JP4232160B2 - Position determining method, apparatus and system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for correcting position, according to the state of installation of facilities, estimated on the basis of the distance between terminals and determining the structure of a building on the basis of the state of installation of the facilities taking into consideration the characteristics of the installation of the facilities. <P>SOLUTION: The method for determining the position of the arrangement of a plurality of terminals 101 and a representative terminal 110 by coordinates in a reference coordinate system 201 set in a planar space has at least a process for dividing the planar space into, for example, Voronoi regions 301 on the basis of positional coordinates of the terminals 101 and the representative terminal 110 in the reference coordinate system 201 computed on the basis of measured distance between terminals; a process of computing similarity for each Voronoi region 301 (the terminals 101 and the representative terminal 110) on the basis of comparison between at least one template 401, generated on the basis of characteristics of an assumed arrangement of the terminals and the Voronoi regions 301; and a process of deciding whether the positional coordinates of the terminals 101 and the representative terminal 110 are to be corrected, on the basis of the similarity and correcting coordinates judged to be corrected. <P>COPYRIGHT: (C)2006,JPO&amp;NCIPI

Description

  The present invention relates to a terminal location determination method and apparatus using a wireless network system. In particular, the position of a terminal that may contain an error after obtaining a two-dimensional (or three-dimensional) position on each floor (floor) for a terminal that is built in or attached to equipment in a building such as a building To correct and determine.

  Conventionally, buildings (such as lighting equipment, air conditioning equipment, etc.) are connected to a telecommunications network for each equipment (such as lighting equipment, air conditioning equipment, etc., hereinafter referred to as equipment). The equipment management system which transmits the signal containing these data to a management apparatus and manages equipment is provided. Here, each equipment of the equipment to be managed basically does not have data relating to its own position, and the management device of the equipment management system provides data (information) relating to the position of each equipment. Could not get automatically.

  For this reason, the correspondence between the management target on the equipment management system and the equipment that is actually placed is realized by the worker before the system is operated, and this initial setting requires a complicated work. there were. In addition, during maintenance, there is no means to confirm on the equipment management system the correspondence between the management target on the equipment management system and the equipment that is actually placed. It was desired to be able to register data.

  Here, as a method for determining the position of a mobile terminal in a wireless network system, a base station or GPS (Global Positioning System) whose position is known is installed and a terminal or the like capable of obtaining position data is prepared. A method for determining the position of a mobile terminal by triangulation using distances from multiple base stations or terminals whose position is known, or calculating the distance from a known terminal based on the received radio wave intensity or radio wave propagation delay time, etc. There is known a method of limiting the range in which the terminal exists, assuming that the terminal that can communicate with the terminal is within the communicable range of the terminal whose position is known.

  However, if the same method is to be applied to determining the position of the equipment, first, the equipment having a known position needs to be prepared in the network. If a terminal such as a GPS receiver is mounted on the equipment, the position of the equipment (terminal) can be determined, but the GPS receiver is expensive and leads to an increase in cost. There is also a problem that it is difficult to receive GPS signals indoors. In addition, although a method of setting the position of each facility device by an operator is also conceivable, as described above, since it is a complicated operation, work saving is required. This is not limited to the determination of the location of facility equipment, but the same can be said for other equipment including moving equipment.

  Therefore, as a method for determining the position of each terminal without using a terminal whose position is known, assuming that the distance between terminals can be accurately measured, the distance between terminals determined from the radio wave propagation delay time by wireless communication is used. There is a method of calculating the position of each terminal based on the method (for example, see Patent Document 1).

JP 2002-281468 A

  As described above, as a distance measurement method in a wireless network, there is a distance measurement method using the radio wave propagation delay time or received radio wave intensity. However, there are radio wave shields between terminals, radio wave arrival path multiplicity ( There is a high possibility that the measured distance includes an error due to multipath). The above method is basically based on the premise that the distance can be measured accurately, and the distance measurement error is not taken into consideration, so the calculated position of each terminal with respect to the distance including the error. However, there is no guarantee that an accurate position is calculated, and there is a problem that an error is included.

  In the above-mentioned Patent Document 1, after determining the three terminal positions serving as the reference without considering the distance measurement error, the other terminal positions are determined by the least square method from the measured distances from the three terminal positions serving as the reference. Although estimated, the installation state of equipment was not considered.

  The present invention aims to solve such a problem, and considers the installation characteristics of the equipment with respect to the position estimated from the distance between the terminals, and conforms to the installation status of the equipment. An object of the present invention is to provide a method of correcting the position of a terminal and determining a building structure from the installation state of equipment, and the method.

