JP3267773B2 - Moving object position recognition system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plurality of objects (hereinafter referred to as moving objects) moving within a predetermined area such as an event hall or a factory.
The present invention relates to a moving object position recognition system that specifies the position of each of the moving object.

[0002]

2. Description of the Related Art Conventionally, a moving object position recognition system for recognizing the position of a moving object using radio waves has been widely known.

FIG. 3 shows the principle of a conventional mobile object position recognition system using directional radio waves. This system includes a radar station 21 which emits a directional radio wave while rotating, and a mobile station 22 which receives a directional radio wave and returns a response wave modulated by an ID code.

As shown in FIG. 1, a radar station 21 emits a directional radio wave 23 while rotating. Assuming that the mobile station 22 is positioned at an angle θ and a distance r from the reference axis, the radar station 21 modulates with an ID code when emitting a directional radio wave 23 in a direction forming an angle θ with the reference axis. The response wave 24 is received.

The radar station 21 specifies the position of the mobile station 22 from the angle θ and the round trip time between the directional radio wave 23 and the response wave 24, and from the ID code of the response wave 24,
Identify.

FIG. 4 shows a system for recognizing the position of a moving object by using a non-directional radio wave. The position of the mobile object of the omnidirectional radio wave is at least 3
It consists of two ranging stations 25, 26, 27 and a mobile station 28 held by a mobile.

As shown in the figure, ranging stations 25, 26, 27
Emits non-directional ranging radio waves 25a, 26a, 27a modulated by a ranging code specific to each ranging station. When receiving the distance measuring radio waves 25a, 26a and 27a, the mobile station 28 amplifies the received radio waves and returns the radio waves 25b, 26b and 27b.

Each of the ranging stations 25, 26, and 27 receives the return radio waves 25b, 26b, and 27b having their own ranging codes, and returns the distances r ₁ and r from the round trip time of the radio waves to the mobile station 28.
₂ and r ₃ are calculated, and the position of the mobile station 28 is specified.

However, any moving object position recognition system that specifies the position of the moving object from the propagation time of the radio wave requires a sufficient time to calculate the distance, so that the moving object position recognizing system needs to be located in a small area such as an event venue. It is not suitable for recognizing the position of a moving object.

On the other hand, there has been proposed a system for recognizing the position of a moving object which is suitable for a narrow area by using an infrared camera.

FIG. 5 shows a configuration of a conventional moving object position recognition system using the infrared camera. In FIG. 5, a moving object position recognition system 30 includes a plurality of infrared cameras 31 (31a, 31a,
31b, 31c) and these infrared cameras 31a, 31
b, 31c, and an infrared transmitter 34 held by a moving body 33.

The infrared transmitter 34 moves in a monitoring area such as an event venue and transmits the infrared light 35 intermittently. The infrared cameras 31a, 31b, and 31c are arranged so as to be able to take an image of the surveillance area without corners, and the infrared rays 35 transmitted from the infrared transmitter 34 are detected by the infrared cameras 31a, 31b, or 31c depending on their positions. Is done. In FIG. 5, the infrared transmitter 34 is the infrared camera 3
In this case, only the infrared camera 31a detects the infrared ray 35 and sends the position signal 36 to the determination device 32.

The judging device 32 judges from which infrared camera the position signal 36 was sent, and grasps the position of the moving body 33.

[0014]

However, the conventional moving object position recognition system using the infrared camera has a problem that the moving object cannot be identified when there are a plurality of moving objects. In other words, although the infrared camera can detect the infrared rays to recognize the distribution of the entire moving body, it cannot identify the position of each moving body.

For this reason, when it is necessary to specify the position of each moving body as in the case of examining the moving lines of a plurality of moving bodies, the transmitter of each moving body and the determination device are coordinated, for example, at a predetermined reference time. Therefore, it is necessary to control each transmitter to transmit in a predetermined order.

Such control causes the system to be complicated, and the degree of freedom in applying the system is low. For example, when a new moving object enters the monitoring area during monitoring, the control program has to be changed.

An object of the present invention is to solve the above-mentioned problems of the prior art and to provide a moving object position recognition system capable of easily specifying the positions of a plurality of moving objects by a simple control method.

[0018]

In order to achieve the above object, a moving object position recognizing system according to the present invention is provided in which at least one moving object moving within a predetermined monitoring area has a transmitter and a radio receiver. And identifying the moving body by cooperation of the infrared camera and the determination device, in the moving body position recognition system for specifying the position, the transmitter,
An ID code generator, a radio wave transmitter, an infrared transmitter, and a random number generator are provided. The radio wave transmitter and the infrared transmitter simultaneously generate IDs at random timing based on the random numbers generated by the random number generator. When the radio receiver receives the radio wave from the transmitter, the radio receiver extracts an ID signal from the received radio wave, sends the ID signal to the determination device, and operates the infrared camera. Sending a signal, the infrared camera is installed at least one so as to cover the entire monitoring area, activated by the operation signal to detect infrared light from the transmitter, the position of the transmission source as a position signal The determination device receives the ID signal from the wireless receiver and the position signal from the infrared camera and sends the ID signal to the determination device. And it is characterized in that it is configured to output together with the received time de and position.

