The data sent to is significantly reduced. Further, since the number of transmissions to the management server 70 is overwhelmingly reduced, the decrease in the capacity of the capacitor 18 can be significantly delayed. As a result, the information collection terminal 20 can be attached to the mobile device 80 for a long period of time, and the operating status of the mobile device 80 can be monitored.

The method of calculating and totaling the operating rate in the unit operating rate calculation unit 15 is arbitrary. As shown in FIG. 8, in a specific example, the amount of change in the output of the accelerometer exceeds a predetermined level (A) within a predetermined unit measurement period (50 seconds) or the number of unit measurements (50 times). Unit operation section determination unit 15A that determines the unit operation section based on the number of times, aggregation unit 15B that aggregates the unit operation section determined by the unit operation section determination unit 15A, and unit based on the aggregation result aggregated by the aggregation unit 15B. It is provided with an aggregation calculation unit 15D including a calculation unit 15C for calculating an operating rate. The totaling calculation unit 15D totals the unit operating sections in the totaling unit 15B during a predetermined totaling period (30 minutes) or the total number of times (36 times), and the calculation unit 15C calculates the unit operating rate. For example, when the unit operation section of 18 times out of 36 times is determined, 18/36 = 0.5, that is, the unit operation rate of 50% is calculated. In the program described later, the unit operating rate is calculated and updated for each total number of times.

When the unit operating rate is calculated in this way, complicated calculation is not required, and the unit operating rate is calculated from the aggregation result in the predetermined aggregation period or the number of aggregations. Therefore, the unit operating rate monitored on the management server 70 side is calculated. The amount of data to be transmitted can be reduced without degrading the accuracy.

FIG. 9 shows a block diagram in the case where a three-axis acceleration sensor is used as the acceleration sensor 11 and the posture determination unit 15E is added to the unit operation rate calculation unit 15. In this case, the posture determination unit 15E determines the posture of the mobile device 80 from the combination of the outputs of the three-axis acceleration sensor. The determination result of the posture determination unit 15E is used to determine the predetermined level A and is transmitted to the management server 70.

FIG. 10 is a flowchart showing an algorithm of a program used when the unit operating rate calculation unit 15 is realized by using a microcomputer when the unit operating rate calculation unit 15 is realized by the configuration of FIG. 9. First, in steps ST1 and ST2, the current output of the accelerometer 11 is read out twice and averaged in one second. Then, in step ST3, the amount of change in acceleration of the average value of the previous time (1 second ago) and this time is obtained, and it is determined whether or not this amount of change in acceleration is equal to or greater than the threshold value A. FIG. 11 is a diagram showing a state when the threshold value A is set with respect to the amount of change in acceleration of the triaxial acceleration sensor. When the acceleration change amount is equal to or more than the threshold value A, the wakeup flag is set to "1" (operating state), and when the acceleration change amount is less than the threshold value A, the wakeup flag is set to "0" (operating stopped state). do.

12 (A) and 12 (B) are diagrams showing operation examples of steps ST3 to ST5. Specifically, it is a measurement signal on the X-axis and a wake-up flag determination example under the conditions of a unit measurement period = 50 and a threshold value A = 2. The same process is performed on the Y-axis and the Z-axis.
In step ST6, the attitude number of the mobile device is calculated from the current average acceleration value. In order to convert the average acceleration value into the attitude number, the acceleration values of the X, Y, and Z axes are converted into 2 bits respectively. For that purpose, conversion is performed according to the conversion rule of FIG. In the present embodiment, the surface of the sphere is divided into 56 by assuming the sphere as shown in FIGS. 17 (B) and 17 (C) around the triaxial acceleration sensor 11, and the gravitational acceleration G is 56. The posture of the mobile device is determined by determining which of the two points is pointed to.

In this conversion rule, conversion is performed with 500 mG as the boundary value. Incidentally, in the case of X = 10mG, Y = 1000mG, Z = 10mG, XU = 0, XL = 0, YU = 0, YL = 1, ZU = 0, ZL = 0. Next, the pattern of the 2-bit conversion value is applied to the conversion table shown in FIG. 16 to determine the posture. Based on the table of FIG. 16, the posture number in the case of XU = 0, XL = 0, YU = 0, YL = 1, ZU = 0, ZL = 0 is 46 (note that in the conversion table of FIG. 16). XU is the U value on the X axis, XL is the L value on the X axis, and so on). By knowing the posture number 46, the posture in which the mobile device is used can be known, so that the working situation can be grasped. For example, when XU = 0, XL = 0, YU = 1, YL = 0, ZU = 1, ZL = 1, it is determined that the posture number is 7 (state in FIG. 17B), and the mobile device is on the ground. It is in an upright position. When XU = 0, XL = 0, YU = 1, YL = 0, ZU = 0, ZL = 1, it is determined that the posture number 5 (state in FIG. 17C). In this case, the mobile device is tilted with respect to the ground.

