JP2021169963A - Location identification method and location identification system - Google Patents

Abstract

To provide a low-cost method of accurately identifying the location of an individual.SOLUTION: A location identification method is used to identify the position of a second radio wave transmitter 30 in a target area α. The position of the second radio wave transmitter 30 is identified using three or more radio wave receivers 10 fixed in the target area α, and one or more first radio wave transmitters 20 whose positions in the target area α are known. The location identification method has a first step S5 and a second step S14. In the first step S5, an environmental variable is obtained. The environmental variable is used to calculate a distance between the radio wave receiver 10 and the first radio wave transmitter 20. The environmental variable is obtained on the basis of the radio wave from the first radio wave transmitter 20 received by each radio wave receiver 10. In the second step S14, the position of the second radio wave transmitter 30 in the target area α is identified. The location of the second radio transmitter 30 is identified using the environmental variable obtained in the first step S5.SELECTED DRAWING: Figure 1

Description

Regarding the position identification method and the position identification system.

In recent years, due to the increase in free address offices and the growing interest in improving labor productivity due to work style reforms, the position of each user (target) is detected and the spatial conditions (temperature, air volume) appropriate for each user are detected. , Illuminance, fragrance, etc.) may require spatial control to enhance productivity and comfort. In order to realize such spatial control, a technique for identifying an individual's position with high accuracy is required even in an environment where a plurality of users exist at the same time in a narrow area. In order to identify the position of an individual with high accuracy, it is conventionally necessary to introduce a system as shown in Patent Document 1 (Japanese Unexamined Patent Publication No. 2004-271372), and the product cost and the introduction cost are high.

The invention presented in the present disclosure provides a method for accurately locating an individual at low cost.

The position specifying method of the first viewpoint specifies the position of the second radio wave transmitter in the target area. The position of the second radio wave transmitter is specified by using three or more radio wave receivers fixed in the target area and one or more first radio wave transmitters whose position in the target area is grasped. NS. The position specifying method includes a first step and a second step. In the first step, the environment variables are obtained. The environment variable is used when calculating the distance between the radio wave receiver and the first radio wave transmitter. Further, the environment variable is obtained based on the radio wave from the first radio wave transmitter received by each radio wave receiver. In the second step, the position of the second radio wave transmitter in the target area is specified. The position of the second radio wave transmitter is specified using the environment variables obtained in the first step.

This makes it possible to accurately identify the position of the second radio wave transmitter in the target area at low cost.

The position specifying method of the second viewpoint specifies the position of the second radio wave transmitter in the target area. The position of the second radio wave transmitter is specified by using three or more radio wave receivers fixed in the target area and one or more first radio wave transmitters whose position in the target area is grasped. NS. The position specifying method includes a first step and a second step. In the first step, the environment variable is stored in association with the position in the target area of the first radio wave transmitter. The environment variable is used when calculating the distance between the radio wave receiver and the first radio wave transmitter. The environment variable is obtained based on the radio wave from the first radio wave transmitter received by each radio wave receiver. In the second step, the position of the second radio wave transmitter in the target area is specified. Further, in the second step, among the environment variables obtained in the first step, the environment variables stored in association with the position in the target area of the first radio wave transmitter closest to the position of the second radio wave transmitter are used.

This makes it possible to accurately identify the position of the second radio wave transmitter in the target area at low cost.

The position specifying method of the third viewpoint is the method of the first viewpoint or the second viewpoint, and the position of the first radio wave transmitter is fixed in the target area. Alternatively, the first radio wave transmitter can specify the position in the target area.

This contributes to accurately identifying the position of the second radio wave transmitter.

The position identification method of the fourth viewpoint is any of the methods from the first viewpoint to the third viewpoint, and the position of the first radio wave transmitter can be grasped by a camera installed in the target area.

This contributes to accurately identifying the position of the second radio wave transmitter.

The method for identifying the position of the fifth viewpoint is the method of the fourth viewpoint, and further includes a third step and a fourth step. In the third step, the camera identifies the position of the second radio wave transmitter in the target area. The fourth step compares the first error with the second error. The first error is an error in the position of the second radio wave transmitter grasped by the radio wave receiver and the position of the second radio wave transmitter specified in the second step. The second error is an error in the position of the second radio wave transmitter grasped by the camera and the position of the second radio wave transmitter specified in the third step.

This contributes to accurately identifying the position of the second radio wave transmitter at a relatively low cost.

The position identification method of the sixth viewpoint is any of the methods from the first viewpoint to the fifth viewpoint, and the radio wave transmitted by the second radio wave transmitter includes the identification information of the second radio wave transmitter. The identification information is information for identifying an object that owns the second radio wave transmitter.

The position identification method of the seventh viewpoint is any of the methods from the first viewpoint to the sixth viewpoint, and in the first step, the environment variable is the radio wave from the first radio wave transmitter received by each radio wave receiver. It is calculated based on the intensity, the radio wave arrival time, or the radio wave arrival time difference.