In the above-mentioned mobile object position recognition system, when there are a plurality of mobile objects, the radio receiver does not send the operation signal to the infrared camera when radio waves from a plurality of transmitters interfere with each other. It is characterized by having comprised in.

[0020]

The moving object position recognition system of the present invention has a transmitter, a radio receiver, an infrared camera, and a determination device. The transmitter simultaneously transmits a radio wave and an infrared ray modulated with an ID code at random timing, and a radio receiver, upon receiving a radio wave from the transmitter, extracts an ID signal from the received radio wave and sends it to a determination device. At the same time, an operation signal is sent to the infrared camera. The infrared camera operates according to the operation signal, detects the infrared ray transmitted from the transmitter, and sends the position to the determination device as a position signal. The determination device inputs both the ID signal and the position signal, identifies the transmitter of the transmission source, and specifies the position.

When there are a plurality of mobile units, the transmitters of each mobile unit emit the radio wave and the infrared ray at random timing. The time required for transmitting the radio wave and infrared light is extremely short compared to the transmission interval,
In addition, since the transmission timing is random, it is extremely rare that radio waves and the like interfere with each other.

If a plurality of radio waves are transmitted simultaneously, the mobile object position recognition system of the present invention is configured so that the radio receiver does not send an operation signal to the infrared camera. In this case, since the transmission of the radio wave and the infrared light is simply ignored, there is no need to perform special control by the computer.

By repeatedly receiving the radio waves and the infrared rays from the plurality of mobile transmitters with time and performing the above processing, the position of each mobile can be recognized every moment.

[0024]

An embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 1 shows a configuration of an embodiment of a moving object position recognition system according to the present invention and an operation method thereof.
As shown in FIG. 1, a mobile object position recognition system 1 includes a transmitter 3 held by a mobile object 2 (a human is assumed in FIG. 1), a wireless receiver 4, and a plurality of infrared cameras 5 ( 5
a,..., 5e), the wireless receiver 4 and the infrared camera 5a,
.., 5e.

As shown in FIG. 2, the transmitter 3 includes a radio wave transmitter 7, an infrared transmitter 8, an ID code generator 9 connected to the radio wave transmitter 7, and a radio wave transmitter 7. And a random number generator 10 connected to both of the infrared transmitters 8.

The transmitter 3 simultaneously transmits radio waves 11 and infrared rays 12 from the radio wave transmitter 7 and the infrared transmitter 8, respectively, at random timing based on the random number generated by the random number generator 10. This radio wave 11 is modulated by an ID code generated by an ID code generator 9. When there are a plurality of transmitters 3, the ID code generator 9 of each transmitter 3 generates an ID code unique to each transmitter 3. In this case, the ID code of each transmitter 3 is registered in the determination device 6 in advance.

As shown in FIG. 1, the radio wave 11 from the transmitter 3 modulated by the ID code is received by the radio receiver 4. The wireless receiver 4 receives the ID from the received radio wave.
Recognize and extract code.

If the ID code can be extracted from the received radio wave, the radio receiver 4 outputs the ID signal 1
3 and the activation signal 14 are sent to the determination device 6 and the infrared cameras 5a,. If the ID code cannot be recognized and extracted from the received radio wave, the wireless receiver 4 outputs the ID code.
The process is stopped without sending the signal 13 and the activation signal 14.

As shown in FIG. 1, at least one (five in this embodiment) infrared cameras 5a,..., 5e are installed so as to be able to capture the entire monitoring area. The infrared cameras 5a,..., 5e are operated together by an operation signal 14 to detect the presence or absence of the infrared rays 12. After the simultaneous operation, only the infrared camera 5c that has detected the infrared light 12 determines the position signal 15 and determines the position signal 15.
Send to This position signal 15 indicates which infrared camera 5
5e may be sufficient to indicate whether infrared light has been detected, or it may be sufficient to specify the infrared emission position within the monitoring range of each infrared camera 5a,..., 5e.

The judging device 6 receives the ID signal 13 and the position signal 15 and recognizes the transmitter 3 which is the transmission source, specifies the position at that time, preferably the position of the transmitter 3 at that time. Record

By repeating the processing from the transmission of the radio wave or the like to the recording of the position, the moving line of the transmitter 3 can be obtained.

The moving object position recognition system of the present invention exhibits a particular advantage when monitoring a plurality of moving objects. Therefore, the operation of the moving object position recognition system 1 when there are a plurality of moving objects 2 will be described below. I do.