In step ST7, the posture number information and the wakeup flag are recorded in the storage unit (buffer) 16. Incidentally, when the prime mover 5 is an electric motor, data for 50 seconds as a unit measurement period is recorded, and when the prime mover 5 is an internal combustion engine (engine), data for 10 seconds as a unit measurement period is recorded. In the case of an internal combustion engine, there is a lot of vibration transmitted to mobile equipment, so data is recorded in fine cycles. This cycle is set by the setting changing unit 14. Next, when it is detected in step ST8 that the buffer is full, it is determined in step ST9 whether or not the wakeup flag in the buffer is at a predetermined level, that is, whether or not it is equal to or higher than the threshold value B. When the prime mover is an electric motor, the threshold value B is set to, for example, 5. The setting of the threshold value B is also performed by the setting changing unit 14. When the wake-up flag is equal to or higher than the threshold value B, it is determined that the unit operating section is in operation for 50 seconds, and the unit operating section is set to "1" (step ST10). When the wake-up flag is less than the threshold value B. It is determined that the mobile device is not operating for 50 seconds, and the unit operating section is set to “0” (step ST11).

13 (C) to 13 (G) are diagrams showing operation examples of steps ST9 to ST11. Specifically, it is an example of determining a unit operating section under the conditions of unit measuring machine spacing = 50 and threshold value B = 5. 14 is a diagram showing an operation example of step ST12 in FIG. 10.

Next, in step ST12, the current unit operating rate is calculated and updated. As described above, the unit operating section is aggregated in the predetermined aggregation period (30 minutes) or the aggregation number (36 times), and the unit operating rate is calculated. For example, when the unit operation section of 18 times out of 36 times is determined, 18/36 = 0.5, that is, the unit operation rate of 50% is calculated. In step ST12, the unit operating rate is calculated and updated for each total number of times. If the number of times of the first aggregation is the unit operating section "1", the unit operating rate of the first time is 1/1 = 1 (unit operating rate 100%). If the number of unit operating sections "1" when 36 times are completed is 36, 36/36 = 1 (unit operating rate 100%), and the number of unit operating sections "0" when 36 times are completed. If there are 36 times, 0/36 = 0 (unit operating rate 0%).

When the total number of times of 36 times is completed, the transmitting unit 50 transmits the updated unit operation rate (steps ST16 and ST17). The management server 70 determines the operating status from the received unit operating rate.

In step ST13, the threshold value A is adjusted according to the posture number having the largest number in the buffer. From the posture number that is the largest in the buffer, the mounting posture of the information collecting terminal 20 of the mobile device can be determined. From the judgment of the mounting posture, if the mounting posture of the three axes deviates from the specified posture by, for example, 10 degrees, the threshold value A of each axis is adjusted corresponding to the deviation.

Further, step ST14 is a step for adjusting the size of the buffer according to the type of the prime mover 5. That is, the size of the buffer of the internal combustion engine is adjusted when the prime mover 5 is an electric motor. This adjustment is also performed by the setting change unit 14.

Further, in the above embodiment, the unit measurement period and the total number of times are used as the parameters for the operation rate calculation, but the unit measurement number and the total number of times may be used as the parameters.

According to the position detection system of the mobile device of the present invention, when the operation state determination unit determines that the mobile device is not in the operating state, and the position determination system detects the change in the position of the mobile device. Disables the position change decision output by the position determination system and assumes that there is no position change, thus preventing erroneous detection.

Further, in the information collecting terminal of the present invention, since the unit operating rate required for determining the operating status is calculated, the data transmitted to the management server is significantly reduced. Moreover, since the number of transmissions to the management server is overwhelmingly reduced, it is possible to significantly delay the decrease in the capacity of the capacitor. As a result, the information collection terminal can be attached to the mobile device for a long period of time, and the operating status of the mobile device can be monitored by the management server.

1 Position detection system 20 Information collection terminal 80 Mobile equipment 5 Motor 70 Management server 11 Accelerometer 12 Motor judgment unit 60 Operation status determination unit 14 Setting change unit 15 Unit operation rate calculation unit 15A Unit operation section determination unit 15B Aggregation unit 15C Calculation Unit 15D Aggregation calculation unit 15E Attitude determination unit 16 Storage unit 18 Storage unit 30 Beacon ID determination unit 40 Beacon ID determination storage unit 50 Transmission unit 100 Position determination system 101-10N Beacon signal generator R Moving area

Claims (12)