The position identification method of the eighth viewpoint is a position identification method of specifying the position of the second radio wave receiver in the target area by using three or more radio wave transmitters and one or more first radio wave receivers. Is. The radio wave transmitter is fixed in the target area. The position of the first radio wave receiver in the target area is grasped. The position specifying method includes a first step and a second step. The first step is to obtain an environment variable used when calculating the distance between the radio wave transmitter and the first radio wave receiver. The environment variable is obtained based on the intensity of the radio wave from each radio wave transmitter received by the first radio wave receiver. In the second step, the position of the second radio wave receiver in the target area is specified by using the environment variables obtained in the first step.

The position identification system of the ninth viewpoint is a position identification system for specifying the position of the second radio wave transmitter that can move in the target area. The positioning system includes a radio wave receiver, a first radio wave transmitter, a camera, and a computer. There are three or more radio wave receivers and they are fixed in the target area. The position of the first radio wave transmitter in the target area is grasped by one or more. One or more cameras can shoot in the target area. The computer obtains an environment variable used when calculating the distance between the radio wave receiver and the first radio wave transmitter. The environment variable is obtained based on the intensity of the radio wave from the first radio wave transmitter received by the radio wave receiver. The computer also identifies the position of the second radio wave transmitter. The position of the second radio wave transmitter is the coordinates of the second radio wave transmitter calculated based on the environmental variables and the radio waves received by the radio wave receiver from the second radio wave transmitter, and the position of the second radio wave transmitter acquired by the camera. It is specified from the coordinates.

This makes it possible to accurately identify the position of the second radio wave transmitter in the target area at low cost.

It is a schematic diagram which shows the whole structure of the position identification system. It is a schematic diagram which shows an example of the target area. It is a schematic diagram which shows an example of the target area. It is a schematic diagram which shows an example of the target area. It is a schematic diagram which shows an example of the target area. It is a schematic diagram which shows an example of the target area. It is a schematic diagram which shows the flow of processing in a position identification system. It is a schematic diagram which shows an example of the target area in the modification.

(1) Overall Configuration The position identification system 100 shown in FIG. 1 is a system for identifying the position of the second radio wave transmitter 30 that can be carried and moved by the targets A and B in the target area α in a building or the like. The target area α is, for example, a free address office, a conference room, or the like. In such a target area α, a plurality of targets A and B (users) may exist at the same time in a narrow area. The position identification system 100 shown in the present disclosure can specify the positions of each of the plurality of objects A and B more accurately than the conventional system.

The position identification system 100 mainly includes three or more radio wave receivers 10 fixed in the target area α, one or more first radio wave transmitters 20 whose positions are known in the target area α, and a target. A second radio wave transmitter 30 whose position is specified in the area α, a camera 40 capable of photographing the inside of the target area α, and a computer 50 that performs processing for specifying the position of the second radio wave transmitter 30. Be prepared.

FIGS. 2 and 3 are examples of the target area α. As shown in FIG. 2, the target area α is preferably a space of about 5 meters square. As shown in FIG. 2, one radio wave receiver 10 (10a-10d) is fixed to each of the four corners of the target area α. The first radio wave transmitter 20 (20a-20p) is fixed to the ceiling of the target area α in a grid pattern at regular intervals. The camera 40 is fixed to the central portion of the ceiling of the target area α. As shown in FIG. 3, in the target area α, there are second radio wave transmitters 30 (30a, 30b) that can be carried and moved by the targets A and B. The computer 50 shown in FIG. 1 is installed outside the target area α. The computer 50 is connected to a communication network such as the Internet and is in a state of being able to communicate with the radio wave receiver 10 and the camera 40.

The number and arrangement of each component (radio wave receiver 10, first radio wave transmitter 20, second radio wave transmitter 30, camera 40, and computer 50) constituting the above-mentioned position identification system 100 is limited to this. It is not something that can be changed and can be changed as appropriate.

(2) Detailed configuration (2-1) Radio wave receiver 10
The radio wave receiver 10 is an information processing terminal or device capable of detecting radio waves such as Bluetooth beacons transmitted from the first radio wave transmitter 20 and the second radio wave transmitter 30. The radio wave receiver 10 is fixed in the target area α and receives radio waves transmitted from a transmitter (any first radio wave transmitter 20 in the target area α or any second radio wave transmitter 30). And, it is possible to detect the radio wave strength. As shown in FIG. 2, the radio wave receiver 10 is preferably fixed at each of the four corners in the target area α. As a result, four-point positioning becomes possible, and it becomes easy to specify the position of the second radio wave transmitter 30. However, the number and fixed positions of the radio wave receivers 10 are not limited to this.

The radio wave receiver 10 generates information on radio waves for each of the radio waves received from the transmitter. The radio wave information includes information on the time when the radio wave receiver 10 received the radio wave, transmitter identification information (first transmitter ID or second transmitter ID) included in the received radio wave, and the radio wave receiver 10. Includes information on the signal strength detected by. The radio wave receiver 10 transmits the generated radio wave information to the computer 50 together with the identification information (receiver ID) unique to the radio wave receiver 10. The information on the radio wave may include information on the time when the transmitter transmits the radio wave instead of the information on the time when the radio wave receiver 10 receives the radio wave.