When there are a plurality of mobile units 2, each mobile unit 2 holds a transmitter 3, and each of the transmitters 3 randomly and intermittently operates by a random number generator 10.
Outgoing. Since the transmission times of the radio waves 11 and the infrared rays 12 are shorter than the transmission intervals and are transmitted at random timings, the radio waves 11 of the respective transmitters 3 are extremely unlikely to overlap with each other. If the radio waves from the plurality of transmitters 3 are transmitted simultaneously, the radio waves overlap and the wireless receiver 4 cannot recognize the ID code. At this time, since the wireless receiver 4 stops the process without sending the operation signal 14 as described above, the determination device 6 does not erroneously recognize the position of the moving body. In this case, the position of the moving object at that time is not recognized, but since the transmission is frequently performed, there is no problem in the overall position recognition.

Each transmitter 3 of a plurality of mobile units transmits at short intervals, and the ID code and position of the transmission source are recognized and recorded from the radio wave and infrared light transmitted each time, so that each mobile unit 2 It is possible to recognize which position was located at the time.

Further, in the mobile object position recognition system of the present invention, as is apparent from the above description, the transmission timing of the transmitter 3 is only required to be random, and there is no need to coordinate the operations with each other. Thus, when a new mobile unit 2 enters the monitoring area during monitoring, the transmitter 3 of the mobile unit 2 can operate independently, so that the ID code is registered in the determination device 6. For example, the position of the moving body 2 can be recognized from the time of entry.

[0036]

As is apparent from the above description, the moving object position recognition system according to the present invention comprises a transmitter for simultaneously transmitting a radio wave including an ID code and an infrared ray, a radio wave receiving an ID signal and an infrared camera. , An infrared camera that detects infrared rays and outputs a position signal, and an ID signal and a position signal that are input to transmit an I / O signal.
By having the determination device that outputs the D code and the position, the transmitter can transmit radio waves and infrared rays at an event venue or the like, thereby identifying the transmitter and specifying its position.

Each of the transmitters has a random number generator for generating a random transmission timing. Therefore, it is extremely rare that radio waves transmitted from the transmitters interfere with each other. In addition, the wireless receiver is configured not to send an operation signal to the infrared camera when the ID code cannot be recognized, so that when the transmitter's radio waves overlap, the transmission operation is ignored. In addition, erroneous recognition and malfunction of the determination device can be prevented. This makes it possible to provide a system capable of recognizing the positions of a plurality of moving objects without requiring a complicated control mechanism.

Further, since the respective radio wave transmitters operate independently of each other, for example, when a new moving object enters the monitoring area, the position of the new moving object can be tracked from that point, and flexible adaptation can be performed. It is possible to provide a mobile object position recognition system having a characteristic.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an embodiment of a moving object position recognition system according to the present invention.

FIG. 2 is a diagram showing a configuration of a transmitter of the moving object position recognition system of the present invention.

FIG. 3 is a diagram illustrating the configuration and operation of a conventional mobile object position recognition system using directional radio waves.

FIG. 4 is a diagram illustrating the configuration and operation of a conventional mobile object position recognition system using an omnidirectional radio wave.

FIG. 5 is a diagram showing a configuration of a conventional moving object position recognition system using an infrared camera.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Moving body position recognition system 2 Moving body 3 Transmitter 4 Wireless receiver 5 Infrared camera 6 Judgment device 7 Radio wave transmitter 8 Infrared transmitter 9 ID code generator 10 Random number generator 11 Radio wave 12 Infrared 13 ID signal 14 Operation Signal 15 Position signal

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) H04B ^7/ 24-7/26 113 H04Q ^7/ 00-7/38

Claims (2)

(57) [Claims] At least one moving body that moves within a predetermined monitoring area has a transmitter, and identifies the moving body by cooperation of a radio receiver, an infrared camera, and a determination device, and specifies the position of the moving body. In the moving object position recognition system, the transmitter includes an ID code generator, a radio wave transmitter, an infrared transmitter, and a random number generator, and the radio wave transmitter and the infrared transmitter include the random number generator. At the same time at random timing based on the generated random numbers, simultaneously transmit radio waves and infrared rays modulated by the ID code, and upon receiving the radio waves from the transmitter, the radio receiver extracts the ID signal from the received radio waves. And sending an operation signal to the infrared camera, the infrared camera is installed at least one so as to cover the entire monitoring area, and Activated by the operation signal and detects infrared rays from the transmitter, sends the position of the transmission source as a position signal to the determination device, and the determination device transmits an ID signal from the wireless receiver and the infrared camera. A mobile object position recognition system characterized in that it is configured to receive a position signal of the transmitter and output an ID code and a position of the transmitter of the transmitter together with the reception time. 2. When there are a plurality of moving bodies, the radio receiver does not send the operation signal to the infrared camera when radio waves from a plurality of transmitters interfere with each other. The moving object position recognition system according to claim 1, wherein: