JP2021021635A - Electronic apparatus - Google Patents

Abstract

To provide an electronic apparatus that can improve the accuracy in specifying the direction of arrival of a direct wave for communicating with a communication partner.SOLUTION: An electronic apparatus comprises a transmission unit, a reception unit, an estimation unit, and a specification unit. The transmission unit transmits a first radio wave to another electronic apparatus that can estimate the direction of arrival of a radio wave to be received. The reception unit receives a second radio wave transmitted from the other electronic apparatus. The estimation unit estimates the direction of arrival of the second radio wave received by the reception unit. The specification unit specifies the direction of a direct wave of the radio wave between the subject apparatus and the other electronic apparatus based on the direction of arrival of the first radio wave estimated by the other electronic apparatus and the direction of arrival of the second radio wave.SELECTED DRAWING: Figure 5

Description

The present disclosure relates to electronic devices.

In recent years, technologies for detecting outdoor positions, such as GPS (Global Positioning System), have become widespread. On the other hand, a technique capable of detecting a position with relatively high accuracy is attracting attention even indoors such as in an office pill, an event venue, a station yard, or an underground mall. In particular, with the recent spread of technologies such as the Internet of Things (IoT), such position detection technologies are becoming more and more important. As a technique related to position detection, for example, Patent Document 1 discloses a device capable of estimating the arrival direction of a direct wave of a coherent wave by using an array antenna.

Japanese Unexamined Patent Publication No. 2006-125993

It is useful to detect the position of the own device if the direction of arrival of the direct wave communicating with the communication partner can be specified with high accuracy.

An object of the present disclosure is to provide an electronic device capable of improving the accuracy in specifying the arrival direction of a direct wave communicating with a communication partner.

The electronic device according to one embodiment includes a transmitting unit, a receiving unit, an estimating unit, and a specific unit.
The transmitting unit transmits the first radio wave to another electronic device capable of estimating the arrival direction of the received radio wave.
The receiving unit receives a second radio wave transmitted from the other electronic device.
The estimation unit estimates the arrival direction of the second radio wave received by the reception unit.
The specific unit directly receives radio waves between its own device and the other electronic device based on the arrival direction of the first radio wave estimated by the other electronic device and the arrival direction of the second radio wave. Identify the direction of the wave.

The electronic device according to one embodiment includes a transmitting unit, a receiving unit, an estimating unit, and a control unit.
The receiving unit receives a first radio wave transmitted from another electronic device capable of estimating the arrival direction of the received radio wave.
The receiving unit transmits a second radio wave to the other electronic device.
The estimation unit estimates the arrival direction of the first radio wave received by the reception unit.
When the receiving unit receives the first radio wave, the control unit uses information indicating the arrival direction of the first radio wave estimated by the estimation unit as the second radio wave, and the transmitting unit uses the other electronic device as the second radio wave. Control to send to.

According to one embodiment, it is possible to provide an electronic device capable of improving the accuracy in specifying the arrival direction of a direct wave communicating with a communication partner.

It is a figure which shows the example of the arrangement of the electronic device which concerns on one Embodiment. It is a functional block diagram which shows schematic structure of the 1st electronic device which concerns on one Embodiment. It is a functional block diagram which shows schematic structure of the 2nd electronic device which concerns on one Embodiment. It is a figure which shows the example of the arrangement of the electronic device which concerns on one Embodiment. It is a flowchart explaining operation of an electronic device which concerns on one Embodiment. It is a figure explaining the estimation of the arrival direction of the direct wave of the radio wave by the electronic device which concerns on one Embodiment. It is a figure which shows the comparative example for demonstrating the position detection by the electronic device which concerns on one Embodiment. It is a figure explaining the position detection by the electronic device which concerns on one Embodiment.

An embodiment of the present disclosure will be described with reference to the drawings. The electronic device according to the embodiment may be, for example, an electronic device for IoT (Internet of Things). For example, the electronic device according to the embodiment may be realized as a communication unit for IoT. Further, the electronic device according to the embodiment is not limited to the electronic device for IoT, and may be realized as various electronic devices having a wireless communication function.

Hereinafter, the first electronic device and the second electronic device according to the embodiment will be described. Here, the first electronic device and the second electronic device according to one embodiment may be able to communicate with each other. In particular, the first electronic device and the second electronic device according to the embodiment may be capable of wireless communication. In one embodiment, the first electronic device can identify the direction of a direct wave of radio waves between the first electronic device and the second electronic device by communicating with the second electronic device. Further, in one embodiment, the first electronic device can calculate (detect) the position of its own device (first electronic device) by communicating with the second electronic device.

FIG. 1 is a diagram showing an example of arrangement of electronic devices according to an embodiment. More specifically, FIG. 1 is a diagram showing an example of arrangement of a first electronic device and a second electronic device according to an embodiment.

As shown in FIG. 1, the first electronic device and the second electronic device according to one embodiment may be arranged in, for example, a space 100 which is an indoor space. In FIG. 1, the XY plane may be, for example, a horizontal plane. FIG. 1 may show a bird's-eye view of the space 100 partitioned by a wall or the like from above. The space 100 shown in FIG. 1 may be appropriately provided with, for example, an entrance / exit and a window. In FIG. 1, the entrance / exit and windows of the space 100 are not shown.

The space 100 shown in FIG. 1 may have a size of, for example, 10 m in the X-axis direction and 8 m in the Y-axis direction. The size of the space 100 shown in FIG. 1 is an example, and in one embodiment, the size of the space 100 may be arbitrary. Further, the space 100 is not limited to the rectangular shape as shown in FIG. 1, and may have various shapes as described later. The space 100 shown in FIG. 1 is provided with a broken line every 1 m in parallel with the X-axis and Y-axis directions for convenience of explanation. In one embodiment, the space 100 may be outdoors or indoors. In particular, in one embodiment, the space 100 may be, for example, indoors or underground where GPS radio waves do not reach.

As shown in FIG. 1, the first electronic device 1 according to one embodiment may be arranged in the space 100. In FIG. 1, one first electronic device 1 is arranged slightly to the upper right of the center of the space 100. However, in one embodiment, the first electronic device 1 may be arranged at any position within the space 100. In the following description, the first electronic device 1 may be stationary or may be moving (moving).

The first electronic device 1 according to one embodiment can specify the direction of a direct wave of radio waves between the first electronic device and the second electronic device by communicating with the second electronic device 2. Further, the first electronic device 1 according to one embodiment can calculate (detect) the position of its own device (first electronic device) by communicating with the second electronic device 2. That is, the first electronic device 1 according to one embodiment can specify its own position in the space 100 in which the second electronic device 2 is arranged.

The first electronic device 1 according to one embodiment may be, for example, a communication unit for IoT, a smartphone, a mobile phone, or the like. Further, the first electronic device 1 according to the embodiment may be a communication device or the like specially designed. Further, the first electronic device 1 according to the embodiment may be incorporated as a part of another electronic device or the like. The first electronic device 1 according to an embodiment may be carried by a user who may be a human or an animal, for example, and may move together with the user. Further, the first electronic device 1 according to the embodiment is moved by being installed in a mobile device such as a self-propelled transport device or being included in a load mounted on the mobile device. May be good. The configuration of the first electronic device 1 will be further described later.