Here, each time the radio wave receiver 10 receives a radio wave from the transmitter, it generates information about the received radio wave and transmits the information about the generated radio wave to the computer 50 via the communication network. However, the present invention is not limited to this. For example, the radio wave receiver 10 may generate information on radio waves for each of the plurality of radio waves after receiving the radio waves a plurality of times, and transmit these to the computer 50. Further, for example, the radio wave receiver 10 may generate information on radio waves each time it receives radio waves, and may collectively transmit the generated information on radio waves to the computer 50 for a plurality of times.

(2-2) First radio wave transmitter 20
The first radio wave transmitter 20 that transmits radio waves to the radio wave receiver 10 is, for example, a beacon device or the like. The first radio wave transmitter 20 is fixed to the ceiling in the target area α at predetermined intervals. For example, as shown in FIG. 2, the first radio wave transmitter 20 is fixed in a grid dot shape at intervals of 1 m on the ceiling in the target area α. The first radio wave transmitter 20 is preferably fixed at equal intervals in this way, which contributes to more accurate calculation of environment variables. However, the number and fixed positions of the first radio wave transmitter 20 are not limited to this.

The plurality of first radio wave transmitters 20 fixed to the ceiling in the target area α each transmit radio waves to the radio wave receiver 10 at predetermined time intervals. It is preferable that the radio waves transmitted from the first radio wave transmitter 20 have the same radio wave intensity. This makes it easy to identify the position of the second radio wave transmitter 30. The first radio wave transmitter 20 has unique identification information, and the radio wave transmitted to the radio wave receiver 10 includes the identification information. The identification information is a first transmitter ID capable of identifying the first radio wave transmitter 20.

(2-3) Second radio wave transmitter 30
The second radio wave transmitter 30 that transmits radio waves to the radio wave receiver 10 is, for example, a terminal device such as a smartphone carried by the targets A and B. Therefore, the second radio wave transmitter 30 can move together with the targets A and B. As shown in FIG. 3, a plurality of second radio wave transmitters 30 may exist in the target area α.

The second radio wave transmitter 30 transmits radio waves to the radio wave receiver 10 at predetermined time intervals within the target area α. The second radio wave transmitter 30 has unique identification information, and the radio wave transmitted to the radio wave receiver 10 includes the identification information. The identification information is a second transmitter ID capable of identifying the second radio wave transmitter 30. The identification information of the second radio wave transmitter 30 may be information unique to each of the targets A and B carrying the second radio wave transmitter 30.

(2-4) Camera 40
The camera 40 is fixed in the target area α at a position where the entire target area α can be photographed. Specifically, the camera 40 is preferably fixed to the central portion of the ceiling of the target area α as shown in FIG. 2, but is not limited thereto. Further, the entire target area α may be photographed by a plurality of cameras 40.

The camera 40 captures the target area α at predetermined time intervals and acquires a camera image. The camera 40 generates information about the camera image for each of the acquired camera images. The information regarding the camera image includes the camera image obtained by capturing the target area α and the time when the camera image was acquired. The camera 40 transmits information about the generated camera image to the computer 50.

Here, each time the camera 40 acquires a camera image, the camera 40 generates information about the camera image for the acquired camera image, and transmits the information about the generated camera image to the computer 50 via the communication network. However, the present invention is not limited to this. For example, the camera 40 may acquire the camera images a plurality of times, generate information about the camera images for each of the plurality of camera images, and transmit the information to the computer 50. Further, for example, the camera 40 may generate information about the camera image each time the camera image is acquired, and may collectively transmit the generated information about the camera image to the computer 50 for a plurality of times.

(2-5) Computer 50
The computer 50 is a device that performs processing for identifying the position of the second radio wave transmitter 30, and is installed outside the target area α. Here, specifying the position of the second radio wave transmitter 30 means associating the position of the second radio wave transmitter 30 with the identification information. As shown in FIG. 1, the computer 50 includes a communication unit 51, a storage unit 52, and a processing unit 53. In addition to this, the computer may include an input unit, an output unit, and the like.

(2-5-1) Communication unit 51
The communication unit 51 is a communication interface that enables communication with each of the radio wave receiver 10 and the camera 40. The communication unit 51 receives information about radio waves from the radio wave receiver 10. In addition, the communication unit 51 receives information about the camera image from the camera 40. The information received by the communication unit 51 is stored in an appropriate area of the storage unit 52, respectively. The communication unit 51 may be able to communicate with an external device other than the radio wave receiver 10 or the camera 40.

(2-5-2) Storage unit 52
The storage unit 52 is mainly composed of a ROM, a RAM, and a hard disk. Various programs executed by the processing unit 53 are stored in the storage unit 52. In addition, various information is stored in the storage unit 52. The storage unit 52 includes a radio wave information storage area 521, an image information storage area 522, an environment variable storage area 523, and a position storage area 524 as storage areas.

The radio wave information storage area 521 stores information related to radio waves received from the radio wave receiver 10 by the communication unit 51. The identification information of the radio wave receiver 10 is associated with the information related to the radio wave stored in the radio wave information storage area 521. The image information storage area 522 stores information related to the camera image received from the camera 40 by the communication unit 51. It is preferable that the information about the camera image is accumulated in the image information storage area 522 in chronological order. The environment variable storage area 523 stores the environment variables calculated by the environment variable calculation unit 531 of the processing unit 53, which will be described later. The environment variable stored in the environment variable storage area 523 is associated with the position in the target area α of the first radio wave transmitter 20 used for calculating the environment variable. In addition, the environment variables are updated sequentially. The position storage area 524 stores the positions of the second radio wave transmitter 30 (targets A and B carrying the second radio wave transmitter 30) specified by the position specifying unit 536 of the processing unit 53, which will be described later.

(2-5-3) Processing unit 53
The processing unit 53 mainly has a CPU. The processing unit 53 identifies the position of the second radio wave transmitter 30 by executing various programs stored in the storage unit 52. Specifically, the processing unit 53 executes various programs to execute the environment variable calculation unit 531, the image detection unit 532, the environment variable determination unit 533, the position prediction unit 534, the error calculation unit 535, and the position identification unit 536. Functions as.

(2-5-3-1) Environment variable calculation unit 531
The environmental variable calculation unit 531 calculates the distance between the radio wave receiver 10 and the first radio wave transmitter 20 based on the intensity of the radio wave from the first radio wave transmitter 20 received by the radio wave receiver 10. Find the environment variable to use.

Specifically, the intensity of the radio wave from the first radio wave transmitter 20 received by the radio wave receiver 10 is information included in the information related to the radio wave of the first radio wave transmitter 20, and the radio wave information storage of the storage unit 52. It is stored in the area 521. Equation (1) is used to calculate the distance between the radio wave receiver 10 and the first radio wave transmitter 20. Here, the environment variable is n, d ₀ is the position of the first radio wave transmitter 20, and d ₁ is the position of the radio wave receiver 10. This makes it possible to find environment variables.

The environment variable calculation unit 531 is repeatedly calculated every time, for example, information about a radio wave from the first radio wave transmitter 20 is stored in the radio wave information storage area 521. Since the environment variable changes not only with the location of the first radio wave transmitter 20 but also with the time when the radio wave is received, it is the case where the information about the radio wave from the same first radio wave transmitter 20 is stored. Is also desirable to be calculated repeatedly. This contributes to specifying the position of the second radio wave transmitter 30 with high accuracy.

The environment variable calculated by the environment variable calculation unit 531 is stored in the environment variable storage area 523 of the storage unit 52 in association with the position in the target area α of the first radio wave transmitter 20. The environment variables stored in the environment variable storage area 523 are sequentially updated every time the environment variable calculation unit 531 calculates the environment variables.

(2-5-3-2) Image detection unit 532
The image detection unit 532 detects the position of the second radio wave transmitter 30 (targets A and B carrying the second radio wave transmitter 30) based on the camera image taken by the camera 40.

Specifically, the camera image is information included in the information related to the camera image and stored in the image information storage area 522 of the storage unit 52. The image detection unit 532 can compare a plurality of camera images stored in the image information storage area 522 in chronological order and take a difference to eliminate the background image and detect the positions of the targets A and B. .. At this time, the image detection unit 532 can simultaneously detect the positions of a plurality of targets A and B. The image detection unit 532 may acquire the positions of the targets A and B based on the camera image by another method.

The image detection unit 532, for example, is based on a plurality of camera images including camera images taken in the target area α shown in FIG. 3, and the second radio wave is located at the positions of the targets A and B shown in FIG. 3 in the target area α. It is possible to detect the existence of one transmitter 30 each. The image detection unit 532 detects which second radio wave transmitter 30 is the second radio wave transmitter 30 (whether it is the second radio wave transmitter 30a or the second radio wave transmitter 30b). No. In other words, the image detection unit 532 does not detect (specify) the identification information of the second radio wave transmitter 30, and does not identify the targets A and B.

(2-5-3-3) Environment variable determination unit 533
The environment variable determination unit 533 determines the environment variable used to specify the position of the second radio wave transmitter 30. Specifically, the environment variable determination unit 533 sets the position in the target area α of the first radio wave transmitter 20 associated with the environment variable among the environment variables stored in the environment variable storage area 523 of the storage unit 52. To identify the position of the second radio transmitter 30 by setting the environment variable closest to the position of the second radio transmitter 30 (targets A and B carrying the second radio transmitter 30) detected by the image detection unit 532. Determined as an environment variable used for. When the position of the plurality of second radio wave transmitters 30 is detected by the image detection unit 532, the environment variable determination unit 533 determines the environment variables for each of the second radio wave transmitters 30.

The environment variable determination unit 533 stores, for example, an environment variable used to specify the position of the second radio wave transmitter 30a shown in FIG. 4 in association with a position in the target area α of the first radio wave transmitter 20a. Decide to make it an environment variable.

(2-5-3-4) Position prediction unit 534
The position prediction unit 534 determines the radio wave intensity included in the radio wave information of the second radio wave transmitter 30 stored in the radio wave information storage area 521 of the storage unit 52 and the environment variables determined by the environment variable determination unit 533. It is used to predict the position of the second radio wave transmitter 30 in the target area α. For predicting the position of the second radio wave transmitter 30, for example, four-point positioning is used.