A position-fixing system that determines the position of one or more mobile devices in a moving area where one or more mobile devices move using radio waves, and
It is provided with one or more operating state determination units that determine the operating state of each of the one or more mobile devices.
The position-fixing system has an invalid function of invalidating the determination of the position change of the mobile device by the position-fixing system when the operating state-determining unit determines that the mobile device is not in the operating state. A position-fixing system for mobile devices that is characterized by its ability to be used. The position-fixing system
A plurality of beacon signal generators, which are installed at a plurality of predetermined installation positions in a moving area where one or more mobile devices move and generate a beacon signal including a beacon ID.
The beacon signal for position determination is determined from the radio field strength of the received one or more beacon signals, and the beacon ID of the beacon signal generator is determined as the beacon ID for position determination. It has a beacon ID determination storage unit for storing and a transmission unit for transmitting position determination information including the beacon ID for position determination and a terminal ID for identifying itself, and is attached to each of the one or more mobile devices. With one or more information collection terminals,
The one or more information collecting terminals move the one or more based on the determined beacon ID for position determination and the terminal ID, and the information of the plurality of predetermined installation positions in the movement area. It is configured to include a position-determining unit that determines the position of the device in the moving area.
According to claim 1, the operating state determination unit is built in the information collecting terminal and is configured to determine the operating state of the mobile device based on the output of an acceleration sensor installed in the mobile device. The position detection system for the mobile devices described. The operating state determination unit further includes an acceleration sensor, a unit operating rate calculation unit that calculates a unit operating rate of the mobile device based on the output of the acceleration sensor, and a storage unit that stores the unit operating rate.
The unit operating rate calculation unit periodically determines a unit operating section that can be regarded as operating based on the output of the acceleration sensor, and the unit operating section determination unit. It is equipped with a totaling calculation unit that calculates the unit operating rate based on the totaling result of the unit operating section determined by the unit.
The position detection system for a mobile device according to claim 2, wherein the transmitting unit transmits the unit operating rate stored in the storage unit to the management server. The accelerometer installed in the mobile device and
A unit operating rate calculation unit that calculates the unit operating rate of the mobile device based on the output of the acceleration sensor, and a unit operating rate calculation unit.
A storage unit that stores the unit operating rate and
The unit operating rate calculation unit periodically determines a unit operating section that can be regarded as operating based on the output of the acceleration sensor, and the unit operating section determination unit. An aggregation calculation unit that calculates the unit operation rate based on the aggregation result of the unit operation section determined by the unit, and
An operation state determination unit including a position determination information including a beacon ID for position determination and a terminal ID for identifying itself, and a transmission unit that transmits the unit operation rate stored in the storage unit to a management server.
A capacitor for power supply and
An information collection terminal for mobile devices, which comprises a detection unit of a position-fixing system that determines the position of the one or more mobile devices in a moving area in which one or more mobile devices move using radio waves. .. The unit operating section determination unit sets a section in which the number of times the change in the output of the acceleration sensor exceeds a predetermined level within a predetermined unit measurement period or the number of unit measurements exceeds a predetermined number of times. Is configured to determine
Claim 4 includes the aggregation unit that aggregates the unit operating sections in a predetermined aggregation period or the number of aggregations, and the calculation unit that calculates the unit operation rate from the aggregation result of the aggregation unit. Information collection terminal for mobile devices described in. The information of the mobile device according to claim 4, wherein the transmitting unit transmits the unit operating rate for one time and the previous unit operating rate to the management server each time the unit operating rate for one time is calculated. Collection terminal. The information collection terminal for a mobile device according to any one of claims 4 to 6, wherein the previous unit operating rate stored in the storage unit is reset each time the transmission unit makes a transmission. The fifth aspect of claim 5, wherein at least one of the predetermined number of times, the unit measurement period, the unit measurement number, the aggregation period, and the aggregation number can be changed according to the type of the prime mover of the mobile device . Information gathering terminal for mobile devices. A prime mover determination unit that determines the type of the prime mover from the output pattern of the accelerometer, and a prime mover determination unit.
A claim further comprising a setting changing unit that automatically changes at least one of the predetermined level, the unit measurement period, the unit measurement number, the aggregation period, and the aggregation number based on the determination result of the prime mover determination unit. The information collection terminal for the mobile device according to 8. The acceleration sensor is composed of a uniaxial acceleration sensor.
The mobile device according to claim 4, wherein the uniaxial acceleration sensor is installed for the mobile device so as to detect vibration of the mobile device generated in a direction suitable for determining a unit operating section. Information collection terminal. The acceleration sensor is composed of a three-axis acceleration sensor.
The information collection terminal for a mobile device according to claim 4, wherein the combined value of the accelerations in the triaxial directions of the triaxial acceleration sensor is the measured acceleration. The acceleration sensor is composed of a three-axis acceleration sensor.
The terminal for collecting information on a mobile device according to claim 4, further comprising a posture determination unit for determining the posture of the mobile device from a combination of outputs of the three-axis accelerometer.