At least one second electronic device 2 according to an embodiment may be arranged in the space 100. In FIG. 1, the second electronic device 2 is arranged near each of the four corners of the space 100. Specifically, the second electronic device 2A is arranged near the lower left corner of the space 100. A second electronic device 2B is arranged near the lower right corner of the space 100. The second electronic device 2C is arranged near the upper right corner of the space 100. A second electronic device 2D is arranged near the upper left corner of the space 100.

Hereinafter, when the second electronic device 2A, the second electronic device 2B, the second electronic device 2C, and the second electronic device 2D are not particularly distinguished, they are simply referred to as "second electronic device 2". In FIG. 1, a total of four second electronic devices 2 are arranged near the four corners of the space 100. However, in one embodiment, at least one arbitrary number of second electronic devices 2 may be arranged at any position in the space 100. The position and / or number of the second electronic devices 2 may be appropriately determined depending on, for example, the shape of the space 100 and / or the accuracy required when specifying the direction of the direct wave. In the following description, the second electronic device 2 may be arranged at each position and immovable (for example, fixed).

The second electronic device 2 according to one embodiment may be, for example, a communication unit for IoT, a smartphone, a mobile phone, or the like. Further, the second electronic device 2 according to the embodiment may be a communication device or the like specially designed. Further, the second electronic device 2 according to one embodiment may be incorporated as a part of another electronic device or the like. Further, the second electronic device 2 according to the embodiment may be attached to or embedded in the wall or the vicinity of the wall of the space 100. The configuration of the first electronic device 1 will be further described later.

In FIG. 1, each of the first electronic device 1 and the second electronic device 2 may schematically indicate their positions. Therefore, in FIG. 1, the first electronic device 1 and the second electronic device 2 do not have to show the actual shape. Further, in FIG. 1, the ratio of the sizes of the first electronic device 1 and the second electronic device 2 to the space 100 does not have to be based on the actual ratio.

FIG. 2 is a functional block diagram schematically showing the configuration of the first electronic device 1 according to the embodiment. Hereinafter, the configuration of the first electronic device 1 according to the embodiment will be described.

Currently, as a method for detecting a position indoors, for example, a method using the radio wave receiving electric field strength of Wi-Fi or Bluetooth (registered trademark) has been proposed. In addition, as a method for detecting a position indoors, a method using ultrasonic waves or a method using an RFID (radio frequency identifier) tag has been proposed. Further, as a method capable of detecting a position indoors, an IMES (Indoor MEssaging System) using a GPS signal or a MIMO (multiple-input and multiple-output) radar has been proposed. The wireless communication method adopted by the first electronic device 1 according to the embodiment is not particularly limited, and various wireless communication methods may be adopted. Hereinafter, the first electronic device 1 according to the embodiment will be described as being capable of BLE (Bluetooth Low Energy) communication as an example. Here, Bluetooth may be compliant with version 5.1 announced in January 2019, for example.

As shown in FIG. 2, the first electronic device 1 according to the embodiment may include a transmitting unit 11, a receiving unit 12, and a control unit 15. Further, the first electronic device 1 according to the embodiment may include an orientation detection unit 13. Further, the control unit 15 of the first electronic device 1 according to the embodiment may include an estimation unit 16 and a specific unit 17. Further, the control unit 15 of the first electronic device 1 according to the embodiment may include a position calculation unit 18.

The transmission unit 11 transmits radio waves to, for example, a second electronic device 2. Hereinafter, the radio wave transmitted from the first electronic device 1 to the second electronic device 2 will be referred to as a first radio wave R1. That is, the transmission unit 11 transmits the first radio wave R1 to the second electronic device 2. Here, the second electronic device 2 may be an electronic device capable of estimating the arrival direction of the received radio wave, as will be described later. That is, the second electronic device 2 can estimate the arrival direction of the first radio wave R1 received from the first electronic device 1. The transmission unit 11 may transmit, for example, a beacon signal to the second electronic device 2 as the first radio wave R1 based on the control by the control unit 15. In the first electronic device 1 according to one embodiment, the transmission unit 11 may adopt any device as long as it can transmit the first radio wave R1 to the second electronic device 2.

The receiving unit 12 receives radio waves transmitted from, for example, the second electronic device 2. Hereinafter, the radio wave transmitted from the second electronic device 2 to the first electronic device 1 will be referred to as a second radio wave R2. That is, the receiving unit 12 receives the second radio wave R2 transmitted from the second electronic device 2. Here, the first electronic device 1 may also be an electronic device capable of estimating the arrival direction of the received radio wave, as will be described later.

An array antenna is generally required to estimate the arrival and / or exit angles of Bluetooth radio waves. Indoors, multiple reflected waves from walls, ceilings, and / or floors arrive, which may make it difficult to estimate the direction of arrival of transmitted radio waves. As one of the measures to deal with multiple reflected waves (multipath) in the estimation of the direction of arrival (DOA) of radio waves, the coherent elementary waves coming from the ceiling, floor, wall surface, furniture, etc. are separated. It is fried to do. The multipath wavenumber that can be separated by the array antenna is generally limited to the number of elements in the array. Therefore, in order to separate multipath, it is necessary to increase the number of elements of the array antenna. Further, the angular resolution can be improved by increasing the number of elements of the array antenna.

Therefore, an example of adopting an ESPAR (electronically steerable parasitic array radiator) antenna that can increase the number of elements of the array antenna at a relatively low cost will be described below in the first electronic device 1 according to the embodiment. The Espa antenna is an electron scanning waveguide array antenna having one feeding element. Currently, the verification results and miniaturization of prototypes of various Espa antennas have been reported. Adoption of an Espa antenna requires circuits and software that control the voltages of multiple variable reactances. On the other hand, the variable reactance element used for the Espa antenna is a general-purpose product and inexpensive. Therefore, the implementation of the Espa antenna can be easy and low cost.

Hereinafter, the receiving unit 12 of the first electronic device 1 according to the embodiment is an espa antenna composed of a total of 25 circular arrays, for example, one central feeding element and 24 peripheral non-feeding elements. Will be described as being provided. However, in the first electronic device 1 according to one embodiment, the receiving unit 12 may be provided with an Espa antenna having another configuration, or may be provided with an antenna other than the Espa antenna. In the first electronic device 1 according to one embodiment, the receiving unit 12 is arbitrary as long as it can receive the second radio wave R2 transmitted from the second electronic device 2 and can estimate the arrival direction of the received radio wave. May be adopted.

Further, the receiving unit 12 may receive information indicating the position of the second electronic device 2 from, for example, the second electronic device 2. In particular, when there are a plurality of second electronic devices 2, the receiving unit 12 may receive information indicating the positions of the plurality of second electronic devices 2 from the plurality of second electronic devices 2. On the other hand, the receiving unit 12 does not have to receive the position information individually from the plurality of second electronic devices 2. For example, the receiving unit 12 may collect the position information of a plurality of second electronic devices 2 existing in the vicinity and receive them from any (for example, one) second electronic device 2. Further, the receiving unit 12 may receive the position information of the plurality of second electronic devices 2 existing in the vicinity from other electronic devices (for example, a position information server) other than the plurality of second electronic devices 2. ..

The orientation detection unit 13 detects the two-dimensional orientation of the first electronic device 1. For example, the orientation detection unit 13 may detect the two-dimensional orientation of the first electronic device 1 on the XY plane shown in FIG. In this case, the orientation detection unit 13 may include, for example, an electronic compass. On the other hand, in the first electronic device 1 according to one embodiment, the direction detection unit 13 may adopt any device as long as it can detect the two-dimensional direction of the first electronic device 1.

Further, the orientation detection unit 13 may detect the three-dimensional orientation of the first electronic device 1. For example, the orientation detection unit 13 may detect the three-dimensional orientation of the first electronic device 1 in a space in which the height in the Z-axis direction is added to the XY plane shown in FIG. In this case, the direction detection unit 13 may include, for example, an acceleration sensor. On the other hand, in the first electronic device 1 according to one embodiment, the orientation detection unit 13 may adopt any device as long as it can detect the three-dimensional orientation of the first electronic device 1.

On the other hand, as a simple configuration, the first electronic device 1 according to the embodiment does not have to include the direction detection unit 13.

The control unit 15 can control and / or manage the operation of the entire first electronic device 1 including the control of each functional unit constituting the first electronic device 1. The control unit 15 may include at least one processor, such as a CPU (Central Processing Unit), in order to provide control and processing power for performing various functions. The control unit 15 may be realized collectively by one processor, by several processors, or by individual processors. The processor may be implemented as a single integrated circuit. The integrated circuit is also called an IC (Integrated Circuit). The processor may be implemented as a plurality of communicably connected integrated circuits and discrete circuits. The processor may be implemented on the basis of various other known techniques. In one embodiment, the control unit 15 may be configured as, for example, a CPU and a program executed by the CPU. The control unit 15 may appropriately include a memory necessary for the operation of the control unit 15.

The estimation unit 16, the specific unit 17, and / or the position calculation unit 18 may be configured as, for example, a CPU and a program executed by the CPU, similarly to the control unit 15. Further, the estimation unit 16, the specific unit 17, and / or the position calculation unit 18 may appropriately include a memory or the like necessary for operation, similarly to the control unit 15. As shown in FIG. 2, the estimation unit 16, the identification unit 17, and the position calculation unit 18 may be configured as a part of the control unit 15. On the other hand, at least one of the estimation unit 16, the specific unit 17, and the position calculation unit 18 may be configured as a separate body from the control unit 15.

The estimation unit 16 estimates the arrival direction of the radio wave received by the reception unit 12. More specifically, the estimation unit 16 estimates the arrival direction of the second radio wave R2 received by the reception unit 12. Conventionally, various techniques for estimating the arrival direction (DOA) of received radio waves have been proposed. Therefore, in the first electronic device 1, a technique of estimating the arrival direction of the second radio wave R2 by the estimation unit 16 by receiving the second radio wave R2 from the second electronic device 2 by the receiving unit 12 provided with the Espa antenna is used. , Various known techniques may be adopted. Therefore, a more detailed description of the estimation by the estimation unit 16 in the arrival direction of the second radio wave R2 will be omitted.

In one embodiment, the estimation unit 16 may correct the arrival direction of the second radio wave R2 according to the two-dimensional orientation of the first electronic device 1 detected by the orientation detection unit 13. When the receiving unit 12 receives the second radio wave R2 from the second electronic device 2, it is estimated by the estimating unit 16 that the two-dimensional orientation of the first electronic device 1 is deviated. Is also expected to shift two-dimensionally. For example, in FIG. 1, the direction detection unit 13 (for example, an electronic compass) of the first electronic device 1 has a direction of the own device 1 in the XY plane of 30 ° clockwise from true north (for example, the positive direction of the Y axis). Suppose that the orientation of is detected. In this case, it is assumed that the arrival direction of the second radio wave R2 estimated by the estimation unit 16 deviates from true north (Y-axis positive direction) by 30 °. Therefore, the estimation unit 16 may correct the arrival direction of the second radio wave R2 according to the two-dimensional orientation (30 ° from true north) of the first electronic device 1 detected by the orientation detection unit 13. In this way, the first electronic device 1 (estimating unit 16) can correctly estimate the arrival direction of the second radio wave R2.

Further, in one embodiment, the estimation unit 16 may correct the arrival direction of the second radio wave R2 according to the three-dimensional orientation of the first electronic device 1 detected by the orientation detection unit 13. When the receiving unit 12 receives the second radio wave R2 from the second electronic device 2, the direction of arrival of the second radio wave R2 estimated by the estimating unit 16 to be misaligned in three dimensions of the first electronic device 1. Is also expected to shift three-dimensionally. For example, in FIG. 1, the direction detection unit 13 (for example, an acceleration sensor) of the first electronic device 1 has a direction of the own device 1 in the XY plane of 30 ° clockwise from true north (for example, in the positive direction of the Y axis). Suppose that the orientation of is detected. Further, it is assumed that the orientation detection unit 13 (for example, an acceleration sensor) of the first electronic device 1 detects an orientation of 15 ° from the horizontal direction as the elevation angle of the own device 1. In this case, it is assumed that the arrival direction of the second radio wave R2 estimated by the estimation unit 16 deviates from true north (Y-axis positive direction) by 30 ° and further from the horizontal direction by 15 °. Therefore, the estimation unit 16 determines the arrival direction of the second radio wave R2 according to the three-dimensional orientation (30 ° from true north and 15 ° from the horizontal direction) of the first electronic device 1 detected by the orientation detection unit 13. It may be corrected. Even in this way, the first electronic device 1 (estimating unit 16) can correctly estimate the arrival direction of the second radio wave R2.

The identification unit 17 specifies the direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2. The radio wave between the first electronic device 1 and the second electronic device 2 may include a large number of reflected waves in addition to the direct wave. As described above, the estimation unit 16 of the first electronic device 1 estimates the arrival direction of the second radio wave R2 received from the second electronic device 2. Further, as described above, that is, the second electronic device 2 can estimate the arrival direction of the first radio wave R1 received from the first electronic device 1. Therefore, the specific unit 17 determines the direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2 based on the arrival direction of the first radio wave R1 and the arrival direction of the second radio wave R2. To identify. As described above, the operation of specifying the direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2 will be described later.

The position calculation unit 18 calculates the position of the own device (first electronic device 1). More specifically, the position calculation unit 18 may calculate the position of the first electronic device 1 based on the positions of the plurality of second electronic devices 2 and the directions of the direct waves D. As described above, the position of the second electronic device 2 may be received from, for example, the second electronic device 2, or may be received from another electronic device other than the second electronic device 2, such as a position information server. May be good. Further, the position of the second electronic device 2 may be stored in the memory of the control unit 15 as information acquired in advance. The position of the own device (first electronic device 1) calculated by the position calculation unit 18 may be coordinates representing an absolute position, for example, information obtained by GPS. Further, the position of the own device (first electronic device 1) calculated by the position calculation unit 18 may be, for example, information representing a relative position in the space 100. The operation of calculating the position of the own device (first electronic device 1) in this way will be further described later.

On the other hand, the first electronic device 1 according to one embodiment uses the position calculation unit 18 in order to realize the function of specifying the direction of the direct wave D of the radio wave between the own device 1 and the second electronic device 2. You don't have to prepare.

FIG. 3 is a functional block diagram schematically showing the configuration of the second electronic device 2 according to the embodiment. Hereinafter, the configuration of the second electronic device 2 according to the embodiment will be described.

As shown in FIG. 3, the second electronic device 2 according to the embodiment may include a transmitting unit 21, a receiving unit 22, and a control unit 25. In addition, the second electronic device 2 according to the embodiment may include an imaging unit 24. Further, the control unit 25 of the second electronic device 2 according to the embodiment may include an estimation unit 26.

The transmission unit 21 of the second electronic device 2 may be configured in the same manner as, for example, the transmission unit 11 of the first electronic device 1, or may be configured differently. Further, the receiving unit 22 of the second electronic device 2 may be configured in the same manner as, for example, the receiving unit 12 of the first electronic device 1, or may be configured differently.

The transmission unit 21 transmits radio waves to, for example, the first electronic device 1. Hereinafter, the radio wave transmitted from the second electronic device 2 to the first electronic device 1 will be referred to as a second radio wave R2. That is, the transmission unit 21 transmits the second radio wave R2 to the first electronic device 1. Here, the first electronic device 1 may be an electronic device capable of estimating the arrival direction of the received radio wave, as described above. That is, the first electronic device 1 can estimate the arrival direction of the second radio wave R2 received from the second electronic device 2. Based on the control by the control unit 25, the transmission unit 21 may transmit the information indicating the arrival direction of the first radio wave R1 received from the first electronic device 1 to the first electronic device 1 as the second radio wave R2. ..

Further, the transmission unit 21 may transmit information indicating the position of the own device (second radio wave R2) to the first electronic device 1 as the second radio wave R2 based on the control by the control unit 25. Further, the transmission unit 21 may execute these transmission operations in response to the reception of the first radio wave R1 from the first electronic device 1. In the second electronic device 2 according to the first embodiment, any transmission unit 21 may be adopted as long as the above-mentioned operation can be executed.

The receiving unit 22 receives radio waves transmitted from, for example, the first electronic device 1. More specifically, the receiving unit 22 receives the first radio wave R1 transmitted from the first electronic device 1.

Hereinafter, the receiving unit 22 of the second electronic device 2 according to one embodiment has, for example, a central feeding element as one element and peripheral non-feeding elements as 24 elements, similarly to the receiving unit 12 of the first electronic device 1. , A total of 25 elements of a circular array will be described. However, in the second electronic device 2 according to one embodiment, the receiving unit 22 may be provided with an Espa antenna having another configuration, or may be provided with an antenna other than the Espa antenna. In the second electronic device 2 according to one embodiment, the receiving unit 22 is arbitrary as long as it can receive the first radio wave R1 transmitted from the first electronic device 1 and can estimate the arrival direction of the received radio wave. May be adopted.

The imaging unit 24 acquires (images) an image or an image of the surroundings of the second electronic device 2. The imaging unit 24 may include any digital camera or video camera. Further, the video or image captured by the imaging unit 24 may be a still image or a moving image. The imaging unit 24 may periodically image a still image around the second electronic device 2 at predetermined time intervals, for example, based on control by the control unit 25. Further, the imaging unit 24 may image a still image around the second electronic device 2 at a predetermined timing such as when the second electronic device 2 is activated, based on control by the control unit 25, for example. In the second electronic device 2 according to the first embodiment, any image pickup unit 24 may be adopted as long as it is possible to acquire (image) an image or an image of the surroundings of the second electronic device 2.

On the other hand, as a simple configuration, the second electronic device 2 according to the embodiment does not have to include the image pickup unit 24.

The control unit 25 can control and / or manage the operation of the entire second electronic device 2 including the control of each functional unit constituting the second electronic device 2. The control unit 25 may include at least one processor, such as a CPU (Central Processing Unit), in order to provide control and processing power for performing various functions. The control unit 25 of the second electronic device 2 may be configured in the same manner as, for example, the control unit 15 of the first electronic device 1, or may be configured differently. Therefore, the description of the control unit 25 of the second electronic device 2 that is the same as that of the control unit 15 of the first electronic device 1 will be omitted as appropriate.

Like the control unit 25, the estimation unit 26 may be configured as, for example, a CPU and a program executed by the CPU. As shown in FIG. 3, the estimation unit 26 may be configured as a part of the control unit 25. On the other hand, the estimation unit 26 may be configured as a separate body from the control unit 25.

The estimation unit 26 estimates the arrival direction of the radio wave received by the reception unit 22. More specifically, the estimation unit 26 estimates the arrival direction of the first radio wave R1 received by the reception unit 22. Therefore, the second electronic device 2 may be an electronic device capable of estimating the arrival direction of the received radio wave. The estimation unit 26 of the second electronic device 2 may be configured in the same manner as, for example, the estimation unit 16 of the first electronic device 1, or may be configured differently. Therefore, the description of the estimation unit 26 of the second electronic device 2 that is the same as that of the estimation unit 16 of the first electronic device 1 will be omitted as appropriate.

As described above, when the receiving unit 22 receives the first radio wave R1 in the second electronic device 2, the estimating unit 26 estimates the arrival direction of the first radio wave R1 received by the receiving unit 22. In this case, the control unit 25 of the second electronic device 2 transmits the information indicating the arrival direction of the first radio wave R1 estimated by the estimation unit 26 to the first electronic device 1 as the second radio wave R2. It may be controlled as follows. Further, when the receiving unit 22 receives the first radio wave R1, the control unit 25 uses the information indicating the arrival direction of the first radio wave R1 and the information indicating the position of the second electronic device 2 as the second radio wave R2. 21 may be controlled to transmit to the first electronic device 1.

In the space 100 shown in FIG. 1, the first electronic device 1 shown in FIG. 2 and the second electronic device 2 shown in FIG. 3 may be arranged. In the situation shown in FIG. 1, the first electronic device 1 communicates with the second electronic device 2 to directly wave a radio wave between its own device (first electronic device 1) and the second electronic device 2. The direction of D can be specified. Further, in the situation shown in FIG. 1, the first electronic device 1 can calculate (detect) the position of its own device (first electronic device) by communicating with the second electronic device 2.

The first electronic device 1 and the second electronic device 2 according to the embodiment are not limited to the space 100 as shown in FIG. The first electronic device 1 and the second electronic device 2 according to the embodiment are arranged at various places where it is desired to specify the direction of the direct wave of the radio wave between the first electronic device 1 and the second electronic device 2. You can. For example, the first electronic device 1 and the second electronic device 2 according to one embodiment may be arranged in the space 200 as shown in FIG.

FIG. 4 is a diagram showing another example of the arrangement of the first electronic device 1 and the second electronic device 2 according to the embodiment.

As shown in FIG. 4, the first electronic device 1 and the second electronic device 2 according to one embodiment may be arranged in, for example, a space 200 which is an indoor space. In FIG. 4, similarly to FIG. 1, the XY plane may be, for example, a horizontal plane. FIG. 4 may show a bird's-eye view of the space 200 partially partitioned by a wall or the like. As shown in FIG. 4, the space 200 may be shaped like a passage. Further, as shown in FIG. 4, a part of the space 200 may be partitioned by a wall or the like, and a part may be opened as an entrance or exit, for example.

The size of the space 200 shown in FIG. 4 is an example, and in one embodiment, the size of the space 200 may be arbitrary. Further, the space 200 is not limited to the shape shown in FIG. 4, and may have various shapes. In one embodiment, the space 200 may be outdoors or indoors. In particular, in one embodiment, the space 200 may be, for example, indoors or underground where GPS radio waves do not reach.

As shown in FIG. 4, the first electronic device 1 according to the embodiment may be arranged in the space 200. In FIG. 4, one first electronic device 1 is arranged below the space 200 (in the Y-axis direction). However, in one embodiment, the first electronic device 1 may be arranged at an arbitrary position in the space 200. In the following description, the first electronic device 1 may be stationary or may be moving (moving).

At least one second electronic device 2 according to an embodiment may be arranged in the space 200. In FIG. 4, six second electronic devices 2 are arranged in various places in the space 200. Specifically, in the space 200, the second electronic device 2A, the second electronic device 2B, the second electronic device 2C, the second electronic device 2D, the second electronic device 2E, and the second electronic device 2F are arranged. .. However, in one embodiment, at least one arbitrary number of second electronic devices 2 may be arranged at any position in the space 200. The position and / or number of the second electronic devices 2 may be appropriately determined depending on, for example, the shape of the space 200 and / or the accuracy required when specifying the direction of the direct wave. In the following description, the second electronic device 2 may be arranged at each position and immovable (for example, fixed).

Next, the operations of the first electronic device 1 and the second electronic device 2 according to the embodiment will be described.

FIG. 5 is a flowchart illustrating an example of the operation of the first electronic device 1 and the second electronic device 2 according to the embodiment. The flowchart shown in FIG. 5 collectively describes the operation of the first electronic device 1 and the operation of the second electronic device 2. The left side of FIG. 5 shows the operation of the first electronic device 1. The right side of FIG. 5 shows the operation of the second electronic device 2.

It is assumed that the first electronic device 1 and the second electronic device are arranged in a space such as space 100 or space 200 at the time when the operation shown in FIG. 5 starts. FIG. 5 shows an operation focusing on one first electronic device 1. Further, FIG. 5 shows an operation focusing on at least one second electronic device 2. That is, when a plurality of second electronic devices 2 are arranged in a space such as space 100 or space 200, FIG. 5 shows the operation of each of the plurality of second electronic devices 2. In such a situation, when it is desired to specify the direction of the direct wave of the radio wave between the first electronic device 1 and the second electronic device 2, or when it is desired to calculate (detect) the position of the first electronic device, the first The electronic device 1 and the second electronic device may start the operation shown in FIG.

When the operation shown in FIG. 5 starts, the first electronic device 1 transmits the first radio wave R1 (step S1). In step S1, the control unit 15 of the first electronic device 1 may control the transmission unit 11 to transmit the first radio wave R1. For example, the control unit 15 may control the transmission unit 11 so that, for example, a beacon signal is transmitted by the first radio wave R1 in step S1.

When the first radio wave R1 is transmitted from the first electronic device 1 in step S1, the second electronic device 2 receives the first radio wave R1 (step S2). In step S2, the control unit 25 of the second electronic device 2 may control the receiving unit 22 to receive the first radio wave R1.

When the first radio wave R1 is received in step S2, the second electronic device 2 estimates the arrival direction of the first radio wave R1 (step S3). In step S3, the estimation unit 26 of the second electronic device 2 may estimate the arrival direction of the first radio wave R1.

FIG. 6 is a diagram for explaining the direction of arrival of radio waves by the first electronic device 1 and the second electronic device 2 according to the embodiment. In FIG. 6, for convenience of explanation, only one of the first electronic device 1 and the second electronic device 2 is shown.

As shown in FIG. 6, when the first electronic device 1 transmits the first radio wave R1 (step S1) and the second electronic device 2 receives the first radio wave R1 (step S2), the second electronic device 2 The arrival direction A1 of the first radio wave R1 can be estimated (step S3). As shown in FIG. 6, the arrival direction A1 of the first radio wave R1 estimated by the second electronic device 2 is set to, for example, an angle θ1. In FIG. 6, the arrival direction of the radio wave is described as an angle that increases counterclockwise with respect to the positive direction of the X-axis. As shown in FIG. 6, the angle θ1 of the arrival direction A1 of the first radio wave R1 may be, for example, 30 °.

When the arrival direction (angle θ1) of the first radio wave R1 is estimated in step S3 shown in FIG. 5, the second electronic device 2 transmits the estimated arrival direction of the first radio wave R1 (step S4). In step S4, the control unit 25 of the second electronic device 2 may control the transmission unit 21 to transmit information in the arrival direction of the first radio wave R1. For example, the control unit 25 may control the transmission unit 21 so that the second radio wave R2 transmits information in the arrival direction of the first radio wave R1 in step S4.

In step S4, the control unit 25 controls the transmission unit 21 so that the position information of the second electronic device 2 which is its own device is transmitted by the second radio wave R2 as well as the information on the arrival direction of the first radio wave R1. May be good. In this case, the position of the second electronic device 2 may be stored in advance in, for example, the memory of the control unit 25. Further, the position of the second electronic device 2 may be acquired from, for example, another electronic device (for example, a position information server).

When the second radio wave R2 is transmitted from the second electronic device 2 in step S4, the first electronic device 1 receives the second radio wave R2 (step S5). In step S5, the control unit 15 of the first electronic device 1 may control the receiving unit 12 to receive the second radio wave R2.

When the second radio wave R2 is received in step S5, the first electronic device 1 estimates the arrival direction of the second radio wave R2 (step S6). In step S6, the estimation unit 16 of the first electronic device 1 may estimate the arrival direction of the second radio wave R2.

As shown in FIG. 6, when the second electronic device 2 transmits the second radio wave R2 (step S4) and the first electronic device 1 receives the second radio wave R2 (step S5), the first electronic device 1 The arrival direction A2 of the second radio wave R2 can be estimated (step S6). As shown in FIG. 6, the arrival direction A2 of the second radio wave R2 estimated by the first electronic device 1 is, for example, an angle θ2. As shown in FIG. 6, the angle θ2 of the arrival direction A2 of the second radio wave R2 may be, for example, 210 °.

When the arrival direction (angle θ2) of the second radio wave R2 is estimated in step S6 shown in FIG. 5, the first electronic device 1 is the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2. (Step S7). In step S7, the identification unit 17 of the first electronic device 1 may be controlled so as to specify the direction of the direct wave D. For example, in step S7, the specifying unit 17 specifies the direction of the direct wave D based on the arrival direction of the first radio wave R1 estimated by the second electronic device 2 and the arrival direction of the second radio wave R2. Good. Here, the arrival direction A1 of the first radio wave R1 is estimated by the second electronic device 2 (step S3), and the one transmitted by the second electronic device 2 by the second radio wave (step S4) is the first electronic device. It may be assumed that 1 has received (step S5). Further, the arrival direction A2 of the second radio wave R2 may be the one estimated by the first electronic device 1 (step S6).

Here, with reference to FIG. 6, the direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2 will be specified. For example, as shown in FIG. 1, it is assumed that four second electronic devices 2 are arranged. In this case, first, in each of the four second electronic devices 2, the arrival direction A1 of the first radio wave R1 is estimated (step S3). When step S3 is performed, each of the second electronic devices 2 can make the main elementary wave of the first radio wave R1 a candidate for the direct wave D1 of the first radio wave R1. Here, a plurality of candidates can be generated as candidates for the direct wave D1 of the first radio wave R1. Then, each of the second electronic devices 2 may transmit the information of the candidate (angle θ1) of the direct wave D1 of the first radio wave R1 to the first electronic device 1 (step S4).

Next, the first electronic device 1 estimates the arrival direction A2 of the second radio wave R2 (step S6).
When step S6 is performed, the first electronic device 1 can make the main elementary wave of the second radio wave R2 a candidate for the direct wave D2 of the second radio wave R2. Here, a plurality of candidates can be generated as candidates for the direct wave D2 of the second radio wave R2.

As shown in FIG. 6, the direct wave D1 of the first radio wave R1 and the direct wave D2 of the second radio wave R2 have a relationship of opposite directions in the same direction. That is, the difference between the angle θ1 of the arrival direction A1 of the direct wave D1 of the first radio wave R1 and the angle θ2 of the arrival direction A2 of the direct wave D2 of the second radio wave R2 is 180 °. Utilizing this relationship, the specific unit 17 of the first electronic device 1 has a candidate for the direct wave D1 of the first radio wave R1 (which can be a plurality) and a candidate for the direct wave D2 of the second radio wave R2 (being a plurality of candidates). Can be collated with). Based on this collation result, the identification unit 17 of the first electronic device 1 can specify the direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2.

For example, it is assumed that the arrival directions A1 (angle θ1) of the direct wave D1 of the first radio wave R1 are 30 ° and 90 ° as a plurality of candidates for the direct wave D1 of the first radio wave R1. Further, it is assumed that the arrival directions A2 (angle θ2) of the direct wave D2 of the second radio wave R2 are 120 °, 210 °, and 300 ° as a plurality of candidates for the direct wave D2 of the second radio wave R2. In this case, the specifying unit 17 specifies θ1 = 30 ° and θ2 = 210 ° at which the difference is 180 ° as the direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2. be able to.

As described above, in the first electronic device 1 according to the embodiment, the specific unit 17 is based on the arrival direction of the first radio wave R1 estimated by the second electronic device 2 and the arrival direction of the second radio wave R2. , The direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2 can be specified.

In one embodiment, when the direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2 is specified, the direction of arrival of the first radio wave R1 and the direction of arrival of the second radio wave R2 Some tolerance may be set between. For example, in the above example, when the difference between the angle θ1 of the arrival direction A1 of the direct wave D1 of the first radio wave R1 and the angle θ2 of the arrival direction A2 of the direct wave D2 of the second radio wave R2 is 180 °, the first 1 The direction of the direct wave D of the radio wave between the electronic device 1 and the second electronic device 2 was specified. Here, if the direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2 is specified only when this difference is exactly 180 °, it is difficult to specify the direction of the direct wave D. It is also expected that it will be. Therefore, even if the difference between the angle θ1 and the angle θ2 is not exactly 180 °, if it is within a slight allowable range from 180 °, the direct wave of the radio wave between the first electronic device 1 and the second electronic device 2 The direction of D may be specified. For example, even if the difference between the angle θ1 and the angle θ2 includes an error such as within 5 °, within 8 °, within 10 °, within 12 °, or within 15 ° from 180 °, the first electronic device 1 and the first electronic device 1 The direction of the direct wave D of the radio wave to and from the second electronic device 2 may be specified.

As described above, in the first electronic device 1 according to the embodiment, the specific unit 17 directly receives the deviation between the arrival direction of the first radio wave R1 and the arrival direction of the second radio wave R2 within a predetermined range. The direction of the wave D may be specified. In this case, the specifying unit 17 may specify the direction of the direct wave D based on at least one of the arrival direction of the first radio wave R1 and the arrival direction of the second radio wave R2.

Further, as described above (for example, as shown in FIG. 1), the number of the second electronic devices 2 may be at least one, for example, a plurality. As shown in FIG. 6, when specifying the direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2, the number of the second electronic devices 2 is a plurality, for example, three. With the above, the direction of the direct wave D can be specified with better accuracy.

As described above, in the first electronic device 1 according to the embodiment, the receiving unit 12 receives a plurality of second radio waves R2 transmitted from the plurality of second electronic devices 2 capable of estimating the arrival direction of the received radio waves. You may receive it. In this case, the specific unit 17 and the first electronic device 1 are based on the arrival direction of the first radio wave R1 estimated by each of the plurality of second electronic devices 2 and the arrival direction of each of the plurality of second radio waves R2. The direction of the direct wave D of the radio wave between the plurality of second electronic devices 2 may be specified.

When the direction of the direct wave D is specified in step S7 shown in FIG. 5, the first electronic device 1 calculates the position of its own device (first electronic device 1) (step S8). In step S8, the position calculation unit 18 of the first electronic device 1 may calculate the position of the first electronic device 1. For example, when the position calculation unit 18 can identify the direct wave D between the plurality of second electronic devices 2, the information indicating the position of each of the second electronic devices 2 and the specified direct wave D The position of the first electronic device 1 may be calculated based on the azimuth angle information. In this case, the position calculation unit 18 may calculate the position of the first electronic device 1 in a manner of obtaining the intersection of a plurality of straight line groups, for example.

As described above, in the first electronic device 1 according to the embodiment, the position calculation unit 18 is based on the positions of the plurality of second electronic devices 2 and the directions of the direct waves D, respectively. The position of may be calculated. In this case, in the first electronic device 1 according to one embodiment, the receiving unit 12 may receive information indicating the positions of the plurality of second electronic devices 2 from the plurality of second electronic devices 2.

According to the first electronic device 1 according to the embodiment, a direct wave D of radio waves between the first electronic device 1 and the second electronic device 2 by communicating with the second electronic device 2 according to the first embodiment. The direction of can be specified with relatively high accuracy. Further, according to the first electronic device 1 according to the embodiment, the position of the own device (first electronic device 1) can be determined with relatively high accuracy by communicating with the second electronic device 2 according to the embodiment. Can be calculated (detected). Therefore, according to the first electronic device 1 according to the first embodiment, the direction of arrival of the direct wave communicating with the second electronic device 2 can be specified with high accuracy. Therefore, the first electronic device 1 according to the embodiment is useful when detecting the position of the own device.

In the operation shown in FIG. 5, in order to specify the direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2, the operations up to step S7 may be performed, and the operation of step S8 may be performed. Does not have to be done.

Next, the effect of specifying the direction of the direct wave D of the radio wave between the first electronic device 1 and the second electronic device 2 will be further described.

Hereinafter, in an indoor environment such as the space 100 shown in FIG. 1, the error between the position calculated when the first electronic device 1 is moved at intervals of 0.5 m and the actual position of the first electronic device 1 To consider.

FIG. 7 shows the first electronic device 1 calculated based only on the reception of the first radio wave R1 transmitted from the first electronic device 1 to the second electronic device 2 as a comparative example for clarifying the effect of one embodiment. It is a figure which shows the error between the position of 1 and the actual position of the 1st electronic device 1. That is, FIG. 7 shows, for example, the result of an operation in which the operations of steps S6 and S7 shown in FIG. 5 are omitted. FIG. 7 shows a position calculated when the first electronic device 1 is moved at intervals of 0.5 m in an indoor space such as the space 100 shown in FIG. 1 and an actual position of the first electronic device 1. The error is shown in contour line display. In FIG. 7, the larger the error between the calculated position of the first electronic device 1 and the actual position, the darker the hatching is shown.

In the vicinity of the wall surface of the space 100 shown in FIG. 1, the error between the calculated position of the first electronic device 1 and the actual position may be relatively large. Such an error generated near the wall surface can be removed to some extent by applying an appropriate filter. FIG. 7 is a diagram showing a state after applying such a filter. In FIG. 7, some errors are scattered even in the region portion other than the end portion, that is, the region portion not near the wall surface of the space 100 shown in FIG.

FIG. 8 is a diagram showing the results of operations by the first electronic device 1 and the second electronic device 2 according to the embodiment. That is, FIG. 8 shows an error between the calculated position of the first electronic device 1 and the actual position of the first electronic device 1, as in FIG. 7. On the other hand, FIG. 8 shows the reception of the first radio wave R1 transmitted from the first electronic device 1 to the second electronic device 2 and the transmission from the second electronic device 2 to the first electronic device 1, unlike FIG. 7. The operation based on the reception of the second radio wave R2 is shown. That is, FIG. 8 shows the results of performing all the operations shown in FIG. 5, for example. FIG. 8 shows the same results as in FIG. 7 for other conditions. Also in FIG. 8, as in FIG. 7, the larger the error between the calculated position of the first electronic device 1 and the actual position, the darker the hatching is.

Also in FIG. 8, similarly to FIG. 7, the error generated near the wall surface of the space 100 shown in FIG. 1 is removed to some extent by applying an appropriate filter. In FIG. 8, unlike FIG. 7, it can be seen that almost no error occurs in the region portion other than the end portion, that is, the region portion not near the wall surface of the space 100 shown in FIG.

Next, the arrangement of the plurality of second electronic devices 2 will be described.

In FIG. 1, four second electronic devices 2 are arranged. That is, in FIG. 1, the second electronic device 2 is arranged near each of the four corners of the space 100. These four second electronic devices 2 may be separated from their respective corners (wall surfaces) by an equal distance in both the X-axis direction and the Y-axis direction.

On the other hand, in FIG. 1, the four second electronic devices 2 have different distances from their respective corners (wall surfaces) in the X-axis direction and the Y-axis direction. For example, the second electronic device 2A is separated from the wall surface at the corner of the space 100 by about 1 m in the X-axis direction and about 0.5 m in the Y-axis direction. Further, the second electronic device 2B is separated from the wall surface at the corner of the space 100 by about 0.5 m in the X-axis direction and about 1 m in the Y-axis direction. Further, the second electronic device 2C is separated from the wall surface at the corner of the space 100 by about 1 m in the X-axis direction and about 0.5 m in the Y-axis direction. By arranging the second electronic device 2 in this way, it is possible to suppress deterioration in the accuracy of estimating the arrival direction of the radio wave due to the overlapping directions of the radio waves of the multiple reflected waves from the first electronic device 1. Can be done.

Further, in FIG. 1, the second electronic device 2D is separated from the wall surface at the corner of the space 100 by about 0.5 m in the X-axis direction and about 1.5 m in the Y-axis direction. By arranging the second electronic device 2D in this way, the positions where the four second electronic devices 2 are arranged are not rotationally symmetric with respect to the center of the space 100, so that the accuracy of estimating the arrival direction of the radio wave is improved. Can be improved.

As described above, the plurality of second electronic devices 2 according to the embodiment may be installed at unequal distances from each of the two wall surfaces forming the corner in the vicinity of the corner in the room. For example, as in the space 100 shown in FIG. 1, when each of the four corners is a right angle when the space 100 is viewed from above, the line that bisects (45 °) each right angle may be drawn. The second electronic device 2 may not be arranged. Further, when at least a part of the plane is flat like the space 100, the plurality of second electronic devices 2 according to the embodiment are located at positions that are not parallel to the wall surface on the plane. 2 Electronic devices 2 may be arranged. In the example shown in FIG. 1, any two of the four second electronic devices 2 are arranged so as not to be parallel to each of the four wall surfaces. Further, the plurality of second electronic devices 2 according to the embodiment may be arranged so as not to be rotationally symmetric with respect to the center of the space to be arranged in a plane.

Next, a case where the second electronic device 2 includes the imaging unit 24 will be described.

As described in step S3 in FIG. 5, the second electronic device 2 estimates the arrival direction of the first radio wave received from the first electronic device 1. Here, due to various conditions such as deterioration of the communication environment, at least one of the plurality of second electronic devices 2 may not be able to appropriately and appropriately estimate the arrival direction of the first radio wave received from the first electronic device 1. is assumed. In such a case, the second electronic device 2 receives the first radio wave from the first electronic device 1 instead of receiving the first radio wave from the first electronic device 1, and the image pickup unit 24 takes an image. The image may be added.

For example, when the imaging unit 24 can capture an image of the first electronic device 1, the second electronic device 2 analyzes the captured image to obtain the first electronic device 1 as seen from the second electronic device 2. The direction can be determined. Therefore, the second electronic device 2 can estimate the arrival direction of the first radio wave R1 based on the direction of the first electronic device 1 determined from the image. The second electronic device 2 may estimate the arrival direction of the first radio wave R1 thus estimated as the arrival direction of the first radio wave R1 received by the receiving unit 22.

As described above, in the plurality of second electronic devices 2 according to the embodiment, the estimation unit 26 estimates the arrival direction of the first radio wave R1 received by the reception unit 22 in consideration of the image captured by the image pickup unit 24. You can do it.

Further, as described above, the direction of arrival of the first radio wave R1 is estimated in consideration of the image when it is determined that the radio wave intensity of the first radio wave R1 received by the receiving unit 22 is not within a predetermined range. May be good. When the control unit 25 of the second electronic device 2 determines in step S2 shown in FIG. 5 that the radio wave intensity of the first radio wave R1 received by the receiving unit 22 is not within a predetermined intensity range, the image pickup unit 24 The arrival direction of the first radio wave R1 may be estimated in consideration of the image captured by. Here, the case where the radio wave intensity of the first radio wave R1 received in step S2 is not within the predetermined intensity range is the case where the radio wave intensity of the first radio wave R1 is weak to the extent that it is less than the predetermined intensity range. May be. On the other hand, the case where the radio wave intensity of the first radio wave R1 received in step S2 is not within the predetermined intensity range is the case where the radio wave intensity of the first radio wave R1 is excessively strong to the extent that it exceeds the predetermined intensity range. Good.

As described above, in the plurality of second electronic devices 2 according to one embodiment, when the radio wave intensity of the first radio wave R1 received by the receiving unit 22 is not within a predetermined range, the estimation unit 26 takes an image. The arrival direction of the first radio wave R1 received by the receiving unit 22 may be estimated in consideration of the image.

Further, as described above, the direction of arrival of the first radio wave R1 may be estimated in consideration of the image even when the image captured by the imaging unit 24 includes the first electronic device 1. The image pickup unit 24 included in the second electronic device 2 may be a fixed type or a movable type. When the image pickup unit 24 is movable, if the image to be captured does not include the first electronic device 1, the first electronic device 1 is included in the image to be captured by moving the direction of the image pickup unit 24. Can be done. However, when the imaging unit 24 is a fixed type, if the image to be captured does not include the first electronic device 1, the image to be captured shows the first electronic device 1 as seen from the second electronic device 2. Cannot determine the direction of. Therefore, when the image captured by the imaging unit 24 includes the first electronic device 1, the arrival direction of the first radio wave R1 may be estimated in consideration of the image captured by the imaging unit 24. May be good. On the other hand, when the image captured by the imaging unit 24 does not include the first electronic device 1, the arrival direction of the first radio wave R1 may be estimated without adding the image captured by the imaging unit 24.

As described above, in the plurality of second electronic devices 2 according to the embodiment, the estimation unit 26 takes into consideration whether or not the first electronic device 1 is included in the image captured by the imaging unit 24, and the receiving unit 26. The arrival direction of the first radio wave R1 received by 22 may be estimated. In this case, the estimation unit 26 takes into account the position (or direction) of the first electronic device 1 included in the image captured by the imaging unit 24, and determines the arrival direction of the first radio wave R1 received by the receiving unit 22. You may estimate.

Although the present disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various modifications or modifications based on the present disclosure. It should be noted, therefore, that these modifications or modifications are within the scope of this disclosure. For example, the functions included in each functional unit can be rearranged so as not to be logically inconsistent. A plurality of functional parts and the like may be combined or divided into one. Each of the above-described embodiments according to the present disclosure is not limited to faithful implementation of each of the embodiments described above, and may be implemented by appropriately combining the features or omitting a part thereof. ..

1 1st electronic device 2 2nd electronic device 11 Transmitter 12 Receiver 13 Direction detection 15 Control 16 Estimator 17 Specific 18 Position calculation 21 Transmitter 22 Receiver 24 Imaging 25 Control 26 Estimator

Claims (15)

A transmitter that transmits the first radio wave to another electronic device that can estimate the direction of arrival of the received radio wave,
A receiver that receives the second radio wave transmitted from the other electronic device, and
An estimation unit that estimates the arrival direction of the second radio wave received by the reception unit, and an estimation unit.
The direction of the direct wave of the radio wave between the own device and the other electronic device is specified based on the arrival direction of the first radio wave estimated by the other electronic device and the arrival direction of the second radio wave. With a specific part to do
Electronic equipment equipped with. When the deviation between the arrival direction of the first radio wave and the arrival direction of the second radio wave is within a predetermined range, the specific unit is at least one of the arrival direction of the first radio wave and the arrival direction of the second radio wave. The electronic device according to claim 1, wherein the direction of the direct wave is specified based on the above. The receiving unit receives a plurality of second radio waves transmitted from a plurality of other electronic devices capable of estimating the arrival direction of the received radio waves.
The specific unit includes the electronic device and the plurality of other electronic devices based on the arrival direction of the first radio wave estimated by each of the plurality of other electronic devices and the arrival direction of each of the plurality of second radio waves. The electronic device according to claim 1 or 2, which specifies the direction of a direct wave of radio waves to and from the electronic device, respectively. The electronic device according to claim 3, further comprising a position calculation unit that calculates the position of the electronic device based on the position of each of the plurality of other electronic devices and the direction of each of the direct waves. The electronic device according to claim 4, wherein the receiving unit receives information indicating the position of each of the plurality of other electronic devices from the plurality of other electronic devices. It is provided with an orientation detection unit that detects the two-dimensional orientation of the electronic device.
The electronic device according to any one of claims 1 to 5, wherein the estimation unit corrects the arrival direction of the second radio wave according to the two-dimensional direction of the electronic device detected by the direction detection unit. It is provided with an orientation detection unit that detects the three-dimensional orientation of the electronic device.
The electronic device according to any one of claims 1 to 5, wherein the estimation unit corrects the arrival direction of the second radio wave according to the three-dimensional direction of the electronic device detected by the direction detection unit. Claims 1 to 7, wherein the receiving unit receives a second radio wave transmitted from another electronic device installed at an unequal distance from each of the two wall surfaces forming the corner in the vicinity of the corner in the room. The electronic device described in either. A receiver that receives the first radio wave transmitted from another electronic device that can estimate the arrival direction of the received radio wave, and
A transmitter that transmits a second radio wave to the other electronic device,
An estimation unit that estimates the arrival direction of the first radio wave received by the reception unit, and an estimation unit.
When the receiving unit receives the first radio wave, the transmitting unit transmits information indicating the arrival direction of the first radio wave estimated by the estimating unit to the other electronic device as the second radio wave. The control unit to control and
Electronic equipment equipped with. When the receiving unit receives the first radio wave, the control unit uses the information indicating the arrival direction of the first radio wave and the information indicating the position of the own device as the second radio wave, and the transmitting unit uses the other radio waves. The electronic device according to claim 8, which is controlled to transmit to an electronic device. Equipped with an imaging unit that captures images
The electronic device according to claim 9 or 10, wherein the estimation unit estimates the arrival direction of the first radio wave received by the reception unit in consideration of an image captured by the imaging unit. When the radio wave intensity of the first radio wave received by the receiving unit is not within a predetermined range, the estimation unit adds an image captured by the imaging unit to the first radio wave received by the receiving unit. The electronic device according to claim 11, which estimates the direction of arrival. 11. The estimation unit estimates the direction of arrival of the first radio wave received by the receiving unit, taking into consideration whether or not the image captured by the imaging unit includes the other electronic device. Or the electronic device according to 12. From claim 11, the estimation unit estimates the arrival direction of the first radio wave received by the reception unit in consideration of the position of the other electronic device included in the image captured by the imaging unit. 13. The electronic device according to any one of 13. The electronic device according to any one of claims 9 to 14, which is installed at an unequal distance from each of the two wall surfaces forming the corner in the vicinity of the corner in the room.

Images