The position prediction unit 534 associates, for example, the radio wave intensity included in the radio wave information of the second radio wave transmitter 30a stored in the radio wave information storage area 521 with the position in the target area α of the first radio wave transmitter 20a. Using the environment variables stored in the above, it is predicted that the position of the second radio wave transmitter 30a in the target area α is the position 30a'shown in FIG.

(2-5-3-5) Error calculation unit 535
The error calculation unit 535 calculates an error between the position of the second radio wave transmitter 30 detected by the image detection unit 532 and the position of the second radio wave transmitter 30 predicted by the position prediction unit 534. When a plurality of second radio wave transmitters 30 exist in the target area α, the positions of the second radio wave transmitters 30 detected by the image detection unit 532 and the plurality of second radio waves predicted by the position prediction unit 534 are each. The error between the transmitter 30 position and the position is calculated.

In the error calculation unit 535, for example, the position of the second radio wave transmitter 30 (targets A and B) detected by the image detection unit 532 and the position 30a'of the second radio wave transmitter 30 predicted by the position prediction unit 534 are set. , Calculate the error shown in FIG.

(2-5-3-6) Positioning part 536
When there are a plurality of errors calculated by the error calculation unit 535, the position specifying unit 536 compares the magnitudes of the respective errors. As a result of comparison, the position identification unit 536 has the smallest error between the position of the second radio wave transmitter 30 detected by the image detection unit 532 and the position of the second radio wave transmitter 30 predicted by the position prediction unit 534. It is determined that the position of the second radio wave transmitter 30 detected by the detection unit 532 is the position of the second radio wave transmitter 30 to be specified.

For example, when the position specifying unit 536 specifies the position of the second radio wave transmitter 30a, the position specifying unit 536 is carried to the target A having the smallest error from the position 30a'of the second radio wave transmitter 30 predicted by the position predicting unit 534. It is determined that the second radio wave transmitter 30 (30a) is the position of the second radio wave transmitter 30a to be specified.

(3) Processing in the Position Identification System 100 FIG. 7 is a schematic diagram showing an example of a processing flow in the position identification system 100. The processing flow shown in FIG. 7 is merely an example, and can be changed as appropriate. For example, other steps S (not shown) may be included before and after each step S, or the order of each step S may be changed.

The process shown here is a process for identifying the position of the second radio wave transmitter 30a by using the position identification system 100 in the target area α shown in FIG. 2-6. In the target area α, four radio wave receivers 10 (10a-10d) fixed to the four corners of the ceiling and 16 first radio wave transmitters 20 fixed to the ceiling in a grid pattern at 1 m intervals. (20a-20p), there are two second radio wave transmitters 30 (30a, 30b) carried to different objects A and B, and a camera 40 fixed in the center of the ceiling. Outside the target area α, there is a computer 50 communicatively connected to the radio wave receiver 10 and the camera 40.

First, in the position identification system 100, the computer 50 obtains the environment variables used when calculating the distance between each radio wave receiver 10 and each first radio wave transmitter 20 (S1-S5).

Specifically, in step S1, the plurality of first radio wave transmitters 20 transmit radio waves including the identification information of each of the first radio wave transmitters 20. At this time, the 16 first radio wave transmitters 20 transmit radio waves with the same radio wave intensity. In step S2, the four radio wave receivers 10 receive the radio waves transmitted from the 16 first radio wave transmitters 20, respectively. In step S3, the four radio wave receivers 10 generate information on radio waves for each of the received radio waves and transmit the information to the computer 50. The information on the radio wave includes information on the time when the radio wave receiver 10 received the radio wave, identification information of the transmitter included in the received radio wave, and information on the radio wave intensity detected by the radio wave receiver 10.

In step S4, the computer 50 stores information about each radio wave received from the radio wave receiver 10 in the radio wave information storage area 521 of the storage unit 52. In step S5, the environment variable calculation unit 531 of the processing unit 53 calculates the environment variable used when calculating the distance between each radio wave receiver 10 and each first radio wave transmitter 20 based on the information about each radio wave. Ask. The environment variable obtained in step S5 is stored in the environment variable storage area 523 of the storage unit 52 in step S6. At this time, each environment variable is stored in association with a position in the target area α of each first radio wave transmitter 20. Steps S1 to S6 are repeated at predetermined time intervals, and the environment variables stored in the environment variable storage area 523 are sequentially updated.

Next, in the position identification system 100, the computer 50 detects the position of the second radio wave transmitter 30 (targets A and B), which is a candidate position of the second radio wave transmitter 30a, from the information related to the camera image.

Specifically, in step S7, the camera 40 captures the target area α at predetermined time intervals and acquires a camera image. In step S8, each time the camera image is acquired, the camera 40 generates information about the camera image and the camera image including the time when the camera image is acquired, and transmits the information to the computer 50.

In step S9, the computer 50 receives information about each camera image and stores it in the image information storage area 522 of the storage unit 52. In step S10, the image detection unit 532 of the processing unit 53 compares a plurality of camera images stored in the image information storage area 522 in chronological order and detects the positions of the targets A and B carrying the second radio wave transmitter 30. do. Here, for example, it is detected that the targets A and B carrying the second radio wave transmitter 30 exist at the positions A and B shown in FIG. In other words, the positions of the targets A and B detected by the image detection unit 532 are position candidates of the second radio wave transmitter 30a.

Next, in the position identification system 100, the computer 50 determines the environment variables used to specify the position of the second radio wave transmitter 30a, and predicts the position of the second radio wave transmitter 30a in the target area α.

Specifically, in step S11, the environment variable determination unit 533 of the processing unit 53 has the target area α of the first radio wave transmitter 20 associated with the environment variables among the environment variables stored in the environment variable storage area 523. The environment variable whose position is closest to the position of the targets A and B (second radio wave transmitter 30) detected by the image detection unit 532 is used as an environment variable for specifying the position of the second radio wave transmitter 30a. decide. For example, in FIG. 4, when the positions of the targets A and B detected by the image detection unit 532 are A, the environment variable determination unit 533 determines to use the environment variable associated with the first radio wave transmitter 20a. .. Similarly, when the positions of the targets A and B detected by the image detection unit 532 are B, the environment variable determination unit 533 determines to use the environment variable associated with the first radio wave transmitter 20k.

In step S12, the position prediction unit 534 of the processing unit 53 determines the radio wave intensity and the environment variable determination unit 533 included in the information related to the radio wave from the second radio wave transmitter 30a stored in the radio wave information storage area 521 of the storage unit 52. The position of the second radio wave transmitter 30 (targets A and B) in the target area α is predicted using the environment variables determined in. For example, using the radio wave intensity included in the information about the radio wave from the second radio wave transmitter 30a and the environmental variable associated with the first radio wave transmitter 20a or the environmental variable associated with the first radio wave transmitter 20k. The predicted positions of the second radio wave transmitter 30 predicted are the predicted position 30a and the predicted position 30b.

Finally, in the position identification system 100, the position of the second radio wave transmitter 30 (targets A and B) detected by the image detection unit 532 and the predicted positions 30a and 30b predicted by the position prediction unit 534 by the computer 50. The predicted position with the smallest error is specified as the position of the second radio wave transmitter 30a, and is stored in the storage unit 52.

Specifically, in step S13, the error calculation unit 535 of the processing unit 53 determines the position of the second radio wave transmitter 30 (targets A and B) detected by the image detection unit 532 and the predicted position predicted by the position prediction unit 534. The error between 30a and 30b is calculated. For example, the error calculation unit 535 calculates the error as shown in FIG.

In step S14, the position specifying unit 536 of the processing unit 53 compares the magnitude of each error, and the second radio wave for which the position of the second radio wave transmitter 30 detected by the image detection unit 532 with the smallest error should be specified. Determined to be the position of the transmitter 30a. For example, the position specifying unit 536 uses the second radio wave transmitter 30 (30a) as the second radio wave transmitter 30 (30a) because the error between the second radio wave transmitter 30 (30a) carried by the target A shown in FIG. 6 and the predicted position 30a is the smallest. 2 Identify the position of the radio wave transmitter 30a.

In step S15, the information specified by the position specifying unit 536 is stored in the position storage area 524 of the storage unit 53. Specifically, the position storage area 524 stores the position information of the second radio wave transmitter 30a and the identification information of the second radio wave transmitter 30a in association with each other. The identification information of the second radio wave transmitter 30a may be the identification information of the target A carrying the second radio wave transmitter 30a. This completes the process in the position identification system 100.

(4) Features (4-1)
The position specifying method of the present disclosure specifies the position of the second radio wave transmitter 30 in the target area α. The positions of the second radio wave transmitter 30 are three or more radio wave receivers 10 fixed in the target area α, one or more first radio wave transmitters 20 whose positions in the target area α are grasped, and the like. Is specified using. The position of the first radio wave transmitter 20 is fixed in the target area α. Alternatively, the first radio wave transmitter 20 can specify the position within the target area α. It is preferable that the position of the first radio wave transmitter 20 can be grasped by the camera 40 installed in the target area α. The radio wave transmitted by the second radio wave transmitter 30 includes the identification information of the second radio wave transmitter 30. The identification information is information for identifying an object that owns the second radio wave transmitter 30.

The position specifying method includes a first step S5 and a second step S14. In the first step S5, the environment variables are obtained. The environment variable is used when calculating the distance between the radio wave receiver 10 and the first radio wave transmitter 20. Further, the environment variable is obtained based on the radio wave from the first radio wave transmitter 20 received by each radio wave receiver 10. In the second step S14, the position of the second radio wave transmitter 30 in the target area α is specified. The position of the second radio wave transmitter 30 is specified by using the environment variable obtained in the first step S5.

Further, the position specifying method includes the first step S6 as a substitute for or in parallel with the first step S5. In the first step S6, the environment variable is stored in association with the position in the target area α of the first radio wave transmitter 20. The environment variable is used when calculating the distance between the radio wave receiver 10 and the first radio wave transmitter 20. The environment variable is obtained based on the radio wave from the first radio wave transmitter 20 received by each radio wave receiver 10. In recent years, due to the increase in free address offices and the growing interest in improving labor productivity due to work style reforms, the position of each user (target) is detected and the spatial conditions (temperature, air volume) appropriate for each user are detected. , Illuminance, fragrance, etc.) may require spatial control to enhance productivity and comfort. In order to realize such spatial control, a technique for identifying an individual's position with high accuracy is required even in an environment where a plurality of users exist at the same time in a narrow area.

When trying to identify the position of an individual with high accuracy, for example, there is a method of installing a plurality of readers on the floor of a predetermined area as in the invention shown in Japanese Patent Application Laid-Open No. 2004-271372. However, since the distance at which the reader can specify the position with high accuracy is about 50 cm, it is necessary to install a large number of readers on the floor of the target area, and the installation cost is high. In addition, large-scale construction is required to install a large number of readers, and the hurdles for installation are high.

In the position specifying method shown in the present disclosure, since the position is predicted by measuring the radio field intensity, it is possible to specify the position of an individual at a relatively low cost. In addition, the position identification method can identify an individual with high accuracy in real time by repeatedly obtaining environment variables.

(4-2)
The position specifying method of the present disclosure further includes a third step S10 and a fourth step S14. In the third step S10, the camera 40 identifies the position of the second radio wave transmitter 30 in the target area α. In the fourth step S14, the first error and the second error are compared. The first error is an error in the position of the second radio wave transmitter 30 grasped by the radio wave receiver 10 and the position of the second radio wave transmitter 30 specified in the second step S14. The second error is an error between the position of the second radio wave transmitter 30 grasped by the camera 40 and the position of the second radio wave transmitter 30 specified in the third step S10.

In recent years, due to the increase in free address offices and the growing interest in improving labor productivity due to work style reforms, the position of each user (target) is detected and the spatial conditions (temperature, air volume) appropriate for each user are detected. , Illuminance, fragrance, etc.) may require spatial control to enhance productivity and comfort. In order to realize such spatial control, a technique for identifying an individual's position with high accuracy is required even in an environment where a plurality of users exist at the same time in a narrow area.

However, the accuracy of the position prediction by the radio wave intensity measurement transmitted by the beacon as in the conventional case is low because the radio wave interference from other devices or the like is received. In addition, it is not possible to identify an individual user by position detection using a camera.

By combining position prediction by radio field intensity measurement and position detection using a camera as in the position identification method shown in the present disclosure, it is possible to perform highly accurate position identification at a relatively low cost.

(4-3)
The position identification system 100 of the present disclosure is a position identification system 100 for specifying the position of the second radio wave transmitter 30 that can move in the target area α. The position identification system 100 includes a radio wave receiver 10, a first radio wave transmitter 20, a camera 40, and a computer 5050. Three or more radio wave receivers 10 are fixed in the target area α. The position of the first radio wave transmitter 20 in the target area α is grasped by one or more. One or more cameras 40 can take a picture in the target area α. The computer 50 obtains an environment variable used when calculating the distance between the radio wave receiver 10 and the first radio wave transmitter 20. The environment variable is obtained based on the radio wave from the first radio wave transmitter 20 received by the radio wave receiver 10. Further, the computer 50 identifies the position of the second radio wave transmitter 30. The position of the second radio wave transmitter 30 is acquired by the camera 40 and the position of the second radio wave transmitter 30 calculated based on the environmental variables and the intensity of the radio wave received by the radio wave receiver 10 from the second radio wave transmitter 30. It is specified from the position of the second radio wave transmitter 30.

The position identification system 100 of the present disclosure can perform position identification with high accuracy at a relatively low cost by adopting the above configuration.

(4-4)
The environment variable is calculated based on the strength of the radio wave from the first radio wave transmitter received by each radio wave receiver, the radio wave arrival time, or the radio wave arrival time difference. This makes it possible to specify the position with high accuracy.

(5) Modification Example In the position identification system 100 of the present disclosure, one radio wave receiver 10 (10a-10d) is fixed to each of the four corners of the target area α as shown in FIG. The first radio wave transmitter 20 (20a-20p) is fixed to the ceiling of the target area α in a grid pattern at regular intervals. Further, as shown in FIG. 3, there are second radio wave transmitters 30 (30a, 30b) that can be carried and moved by the targets A and B in the target area α.

However, as shown in FIG. 8, the position identification system 100 may have one radio wave transmitter 60 (60a-60d) fixed to each of the four corners of the target area α. The first radio wave receiver 70 (70a-70p) may be fixed to the ceiling of the target area α in a grid pattern at regular intervals. Further, in the target area α, there may be a second radio wave receiver 80 (80a, 80b) that can be carried and moved by the targets C and D. Here, the radio wave transmitter 60 may be, for example, the same device as the first radio wave transmitter 20. The first radio wave receiver 70 may be the same device as the radio wave receiver 10. The second radio wave receiver 80 (80a, 80b) may be, for example, a terminal device such as a smartphone carried by the targets C and D. The second radio wave receiver 80 can detect radio waves such as a Bluetooth beacon transmitted from the radio wave transmitter 60.

The position identification system 100 composed of the radio wave transmitter 60, the first radio wave receiver 70, and the second radio wave receiver 80 is composed of the radio wave receiver 10, the first radio wave transmitter 20, and the second radio wave transmitter 30. It is possible to perform the same processing as that of the position specifying system 100. The position identification system 100 includes a camera 40 and a computer 50 in addition to the above configuration.

(6)
Although the embodiments of the present disclosure have been described above, it will be understood that various modifications of the forms and details are possible without departing from the purpose and scope of the present disclosure described in the claims. ..

10 Radio wave receiver 20 1st radio wave transmitter 30 2nd radio wave transmitter 40 Camera 50 Computer 60 Radio wave transmitter 70 1st radio wave receiver 80 2nd radio wave receiver S5 1st step S6 1st step S14 2nd step, 1st 4 step α Target area

Japanese Unexamined Patent Publication No. 2004-271372

Claims (9)

Three or more radio wave receivers (10) fixed in the target area (α) and one or more first radio wave transmitters (20) whose positions in the target area (α) are grasped. It is a position specifying method for specifying the position of the second radio wave transmitter (30) in the target area (α) by using the method.
Based on the radio waves from the first radio wave transmitter (20) received by each of the radio wave receivers (10), the distance between the radio wave receiver (10) and the first radio wave transmitter (20) is determined. The first step (S5) to find the environment variables used in the calculation,
In the second step (S14), the position of the second radio wave transmitter (30) in the target area (α) is specified by using the environment variable obtained in the first step.
Positioning method comprising. Three or more radio wave receivers (10) fixed in the target area (α) and two or more first radio wave transmitters (20) whose positions in the target area (α) are grasped. It is a position specifying method for specifying the position of the second radio wave transmitter (30) in the target area (α) by using the method.
Based on the radio waves from the first radio wave transmitter (20) received by each of the radio wave receivers (10), the distance between the radio wave receiver (10) and the first radio wave transmitter (20) is determined. In the first step (S6), the environmental variables used in the calculation are obtained, and the environmental variables are stored in association with the positions in the target area (α) of the first radio wave transmitter (20).
Among the environment variables obtained in the first step, the position in the target area (α) of the first radio wave transmitter (20) closest to the position of the second radio wave transmitter (30) is linked. In the second step (S14), the position of the second radio wave transmitter (30) in the target area (α) is specified by using the stored environment variable.
Positioning method comprising. The first radio wave transmitter (20) is
The position is fixed in the target area (α).
Or
The target area (α) position can be specified,
The position identification method according to claim 1 or 2. The position of the first radio wave transmitter (20) can be grasped by a camera installed in the target area (α).
The position specifying method according to claim 3. A third step (S10) in which the camera identifies the position of the second radio wave transmitter (30) in the target area (α).
The error between the position of the second radio wave transmitter (30) grasped by the radio wave receiver (10) and the position of the second radio wave transmitter (30) specified in the second step (S14), and the camera. The error between the position of the second radio wave transmitter (30) and the position of the second radio wave transmitter (30) specified in the third step (S10) and the second radio wave transmitter (30) second. The fourth step (S14) for comparing the two radio wave transmitters (30) is further provided.
The position specifying method according to claim 4. The radio wave transmitted by the second radio wave transmitter (30) includes the identification information of the second radio wave transmitter (30).
The identification information includes information for identifying an object that owns the second radio wave transmitter (30).
The position specifying method according to any one of claims 1 to 5. In the first step (S5), the environment variable is the strength of the radio wave from the first radio wave transmitter (20) received by each radio wave receiver (10), the radio wave arrival time, or the radio wave arrival time difference. Calculated based on
The position specifying method according to any one of claims 1 to 6. Three or more radio wave transmitters (60) fixed in the target area (α) and one or more first radio wave receivers (70) whose positions in the target area (α) are grasped. It is a position specifying method for specifying the position of the second radio wave receiver (80) in the target area (α) by using the method.
Between the radio wave transmitter (60) and the first radio wave receiver (70) based on the intensity of the radio wave from each radio wave transmitter (60) received by the first radio wave receiver (70). In the first step (S5), which finds the environmental variables used when calculating the distance,
In the second step (S14), the position of the second radio wave receiver (80) in the target area (α) is specified by using the environment variable obtained in the first step.
Positioning method comprising. It is a position identification system for identifying the position of the second radio wave transmitter (30) that can be moved in the target area (α).
Three or more radio wave receivers (10) fixed in the target area (α),
One or more first radio wave transmitters (20) whose positions in the target area (α) are grasped, and
A camera capable of shooting in the target area (α) and
Computer (50) and
With
The computer (50)
The distance between the radio wave receiver (10) and the first radio wave transmitter (20) is calculated based on the radio wave from the first radio wave transmitter (20) received by the radio wave receiver (10). Find the environment variables to use when
The position of the second radio wave transmitter (30) calculated based on the environmental variables and the intensity of the radio wave received by the radio wave receiver (10) from the second radio wave transmitter (30), and the position acquired by the camera. The position of the second radio wave transmitter (30) is specified from the position of the second radio wave transmitter (30).
Positioning system.

Images