The present invention relates to a method, an apparatus, and a system for determining, by coordinates, positions at which a plurality of terminals are arranged using a coordinate system set on a plane space, in the coordinate system calculated based on the measured distance between terminals. Based on the process of dividing the plane space into graphic areas for each terminal based on the coordinates of the terminal position, and comparison between at least one template generated based on the characteristics related to the assumed positional relationship between the terminals and the graphic area And calculating at least a similarity as an index value for each graphic region, and determining whether or not to correct the coordinates of the terminal position based on the similarity and correcting the coordinates determined to be corrected. And a means for performing the processing.

According to the present invention, for example, when the position of the terminal is obtained as coordinates based on the distance between terminals calculated by wireless communication or the like, the positioning error of the terminal caused by the measurement error of the distance between terminals is determined by arranging the facilities in the building. It is possible to determine the position of the terminal with higher accuracy by taking into account and comparing with the template generated based on the assumed feature related to the arrangement relationship between the terminals and correcting the position of the terminal based on the template. .

Embodiment 1 FIG.
FIG. 1 is a diagram showing a basic configuration of a system for realizing a terminal location determination method according to an embodiment of the present invention. Embodiments of the present invention will be described below with reference to the drawings. The position determination system in the embodiment of the present invention includes one or more terminals 101 and one representative terminal 110.

  The terminal 101 is incorporated into equipment (for example, lighting equipment, air conditioning equipment, etc.) or attached to the equipment as an independent device. The terminal 101 includes a communication unit 104, a distance measurement unit 103, a data storage unit 102, and a terminal coordinate management unit 105. The terminal 101 measures the distance between the other terminal 101 and the representative terminal 110 (substantially between the facility devices). The distance is measured), and the relative position in the coordinate system of the plane on which the terminal 101 is arranged (the position is relative to the position determined by the absolute coordinates. A reference coordinate system 201 described later is an absolute coordinate system. In this case, the coordinates of the absolute position (hereinafter referred to as the relative position) (here, the two-dimensional coordinate values of the X coordinate and the Y coordinate) are calculated and stored (stored). The communication unit 104 performs communication processing of signals including various data with the communication unit 104 of another terminal 101 in the range (neighboring) where wireless communication is possible or the communication unit 113 of the representative terminal 110. The data included in the transmitted / received signal is temporarily or long-term held in the data storage unit 102. The distance measuring unit 103 determines the distance to the neighboring terminal 101 or the representative terminal 110 that performed the wireless communication based on the delay time of the radio communication radio wave of the communication unit 104. The data storage means 102 is data related to the position of the terminal 101 such as various data processed by each means of the terminal 101 (particularly, the coordinate value of the terminal 101, the terminal 101 or the representative terminal 110 that performed communication, and the distance to them). Etc.) are retained (saved and stored). The terminal coordinate management unit 105 calculates, determines, and manages coordinates based on the set coordinate system and the distance determined by the distance measurement unit 103.

  On the other hand, the representative terminal 110 includes a communication unit 113, a coordinate system management unit 111, a data storage unit 112, a Voronoi division unit 114, a similarity calculation unit 115, a search unit 116, and a position correction unit 117. The communication unit 113, the coordinate system management unit 111, and the data storage unit 112 perform the same operations as the communication unit 104, the distance measurement unit 103, the data storage unit 102, and the terminal coordinate management unit 105, respectively. Each process performed by the Voronoi dividing unit 114, the similarity calculating unit 115, the searching unit 116, and the position correcting unit 117 will be described later. Here, the Voronoi dividing means 114, the similarity calculating means 115, the searching means 116, and the position correcting means 117 are configured by arithmetic control means (data processing means) such as a computer, and are held in the data storage means 121, for example. The processing of each means is executed by executing the program. In the present embodiment, the representative terminal 110 includes the Voronoi dividing unit 114, the similarity calculating unit 115, the searching unit 116, and the position correcting unit 117. For example, an independent device that is not related to the terminal is provided. The system configuration may be such that the apparatus includes these means and performs processing.

  Next, an example of the relative position determination method by the terminal 101 and the representative terminal 110 will be described. FIG. 2 is a diagram showing the terminal relative position of the terminal 101 in the reference coordinate system, and FIG. 10 is a diagram showing a relative position determination method by a plurality of terminals 101. Here, it is assumed that all terminals 101 can perform wireless communication with at least three terminals 101, respectively. The coordinate system management unit 111 of the representative terminal 110 determines one terminal 101 as a coordinate reference from all the terminals 101 (here, the terminal 101a). The communication unit 104 of the terminal 101a performs wireless communication with each of the communication units 104 of neighboring terminals 101 (here, terminals 101b to 101d) that can communicate. The distance measuring unit 103 determines the distances to the terminals 101b to 101d that performed communication based on, for example, the received radio wave intensity of wireless communication. The determined distance data is stored in the data storage unit 102 of the terminal 101a in association with the corresponding terminals 101b to 101d.

  When the distance measurement unit 103 of the terminal 101a determines the distance, the coordinate system management unit 111 of the representative terminal 110 uses the terminal 101a as the origin, and selects one terminal 101b among the terminals 101b to 101d that have determined the distance, for example, on the X axis Determine to be located in. Next, the coordinate system management unit 111 of the representative terminal 110 is different from the terminal 101b in that the distance between the terminal 101a and the terminal 101c and the terminal 101b and the terminal 101c positioned on the X axis are determined. An angle formed with the X axis is determined from the distance by a trigonometric function, a two-dimensional coordinate system 1001 is set in which the y coordinate of the terminal 101c is set to take a positive value, and the coordinate system 1001 is A reference coordinate system 201 of the relative position 202 is assumed.

  Next, for the remaining terminal 101d whose distance has been determined, the angle formed with the X axis and the angle formed with the straight line connecting the terminal 101c and the terminal 101a are determined from the distances with the terminals 101a to 101c using a trigonometric function. To do. For the distance, the distance data stored in the data storage means 102 of each terminal 101 is used. Based on the determined distance and angle, the coordinates of the terminal 101d in the coordinate system 1001 are determined (FIG. 10A). Similarly, the coordinates in the coordinate system 1001 are determined for the terminals 101 in the vicinity of the remaining terminals 101a, and the coordinate values are stored in the data storage unit 102.

  Next, among the terminals 101b to 101d whose coordinates have been determined in the above procedure, for the terminal 101 whose coordinates have not yet been determined (here, the terminal 101e), the terminal 101b in the vicinity of the terminal 101e is similar to the above procedure. To d based on the received radio wave intensity, and based on the determined distance, an angle formed by a straight line connecting the terminal 101c and the terminal 101b and an angle formed by a straight line connecting the terminal 101c and the terminal 101d Is determined by a trigonometric function, and the coordinates of the terminal 101e in the coordinate system 1001 are determined based on the determined distance and angle (FIG. 10B). Similarly, the coordinates in the coordinate system 1001 are sequentially determined for the terminals 101 adjacent to the terminal 101 that has determined the coordinates, and the coordinate values are stored in the data storage unit 102. By repeating this, the terminal relative position 202 in the reference coordinate system 201 shown in FIG. 2 is finally determined for all terminals 101 and representative terminals 110. Each terminal 101 holds data relating to the position, such as data relating to its own terminal relative position 202 represented by coordinate values and the terminal relative position 202 of the neighboring terminal 101, in the data storage unit 112.

  For the representative terminal 110, the relative position is determined in the same manner as the terminal 101. Here, the distance is measured based on the radio wave reception intensity, but may be measured based on the radio wave delay time, or may be measured based on the radio wave reception intensity and the radio wave delay time. Further, in determining the terminal relative positions 202 of the terminal 101 and the representative terminal 110, a processing procedure for further correcting an error may be performed. (Hereinafter, unless otherwise distinguished, the terminal 101 includes the representative terminal 110).

  Next, the position correction process of the terminal 101 will be described. The terminal relative position 202 obtained by the above procedure is calculated based on the measurement distance obtained from the delay time of wireless communication and expressed in coordinates (values). There is a high possibility that it includes measurement errors and is different from the true value. Therefore, in the present embodiment, utilizing the fact that equipment in a building is often placed on grid points arranged at construction unit intervals of a building, the position correcting unit 117 performs processing described later. The calculated terminal relative position 202 is corrected to the corrected terminal relative position 503 for the terminal 101 (equipment) that is determined to be arranged on the grid point. Whether or not the terminal relative position 202 is corrected is determined using Voronoi division. In the following, in order to simplify the description, the template 401, the Voronoi division diagram 310, and the like are illustrated, and the processing procedure in the representative terminal 110 is described. However, in the actual processing procedure, the movement of the template 401 is virtually performed, and the Voronoi division unit 114, the similarity calculation unit 115, the search unit 116, and the position correction unit 117 are the elements of the figure. A processing procedure for processing the data and correcting the terminal relative position 202 is performed.

  Here, Voronoi division is to divide a plane at the center line of two given points at a plurality of points (base points) existing on the plane, and this is divided into all two generation points on the plane. To the relationship. By dividing Voronoi, one region (Voronoi region) is determined for one generating point. Within this region, at any position, there is a feature that the generating point in the region is closer than the generating point of the other region. In the present embodiment, Voronoi division means 114 Voronoi division processing is performed on a plane based on the floor of a building where terminals (facility equipment) are arranged, assuming that each terminal relative position 202 has a generating point. Here, a diagram illustrating a Voronoi-divided plane is referred to as a Voronoi-divided diagram 310.

  FIG. 3 is a diagram in which a plane based on the floor of the building is divided by Voronoi based on each terminal relative position 202. Hereinafter, a procedure for correcting the terminal position on the lattice point by Voronoi division will be described. First, based on the determined terminal relative position 202, the Voronoi dividing means 114 assumes that the generating point is on the terminal relative position 202, and the existence region 203 (in real space) of the terminal relative position 202 in the plane of the reference coordinate system 201. Voronoi division is performed on the area where the equipment is arranged (hereinafter referred to as the existence area 203), and the Voronoi area of the terminal 101 is determined.

  FIG. 4 is a diagram illustrating the template 401. For example, the position correcting unit 117 virtually creates a template 401 in which a total of nine squares 402 (hereinafter referred to as cells 402) having a construction unit of 404 squares are arranged vertically and horizontally, and stores the data in the data storage unit 112. (The data may be created in advance and stored in the data storage unit 112). Assume that the center position of each cell 402 corresponds to a lattice point 403 (hereinafter, this point will be described as a lattice point 403).

  FIG. 5 is a diagram in which a template 401 is superimposed on a Voronoi division diagram 310. First, the search means 116 (similarity calculation means 115) superimposes the template 401 on the Voronoi division diagram 310 (the Voronoi division plane) and moves the template 401 within the construction unit 404 (movement process). )I do.

  The similarity calculation unit 115 performs a process of calculating an overlapping area between each cell 402 of the template 401 and each region divided by Voronoi, which changes as the template 401 is moved by the movement process of the search unit 116. Here, one or a plurality of cells may overlap with a plurality of Voronoi regions (Voronoi regions 301) depending on the position where the template 401 is overlapped (a plurality of Voronoi regions are included in the cells). In this case, the largest overlapping area (in FIG. 5, the overlapping area with the Voronoi region 301) is selected in relation to the Voronoi region overlapping with each cell. Then, in the relationship between each cell and the Voronoi region 301 at that time, the ratio of the overlapping area 502 to the area of the Voronoi region 301 is defined as the cell likelihood (likelihood is a probabilistic index value), and the cell likelihood of the entire template 401 is calculated. The average value is used as the template likelihood. The similarity calculation unit 115 determines the position 501 of the template 401 having the largest template likelihood (hereinafter referred to as the template position 501). Here, the likelihood represents the probability that the observed data can be obtained in a situation where a certain probabilistic model is assumed. In the present embodiment, the index value represents how much the terminal 101 is placed on the lattice point 403. Here, it is convenient if the template position 501 at the maximum value of the template likelihood can be found. For example, if it is difficult to calculate the maximum value of the template likelihood due to the relationship between the calculation time and the calculation amount, the threshold value And the following processing procedure may be performed with the position of the template 401 at the template likelihood larger than the threshold as the template position 501.

  Next, the position correction means 117 performs a position correction processing procedure. Whether or not the cell likelihood calculated from the relationship between each cell and the Voronoi region corresponding to each cell exceeds a predetermined threshold (greater than the threshold) at the template position 501 where the template likelihood is maximum. to decide. For a cell exceeding the threshold, for example, the cell 505, the terminal position 504 (terminal relative position 202) included in the Voronoi region 506 is corrected to the position of the lattice point 503 of the cell 505, and this is set as the corrected terminal relative position 503. . Here, although it is a threshold value used as a criterion for correction determination, for example, the template likelihood at the template position 501 is about 0.7 (70%) to 0.8 (80%), so the template likelihood is the cell likelihood. Considering the average of the degrees, a value of 0.8 or more can be set as the threshold value. With the above procedure, the search processing procedure and the position correction processing procedure in the relationship between the template 401 and the Voronoi region 301 are completed.

  FIG. 6 is a diagram illustrating movement of the template 401. Next, as a whole range terminal position correction procedure, as shown in FIG. 6, the template 401 is placed in the X-axis direction, the Y-axis direction, or both directions (so-called up / down / left / right) of the reference coordinate system 201. And the above-described search procedure and position correction procedure are repeated. This is performed until the template 401 moves through the entire range of the existence area 203 and determines whether or not the terminal relative positions 202 of all the terminals 101 have been corrected and corrected based on the determination.

  As described above, according to the first embodiment, for example, based on the template 401 generated assuming a planned arrangement, which is generated by configuring the cell 402 of the construction unit 404 square in a plurality of grids, For the existence area 203 of the terminal 101 (equipment) that has been divided into Voronois, a portion that is closest to the lattice point 403 is determined based on, for example, the overlapping area, and the lattice point 403 in that portion is used as a reference. Since the terminal relative position 202 of the terminal 101 that is likely to be on the lattice points 403 at the intervals of the construction units 404 is corrected to the corrected terminal relative position 503 (on the lattice point 403), the arrangement state of the building or the like is taken into consideration. From the above, it is possible to obtain the relative position of the terminal with high accuracy. In particular, since equipment (terminal 101) is often arranged at construction unit intervals, a template based on construction units is convenient for correcting the arrangement of equipment such as buildings. Further, since the similarity is determined based on the size of the overlapping area 502, it is easy to understand as an index. Further, since the existence region 203 is divided by Voronoi division and the similarity is calculated from the Voronoi region 301 and the template 401, it is possible to perform correction in consideration of the calculated terminal relative position 202. In particular, when the coordinates of the terminal 101 or the like are calculated from the measurement distance by wireless communication, there is a high possibility that an error is included, and thus the position correction according to the present embodiment is particularly effective.

  Here, in the above description, the template 401 in which the cells 402 of the construction unit 404 square are arranged three by four in the vertical and horizontal directions is used. However, a template having an integral multiple of the construction unit 404 or a reference interval of an integral number may be used. It is also possible to use not only a 3 × 3 array but also a template with a larger or smaller number of cells. Moreover, it is good also considering the combination of those templates as a new template.

  In the above description, for the Voronoi region having the largest overlapping area for each cell of the template, the area ratio between the overlapping area with the cell and the area of the Voronoi region is defined as the cell likelihood, and the template of the cell likelihood is used. Although the template likelihood is determined by taking the average of all the included cells, an index value that can represent the similarity between the template 401 and the Voronoi region 301 as a value may be used as the likelihood.

  Furthermore, after the corrected terminal relative position 503 is determined for the corrected terminal 101 by the full range terminal position correction procedure, the Voronoi division is performed again, and then the full range terminal position correction procedure described above is further repeated. May be. For example, by repeating a plurality of times, the position of the terminal 101 is further corrected on the lattice point 403, and the position of the terminal 101 with high accuracy can be determined. Here, the coordinates representing the position are displayed in a two-dimensional orthogonal coordinate system, but a polar coordinate system can also be displayed.

Embodiment 2. FIG.
FIG. 7 is a diagram illustrating a configuration of representative terminal 110A according to the second embodiment. In FIG. 7, those denoted by the same reference numerals as those of the representative terminal 110 perform the same operation as described in the first embodiment, and thus the description thereof is omitted (the configuration of the terminal 101 is described in the first embodiment). Is not different). The representative terminal 110A is different from the representative terminal 110 of the first embodiment in that a shared part-dedicated part determination unit 701 is added to the configuration. The shared part-dedicated part determination unit 701 determines a shared part and a dedicated part with respect to the Voronoi-divided existence area in the building.

  For example, as an arrangement configuration of equipment in a building, common facilities on each floor such as an elevator and a toilet are intensively arranged as a common part, and the other part is a dedicated tenant part. As a feature of the arrangement of equipment such as lighting equipment and air conditioning equipment, the dedicated part tends to be regularly arranged as compared to the shared part. Therefore, in the present embodiment, using the Voronoi division, the shared unit-dedicated unit determining unit 701 determines the shared unit and the dedicated unit to obtain the shared unit region and the dedicated unit region, and the terminal 101 belonging to each region. For the terminal relative position 202, for example, the search processing procedure and the position correction processing procedure as in the first embodiment are performed only for the dedicated area (the terminal 101 in the area).

  FIG. 8 is a diagram in which a template is superimposed on a Voronoi division diagram. Next, the processing procedure of the present embodiment including the processing procedure of the shared unit-dedicated unit discriminating means 701 for discriminating the shared unit and the dedicated unit from the Voronoi-divided dividing lines and regions will be described. First, the terminal relative position 202 of the terminal 101 is determined by the same processing procedure as in the first embodiment. The Voronoi dividing unit 114 performs Voronoi division on the existence region 203.

  Next, as in the first embodiment, the search means 116 performs a search procedure, and the similarity calculation means 115 determines the position of the template 803 that maximizes the template likelihood within a certain range. At that time, based on each cell likelihood calculated by the similarity calculation means 115, the shared part-dedicated part determination means 701 has a cell likelihood (overlapping area 804) significantly higher than the cell likelihood in other cells. Determine if there are low cells. If it is determined that such a cell (for example, cell 805) exists, the terminal located in the Voronoi region corresponding to that cell has a layout (for example, a grid-like layout with a construction unit interval) that is planned when generating the template. Is determined to be a terminal in a shared part, which is arranged differently. Also, for example, a terminal located in a region where cell likelihood cannot be calculated with a template, such as the Voronoi region 806, is also determined to be a terminal in the shared unit. Then, the Voronoi line of the Voronoi area is set as a boundary line 807 between the dedicated area and the common area.

  The above procedure is performed on all the terminal relative position existence areas 203 in the same manner as the template movement in the first embodiment to obtain the boundary 807 between the shared part and the dedicated part, and the shared part area 802 and the dedicated part area 801 are obtained.

  Of the shared part area 802 and the dedicated part area 801 finally obtained, only the terminal relative position 202 of the terminal 101 included in the dedicated part area 801 is corrected in the same procedure as in the first embodiment. At that time, the cell likelihood based on the terminal 101 of the shared unit is not a target of the cell likelihood for calculating the template likelihood. On the other hand, since the terminal 101 in the shared area is different from the layout planned for the template, at least the process for position correction with the same template as the dedicated part is not performed.

  As described above, in the second embodiment, the shared portion-dedicated portion determination unit 701 determines the shared portion region and the dedicated portion region based on the relationship between the overlap area between the template 401 and the Voronoi region. Therefore, it becomes possible to discriminate the structures of the common part and the dedicated part inside the building based on the arrangement of the facilities. In addition, even when the terminal relative position 202 of the terminal 101 is corrected, in order to perform correction based on the presence / absence of the correction and only the terminal relative position 202 of the terminal 101 included in the dedicated part area, the position in the dedicated part The accuracy can be improved, and the calculation amount of data processing in the Voronoi dividing means 114, the similarity calculation means 115, the search means 116, and the position correction means 117 when performing the correction process can be reduced.

  Here, in the above description, the shared unit-dedicated unit determination unit 701 uses the shared unit and the dedicated unit for the cell likelihood calculated based on the relationship between the Voronoi region and the template (cell) based on the terminal relative position 202 before correction. First, based on the terminal relative position 202 of the terminal 101 in the entire range of the existence area 203, the terminal relative position correction is performed by performing the entire range terminal position correction procedure of the first embodiment. Thereafter, Voronoi division processing or the like may be performed again, and the shared part / dedicated part determination unit 701 may determine the shared part and the dedicated part. Further, in the position correction process, when determining whether or not correction is performed using the template likelihood as a threshold value, for example, the terminal 101 that does not correct the terminal relative position 202 is used as a terminal of the shared part. You may go.

Embodiment 3 FIG.
FIG. 9 is a diagram illustrating a configuration of a system according to the third embodiment. Since the terminal 101 and the representative terminal 110A shown in FIG. 9 perform the same operations as those in the first and second embodiments, description thereof is omitted. The operation device 901 includes a communication unit 904, a display unit 902, an input unit 903, and a data processing unit 905. The communication unit 904 is a unit for the operation device 901 to transmit and receive signals including various data to and from the representative terminal 110A. For example, the representative terminal 110A transmits a signal including data obtained as a result of processing by the Voronoi dividing unit 114, the similarity calculating unit 115, the searching unit 116, and the position correcting unit 117. Further, the operation device 901 transmits a signal including data relating to the correction of the position (coordinates) of the terminal based on the operator's instruction. Although the representative terminal 110A is shown here, the representative terminal 110 of the first embodiment may be used instead of the representative terminal 110A when the shared part and the dedicated part are not distinguished.

  The display unit 902 displays data such as figures and characters on the screen based on the display signal to the operator (operator). The input unit 903 transmits an input signal including instructions, data, and the like input by the worker to the data processing unit 905. The data processing unit 905 is constituted by, for example, a general-purpose computer, processes data input from the communication unit 904 and the input unit 903, and transmits a display signal for displaying data such as figures and characters to the display unit 902.

  The representative terminal 110 and the representative terminal 110A make corrections based on the procedures described in the first and second embodiments, and then correct the terminal relative position (terminal relative position 202, corrected terminal relative position) of the terminal 101 (facility equipment). 503). In the present embodiment, the determined positional relationship of each terminal 101 is intended to be shown to the operator. At this time, for example, a Voronoi-divided diagram which is a processing result of the Voronoi dividing unit 114 is displayed at the same time. Further, when the worker inputs an instruction for correction from the input unit 903 based on the drawing displayed on the display unit 902, for example, the data processing unit 905 sends a signal including the instruction data to the communication unit 904. Send it. On the representative terminal 110A side, the data storage unit 112 stores data in which the terminal relative position is corrected based on the instruction data.

  In addition, for the representative terminal 110A, a signal including data related to the shared part area 802 and the dedicated part area 801, which is a result of the determination process performed by the shared part-dedicated part determination unit 701, may be transmitted to the operation device 901. The data processing unit 905 of the operation device 901 processes the data related to the shared part area 802 and the dedicated part area 801, and displays the shared part area 802 and the dedicated part area 801 on the display means 902 in addition to the Voronoi-divided diagram and the like. Various display signals may be transmitted. At this time, the data processing unit 905 displays the Voronoi line 311, the corrected terminal relative position 503, the shared part area 802, and the dedicated part area 801 by displaying them in different colors, for example, by distinguishing the presence / absence of correction and the area. A display signal to be displayed in 902 may be transmitted.

  As described above, according to the third embodiment, the operation device 901 is provided. For example, a diagram of Voronoi division, a relationship of terminal relative positions (coordinates) in the reference coordinate system (existing area), a shared area, a dedicated area Since the data of the processing results of the representative terminals 110 and 110A can be displayed on the display means 902 of the operation device 901 with a figure or the like, it is easy for the worker to visually understand, and the worker can share the common area. , It will be easier to grasp the dedicated area. Further, the terminal position (coordinates) can be manually corrected by the operator inputting a correction instruction from the input means 903. Here, when the Voronoi dividing means 114 or the like is constituted by an independent device, the device may be displayed on the display means 902 as the data processing means 905.

Embodiment 4 FIG.
In the above-described embodiment, the position determination of the terminal 101 and the representative terminal 110 incorporated in or attached to equipment such as an air conditioner or a lighting device has been described. In the present invention, the present invention is not limited to this, and the present invention can also be applied to position determination of electronic equipment and office equipment arranged in a building.

It is a block diagram which shows an example of a structure of Embodiment 1 of this invention. It is an illustration figure which shows the relative position of the terminal with respect to the reference | standard coordinate of this invention. It is an illustration figure which shows the Voronoi division | segmentation of the relative position of the terminal of this invention. It is an illustration figure which shows an example of the template of this invention. It is an illustration figure which shows the comparison of the template of this invention, and a Voronoi area | region. It is an illustration figure which shows an example of the movement method of the template of this invention. It is a block diagram which shows the structure of the representative terminal of Embodiment 2 of this invention. It is a figure of the comparison of the template of Embodiment 2 of this invention, and a Voronoi area | region. It is a block diagram which shows the structure of the representative terminal of Embodiment 3 of this invention. It is a figure which shows the relative position determination method by the some terminal.

Explanation of symbols

101: terminal, 102: data storage means, 103: distance measurement means, 104: communication means, 105: terminal coordinate management means, 110, 110A: floor representative terminal, 111: floor coordinate system management means, 112: data storage means, 113: Communication means, 114: Voronoi division means, 115: Similarity calculation means, 116: Search means, 117: Position correction means, 201: Reference coordinate system, 202: Terminal relative position, 203: Terminal relative position existence area, 301 : Voronoi region, 310: Voronoi diagram, 311: Voronoi line, 401: template, 402: cell, 403: grid point, 404: construction unit, 501: template position, 502: overlapping area, 503: corrected terminal relative position, 504 : Terminal relative position, 505: Cell, 506: Voronoi area, 601: Template, 701: Shared -Dedicated part discrimination means, 801: Dedicated part, 802: Shared part, 803: Template, 804: Overlapping area, 805: Cell, 806: Voronoi area, 807: Shared part-Dedicated part boundary, 901: Operating device, 902: Display means, 903: input means, 904: communication means, 905: data processing means, 101a, 101b, 101c, 101d, 101e: terminal, 1001: coordinate system.

Claims (18)

A method of determining the arrangement position of a plurality of terminals by coordinates using a coordinate system set on a plane space,
Dividing the plane space into graphic regions for each terminal based on the coordinates of the position of the terminal in the coordinate system, calculated based on the measured distance between terminals;
A step of calculating a similarity as an index value for each graphic area based on a comparison between the graphic area and at least one template generated based on the assumed relationship between terminals .
Determining whether or not to correct the coordinates of the position of the terminal based on the similarity, and correcting the coordinates determined to be corrected. A method of determining the arrangement position of a plurality of terminals in a building by coordinates using a coordinate system set on a plane space,
Dividing the plane space into graphic regions for each terminal based on the coordinates of the position of the terminal in the coordinate system, determined based on the measured distance between terminals;
A step of calculating a similarity as an index value for each graphic area based on a comparison between the graphic area and at least one template generated based on the assumed relationship between terminals .
And determining whether the terminal is arranged according to a rule based on the similarity and determining the structure of the building based on the determination.   Determine whether to correct the coordinates of the position of the terminal that is arranged according to the rule based on the similarity calculated by the graphic area of only the terminal that is arranged according to the rule, and modify The position determining method according to claim 2, further comprising a step of correcting the determined coordinates.   The position determination method according to any one of claims 1 to 3, wherein the similarity is calculated based on an overlapping area when the graphic region and the template are overlaid and compared.   The position determination method according to claim 1, wherein the planar space is divided by Voronoi division.   The position determination method according to claim 1, wherein the template is generated in a lattice shape with a construction unit interval.   The position determination method according to any one of claims 1 to 6, wherein coordinates of the position of each terminal in the coordinate system and a dividing line serving as a boundary between the graphic areas are displayed on at least a display unit. .   The distance between terminals is calculated based on either or both of a received electric field intensity of radio waves and a delay time of radio waves by wireless communication between the terminals. The position determination method according to the above. An apparatus for determining the arrangement positions of a plurality of terminals as coordinate data by a coordinate system set on a plane space,
A dividing unit that divides the plane space into graphic regions for each terminal based on the coordinate data of the position of the terminal in the coordinate system, calculated based on the measured distance between terminals;
Similarity that generates data of at least one template based on a feature related to an assumed arrangement relationship between terminals, and calculates similarity data serving as an index value for each graphic area based on comparison with the graphic area Calculation means;
Based on the similarity data, it is determined whether or not to correct the coordinates of the position of the terminal, position correction means for correcting the coordinates determined to be corrected, data of the template, data of the coordinates of the position of the terminal, A position determination apparatus comprising at least data storage means for temporarily or long-term holding data on the similarity and data on a graphic area for each terminal. An apparatus for determining the arrangement positions of a plurality of terminals as coordinate data by a coordinate system set on a plane space,
A dividing unit that divides the planar space into graphic regions for each terminal based on the coordinate data of the position of the terminal in the coordinate system determined based on the measured distance between the terminals;
Similarity that generates data of at least one template based on a feature related to an assumed arrangement relationship between terminals, and calculates similarity data serving as an index value for each graphic area based on comparison with the graphic area A calculation means;
Based on the similarity data, it is determined whether or not the terminal is arranged according to a rule, and based on the determination, a determination means for determining the structure of the building, the template data, the position of the terminal Data storage means for temporarily or long-term holding data on coordinates, data on similarity, data on graphic areas for each terminal, and data on the determined structure of the building A position determining device.   Based on the similarity calculated by the similarity calculation means based on the graphic area of only the terminals arranged according to the rules, the coordinates of the positions of the terminals arranged according to the rules are corrected. The position determining device according to claim 10, further comprising position correcting means for determining whether or not to correct the coordinates determined to be corrected.   12. The similarity calculation unit according to claim 9, wherein the similarity calculation unit performs a comparison process by superimposing the graphic region and the template, and calculates the similarity based on an overlapping area. The position determining device according to any one of the above.   The position determining device according to claim 9, wherein the dividing unit divides the planar space by Voronoi division.   The position determination device according to claim 9, wherein the similarity calculation unit generates the template in a lattice pattern with construction unit intervals.   The display device further comprises display means for displaying at least the coordinates of the position of each terminal in the coordinate system and the dividing line serving as the boundary of each graphic area by a display signal based on data held in the data storage means. The position determination apparatus according to claim 9. A plurality of terminals that calculate coordinates in the coordinate system based on a distance measured from one or both of the received electric field strength of radio waves of radio communication and the delay time of radio waves;
A position determination system comprising at least the position determination device according to claim 9.   The position determination system according to claim 16, wherein one of the plurality of terminals including the position determination device is used as a representative terminal.   The position determination system according to claim 16 or 17, wherein the terminal is incorporated in a device to be determined.

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