JP5608535B2 - Position detection system using identification code transmission means - Google Patents

Description

  The present invention relates to a system for detecting a position using an identification code transmission means.

  Patent Document 1 discloses an example of a system that detects a position using an RFID (RADIO FREQUENCY IDENTIFICATION) tag that is one of identification code transmission means. In the system of Patent Document 1, a sheet in which RFID tags are arranged linearly or in a matrix at regular intervals (ID is a serial number) is manufactured in advance and is installed at a position measurement point. At the time of laying the sheet, the position coordinates of the reference RFID are designated, and the positions of the RFID tags other than the reference are detected by multiplying the reference position and the number of tags from the reference position by the arrangement interval.

  Further, in the system disclosed in Patent Document 2, the position of the RFID attached to the cable by laying a cable attached with RFID as one of identification code transmitting means and using another position detection method such as GPS And a database DB that associates the RFID ID with the position is created. A facility management system is described in which the position of the RFID is re-examined by using another position detection method such as GPS to search the corresponding DB between the ID and the position and determine that the cable has been relocated if the position is different. .

JP 2007-170853 A JP 2008-21238 A

  In the method disclosed in Patent Document 1, since it is assumed that RFID tags are arranged in a straight line or a matrix at regular intervals, the RFID tag is attached to an object that bends freely like a string. Is not considered.

  In this regard, Patent Document 2 describes the position detection of a cable that bends freely. However, the positions of all RFIDs are measured in advance by another position detection method, and the positions of RFIDs that are not subjected to position measurement are not described.

  As described above, the present invention provides a position detection system using identification code transmission means that enables position measurement at an arbitrary location in an environment such as a building where another position detection method such as GPS cannot be used. .

  The long body having a plurality of identification code transmitting means attached in the longitudinal direction, the distance in the longitudinal direction in which the identification code transmitting means is arranged, and the identification code of the identification code transmitting means are stored in association with each other. A storage means for storing the laying path information of the long body and a reading means for reading the identification code of the identification code transmitting means attached to the long body are arranged according to the laying path information and read by the reading means. By referring to the identification code in the storage means, the position is detected.

  A long body having a plurality of identification code transmitting means attached in the longitudinal direction, identification code information of the starting point and end point of the long body to be laid, and laying path information of the long body, and an identification code in the long body A storage means for estimating the position of the transmission means and recording the identification code information and the position on the path in association with each other; and a reading means for reading the identification code of the identification code transmission means attached to the long body. The position is detected by arranging according to the laying route information and referring to the identification code read by the reading means with the storage means.

  The long body is made of a material that can be arranged in a curved line.

  The detected position information is used as navigation for a laying route or a moving route.

  Using the detected position information, the actually laid route is compared with the route at the time of laying design drawing, and when the difference between the routes is equal to or greater than a predetermined value, it is determined that the laying route is in error.

  Using the detected position information, the position is measured as a reference point of another position detection means.

  A long body in which a plurality of identification code transmitting means are attached at appropriate locations in the longitudinal direction, a distance in the longitudinal direction in which the identification code transmitting means is disposed, and an identification code of the identification code transmitting means are stored in association with each other. The storage means is integrally provided.

  By laying out RFIDs arranged in a row and specifying the position of the reference RFID, it is possible to estimate the position of RFID other than the reference RFID even in various arrangement paths, making it easy to install the position detection RFID Can be.

The figure which showed the function which should be provided as a position detection apparatus as a processing flow. The figure which shows an example of a single RFID inlet. The figure which shows an example of the RFID elongate body provided with two or more RFID inlets. The figure which shows an example of the elongate body which attached the two-dimensional barcode. The figure which shows the example of the RFID elongate body which inserted RFID in the cable. The figure which shows the example which put RFID in the string (thread) or the rope. The figure which shows the example which embedded RFID in cylindrical shape (piping, a hose, etc.). The figure which shows the manufacturing method of a elongate body. The figure which shows the information registered into RFID arrangement | positioning distance information database. The figure which shows an example of the installation path | route registered in the installation path | route information database. The figure which shows the processing flow of RFID position estimation part 4 other than reference | standard RFID. The figure which shows the laying position on a elongate body. The figure which compared and showed the position on the laying system path and the laying position on a elongate body. The figure which shows an example of location information database DB3 of RFID. The figure which shows the structure of a reader. The figure which shows the example which detects a position using an RFID cable. The figure which shows the system which judges having laid along the laying route. The figure which shows the example utilized when performing navigation and position detection of a moving body. The figure which shows the example utilized as a reference point of the beacon transmitter for position detection.

  Next, an embodiment for carrying out the present invention will be described in detail with reference to the drawings.

  The position detection system using the identification code transmission means according to the present invention is particularly preferably used for position measurement in a building. For example, it is suitable for measuring the position of an arbitrary place in a region having a planar spread, such as a floor of a predetermined floor of a building, and a region having a spatial spread in the height direction.

  For this reason, in the present invention, for example, a long body with an RFID attached is used as the identification code transmitting means. Since a tape, a cable, a rope, or the like can be used as the long body, the long body is installed at an arbitrary place in a planar or spatial area in the building. The elongated body, its manufacture and installation will be described with reference to FIGS.

  In addition, a position detection device that detects a position using a signal from an RFID attached to a long body is provided. Functions, processing flows, or data to be provided as a position detection device will be described with reference to FIGS.

  In addition, the position detection system using the identification code transmission means is installed in a building and detects the position of an arbitrary place in a planar or spatial area in the building. The method will be described with reference to FIGS.

  First, the elongated body, its manufacture and installation will be described with reference to FIGS. Examples of elongated bodies that can be used in this embodiment are shown in FIGS.

  FIG. 2a is an example of a single RFID which is one of identification code transmitting means. 20 is an RFID chip, 21 is an antenna, and a configuration 22 in which the antenna 21 is attached to the RFID chip 20 is referred to as an RFID inlet. The RFID inlet 22 can supply the electromagnetic wave captured by the antenna 21 to the RFID chip 20 and read / write ID information and various recorded information recorded on the RFID chip 20.

  As shown in FIG. 2 b, the RFID long body is a thing in which a plurality of RFID inlets 22 are attached to a tape or string-like long body 26. The ID information portion written in the RFID inlet 22 is unique, and there is no RFID inlet 22 having the same ID. Note that the ID information of the RFID attached to the long body 26 may not be a serial number.

  FIG. 3 shows an example of a long body to which a two-dimensional barcode 31 is attached (or printed) instead of the RFID inlet 22. 31 is a two-dimensional barcode, and 26 is a long body. Even in the case of a two-dimensional barcode, the ID information in the barcode needs to be unique.

  FIG. 4 shows an example of an RFID long body in which a cable is a long body and an RFID is inserted therein. 100 is a cable core wire through which a conducting wire or optical fiber passes, 101 is a sheath portion made of insulating resin for the purpose of protecting the core wire, and 22 is an RFID inlet inserted between the core wire and the sheath. . The cable is used for various purposes such as a power cable and a signal cable. Therefore, a very large number of cables are used in buildings, vehicles, and aircraft. This cable can be used as a means for position detection in addition to transmission of electric power and signals.

  FIG. 5 shows an example in which a string (yarn) or a rope is made into a long body and RFID is put inside. 110 is a rope body, 111 is a tape with an RFID attached, and 22 is an RFID inlet. The RFID rope can be manufactured by bundling and weaving the RFID tape 111 together with the material constituting the rope. In the case of a rope, since there is no restriction | limiting with respect to a bending direction compared with a tape, there exists an advantage which can be installed in a free position compared with a tape.

  FIG. 6 shows an example in which a cylindrical shape (pipe, hose, etc.) is a long body, and RFID is embedded therein. 120 is a cylindrical shape, and 22 is an RFID inlet. As a method for embedding the RFID inlet 22, an RFID tape may be produced and embedded in a cylindrical shape, or may be embedded with the RFID inlet alone. Many pipes are used in various manufacturing plants and power plants. Therefore, this pipe can be used as a means for position detection.

  2 to 6, regarding the uniqueness of the ID information, if there is a means for limiting the area where the long body 26 is used, it is only necessary to ensure the uniqueness within the laid area. .

  The example of the long body has been described above, but it is also possible to use a combination of each type of RFID long body. In addition, although the elongate body here can also be arrange | positioned linearly, since all can be arranged by curve, it can be positioned in the arbitrary places in a building.

  In addition, although the example of the RFID and the barcode has been described here as the identification code transmitting means, other principles may be used. In addition to the principle of actively transmitting a signal by itself as an identification code transmitting means, the reflected wave changes when irradiated with light etc. in principle, and the signal is transmitted as a result. It may be possible to.

  Next, manufacture of a long body is demonstrated using FIG. 7, FIG. The RFID long body 26 is, for example, an RFID long body 26 as shown in FIGS. The RFID elongate body 26 is manufactured as shown in FIG. Here, a process of attaching the RFID inlet 22 to a tape made of polyethylene or the like as an example of the long body 26 is shown. The long body 26 may be made of any material that can be processed into paper, cloth, or other tape. Further, although a tape is taken as an example, a string-like or pipe-like thing can be similarly manufactured.

  In this step, first, 40 is a bobbin around which a long body 26 (polyethylene tape) is wound. The long body 26 is pulled out from the bobbin 40 and passes through the attachment machine 43 of the RFID inlet 22. Here, the RFID inlet 22 is attached to the surface of the long body 26 using an adhesive or the like.

  The long body 26 attached with the RFID inlet 22 then passes through a reader antenna 44 for reading the RFID inlet 22. Subsequently, it passes through an encoder 46 that measures the moving distance of the long body 26. The distance (difference information) between the reader antenna 44 and the encoder 46 is measured in advance, and the position passing through the reader antenna 44 is corrected by this difference information.

  The reader antenna 44 may have a communicable area having a width in the moving direction. In this case, as a representative point of the position of the RFID, it may be the position read first or the center point of the reading area. In FIG. 7, the encoder is attached after the reader antenna 44, but it may be before 44.

  The RF signal 41 received by the antenna 44 is read using the RFID reader device 45 and output to the PC 47 as ID information 48. Further, information 42 on the movement distance measured by the encoder 46 is also output to the PC 47. In the PC 47, the read ID information 48 and the movement distance information 42 are associated with each other and registered in the RFID arrangement distance information database DB1. Finally, the long body 26 to which the RFID inlet 22 is attached is wound around the winding bobbin 40.

  For the long body 26 manufactured by the manufacturing facility of FIG. 7 and wound on the winding bobbin 40, information related to the RFID inlet 22 is registered in the RFID arrangement distance information database DB1, but this registered information Are recorded in association with each other as shown in FIG.

  In FIG. 8, a vertical column 901 is a serial number indicating the order of RFIDs embedded in a long body, a vertical column 902 reads the ID information of the read RFID, and a vertical column 903 reads the ID information. The distance is listed. That is, for each RFID inlet 22 continuous on the long body 26, ID information and the distance at which the ID information is read are recorded in association with each other.

  Note that 901 is a simple serial number, but if there is distance information 903, the distance between the serial numbers can be obtained by calculation. Further, the distance information 903 is the distance from the serial number 1, but the distance to the previous RFID may be recorded.

  Further, as can be seen from FIG. 7, the RFID 22 is not necessarily attached to the long body 26 at equal intervals. That is, in order to attach at equal intervals, attachment accuracy at the time of manufacture is required. Therefore, the distance of the RFID attached to the long body 26 is measured and registered in the RFID arrangement distance information database DB1 so that it may be attached at irregular intervals.

  FIG. 7 shows an example in which the position of the RFID is measured and registered in the RFID arrangement distance information database DB1 at the time of manufacture. However, the long body 26 attached with the RFID inlet 22 is manufactured, and the ID information 48 The correspondence information of the position 42 may be created. In this case, the long body 26 attached with the RFID 22 in FIG. 7 is wound around the bobbin 40 and the RFID inlet attaching machine 43 is removed. In this way, the RFID arrangement distance information database DB1 is created.

  In any case, the long body is created by integrating the long body itself and information related to the arrangement distance of the RFID installed on the long body. In addition, when laying and using a long body, information in the RFID arrangement distance information database DB1 is used in a position detection device described later.

  Next, laying of the long body will be described. As described above, the place where the long body is laid is performed particularly in a region having a planar extension such as a floor of a predetermined floor of a building, and a region having a spatial extension in the height direction. Here, a planar region is assumed here. However, the present invention is not limited to a building, but can also be applied to a vehicle laid in a moving body such as a vehicle, an airplane, or a ship. Furthermore, even in the outdoors, it can be applied in a portion behind a structure that cannot be detected by GPS, such as a plant.

  In the present invention, the laying is not premised on laying at an arbitrary place such as a floor surface, but is laid along a predetermined route. It is assumed that the installation route of the RFID long body is registered in advance in the installation route information database DB2.

  FIG. 9 shows an example of the laying route registered in the laying route information database DB2. The laying route is a route for laying the RFID long body. In the example of FIG. 9, the laying path has four vertices P1, P2, P3, and P4. The vertices are passed through the vertices in the order of P1 → P2 → P3 → P4, and a bent line indicated by a dotted line 50 is shown. The laying route is expressed in minutes. Note that FIG. 9 represents a laying route in a two-dimensional space for the sake of simplification, but a route representation in a three-dimensional space can be similarly expressed using a three-dimensional coordinate value.

  The four vertices P1, P2, P3, and P4 are represented by X-axis coordinates and Y-axis coordinates, respectively, as shown in FIG. That is, in the laying route information database DB2, the four vertices P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), and P4 (x4, y4) are the X-axis coordinate and the Y-axis, respectively. It is created and registered in advance as position information expressed by coordinates. These are only the position information of the vertices, but if the position information is recognized as continuous information, it can be used as route information.

  At the laying site, the RFID elongate body 26 is unwound from the winding bobbin 49 of FIG. 7 and laid along the laying path. At this time, the RFID ID information of the start point and end point of the long body to be laid is obtained.

  For example, it is assumed that an RFID long body in which information of FIG. 8 is registered is laid along a route. Assume that after reading the RFID at the start position of the RFID long body 26 after laying, [1FBA], and when reading the RFID at the end position, [10A1]. In this case, the long RFID body laid is the long RFID body to which the RFIDs (251) to (671) in FIG. 8 are attached.

  As described above, the long body which is the premise in the present invention, and the manufacture and installation thereof have been described with reference to FIGS.

  Next, functions, processing flows, or data to be provided as a position detection device that detects a position using a signal from an RFID attached to a long body will be described with reference to FIGS. 1 and 10 to 14.

  FIG. 1 is a diagram showing a function to be provided as a position detection device of the present invention as a processing flow. In FIG. 1, DB1 is an RFID arrangement distance information database, and the storage contents and the creation method are as already described with reference to FIGS. DB2 is a laying route information database, which is laying site route information as exemplified in FIG. These two databases are prepared before laying.

  On the other hand, at the time of laying the long body, the ID information of the start point and the end point of the long body to be laid is obtained. In FIG. 1, reference numeral 3 denotes ID information input means for starting and ending the long body laid.

  The RFID position estimation unit 4 other than the reference RFID in FIG. 1 estimates an arbitrary RFID position from the above-described known information in the databases DB1 and DB2 and the installation time information from the ID information input means 3, and the RFID position information Database DB3 is constructed.

  Next, a method for creating arbitrary RFID position information stored in the RFID position information database DB3 will be described with reference to FIGS.

  FIG. 10 is a processing flow of the RFID position estimation unit 4 other than the reference RFID. In processing step S60 of FIG. 10, the lengths L1, L2, and L3 of the laying path line segments shown in FIG. 9 are obtained. As shown in FIG. 9, the lengths L1, L2, and L3 of the laying route line segments are four vertices P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), and P4, respectively. (X4, y4) is the distance, the length L1 of the line segment is between the vertices P1-P2, L2 is the length between the vertices P2-P3, and L3 is the length between the vertices P3-P4. This process is to obtain the distance between vertices on the facility route planned and planned in advance.

  For example, in the case of L1, it is obtained as in equation (1). Needless to say, L2 and L3 can be obtained in the same manner by changing the position coordinates of the start and end points of the line segment. In FIG. 9, the lengths L1, L2, and L3 of each line segment are expressed by the equation (1).

  This calculation is performed using the position information stored in the laying route information database DB2, and is the actual laying route length calculated based on the planned laying design route. The upper part of FIG. 12 shows the points P1, P2, P3, P4 and the lengths L1, L2, L3 of the line segments when the line segments are extended and arranged in a straight line.

  On the other hand, attention is paid to the distance information (column 903 in FIG. 8) of the RFID elongate body stored and stored in the RFID arrangement distance information database DB1, which is another database. In FIG. 8, the vertical column 901 indicates the serial number indicating the order of the RFID embedded in the long body, the vertical column 902 indicates the ID information of the read RFID, and the vertical column 903 indicates the distance at which the ID information is read. Have been described.

  The serial numbers 903 at the start point P1 and the end point P4 when laid on the planned route in FIG. 9 are 251 and 671, respectively. At this time, the distance (903) from the head of the long body was (6025 cm) and (17002 cm), respectively. Therefore, the difference in the distance between them is the distance between the start point P1 and the end point P4 on the laid long body.

  As can be understood from the above explanation, the line segment obtained by the equation (1) is the ideal length obtained from the plan value to the last, and since the long body cannot actually be arranged in a straight line, There is a difference in the distance or position between the two.

  Therefore, in the processing step S61, the length of the line segment on the long body corresponding to the length L1, L2, L3 (FIG. 11) of the laying path in FIG. Calculated by Specifically, the distance difference (the difference between (6025 cm) and (17002 cm)) CL on the laid RFID elongate body is divided at a ratio of L1: L2: L3, and the length obtained by dividing the RFID elongate body is determined. , CL1, CL2, CL3. CL2 and CL3 can be obtained by changing L1 of the numerator of formula (2) to L2 and L3.

  From this calculation result, the start point distance (83) of the RFID long body corresponding to the line segment P2-P3 of the laying path and the start point distance (84) corresponding to the line segment P3-P4 are obtained from the divided length. In the lower part of FIG. 12, the distances CL1, CL2, CL3 and the position (83-86) thus obtained are shown in a straight line.

  In this case, the length L of the entire laying path is equal to the entire length CL of the laid RFID long body unless the RFID long body expands or contracts, and L1 = CL1, L2 = CL2, L3 = CL3. However, in practice, such processing is performed in consideration of the fact that the RFID elongate body does not become equal due to sagging or stretching during installation.

  Next, in processing step S62, it is determined to which line segment each RFID registered in the RFID arrangement position information DB1 belongs based on the divided lengths CL1, CL2, CL3. This is a material for determining which of the following line segments the interpolation function belongs to.

  In process step S63, the equation of the straight line of each line segment is obtained by parameter display. This linear equation is an interpolation function for determining where the RFID is located on the straight line. By displaying the parametric variable, the parametric variable t = 0 can be expressed at the start position of the line segment, and t = 1 can be expressed at the end position. Further, since the line segment can be divided by the ratio of the parametric variable t, the coordinate value on the line segment can be obtained at the same ratio as the distance information registered in the RFID arrangement position information DB1.

  For example, the equation of the straight line of the line segment P1-P2 is as shown in equation (3). Similarly, the straight line equations of the line segment P2-P3 and the line segment P3-P4 can be obtained by changing the coordinate value of the start and end points, and (X2 (t), Y2 (t)), (X3 (t), Y3 (t)).

  In process step S64, the value of the parameter on the line segment is obtained from the distance of the RFID for which the position from the dividing point of the RFID long body is to be obtained. That is, in the section of the length CL1, the distance to the RFID placement position is obtained on the basis of the distance (6025 cm) of the start point ID (the serial number 251 in FIG. 8, and hence the RFID having the ID of 1FBA). In the sections of the lengths CL2 and CL3, the distance to the RFID placement position is obtained on the basis of the distance between the start position (83 and 84) of each section.

In the lower line segment of FIG. 12 showing the display on the long body, if the RFID is at the position 87 and the distance from the starting point 85 is CL1n, the line segment length CL1 of this section is 87. Is the right side of equation (4). This value correctly represents the value of the parameter t _n .

In the processing step S65, the obtained parameter t _n is used to convert the position in the two-dimensional coordinate system according to the equation (5). Similar processing is executed for the other divided sections to convert them into positions in the two-dimensional coordinate system.

  In the processing step S65, the coordinate value thus obtained is registered in the RFID position information database DB3.

  FIG. 13 shows an example of the RFID position information database DB3 after the conversion processing to the coordinate position. By the processing of the RFID position estimation unit 4 other than the reference RFID whose processing flow is shown in FIG. 10, a column 906 relating to the position is added in addition to the stored information of FIG. Further, in this process, since the portions of the horizontal columns (251) to (672) are used for laying the long body, the position coordinate value is added to the vertical column 906 in the meantime.

  In this process, the position of the RFID in the middle is estimated using the positions 85 and 86 in FIG. 11 as reference points. However, sagging or stretching of the RFID elongate body may occur locally. Therefore, such a problem can be solved by using the points P2 and P3, which are reference points in the middle of the route, as additional reference points. In this case, the estimation accuracy is improved because the RFID position is estimated using the point P1 as the start point position and the point P2 as the end point position. In the above description, the bending point is used as the reference point. However, when the RFID elongate body passes the reference point whose position is known even on the straight path, the position may be estimated using the position as a new start point or end point. .

  In addition, the linear function shown in the equation (3) is shown as an example of the interpolation function, but the curve portion or the like is not a linear function (primary function), but the accuracy is better when a curve near function such as a polynomial or spline function is used. improves. In such a case, the same processing can be performed by selecting an interpolation function suitable for the laying route.

  By the processing so far, creation of the database DB3 of position information corresponding to the RFID ID information is completed. The range which has been executed by the processing so far and has established information is indicated by a dotted line as 9 in FIG. The above function is a part related to the creation of the database DB3 of the position information corresponding to the RFID ID information, among the functions to be provided as the position detection device, and subsequently using this database, the ID of the RFID long body laid A process for reading the information and detecting the position will be described with reference to FIG.

  In FIG. 1, an RFID reading means 6 is a device that reads an RFID attached to an RFID long body. A block diagram of the reader is shown in FIG. 90 is an RFID long body after laying, 93 is an RFID inlet whose position is to be measured, 91 is a reading antenna, 92 is an RFID reader, and 94 is a PC for controlling the RFID reader.

  When the user holds the reading antenna 91 over the position of the RFID inlet 93, the RF signal of the RFID reader 92 is transmitted from 91 and a response signal in which ID information is encoded is returned from 93. After receiving this, the RFID reader 92 decrypts it and outputs it to the control PC 94 as received ID information. This is the ID information input means for the start and end points of the long body laid. In the case of a long body using a barcode, the same processing can be executed by using the RFID reader portion as a barcode reader.

  Next, processing in the means 7 for searching for a position from the ID shown in FIG. 1 is executed. This process is a process of searching for position information corresponding to the ID information based on the ID information. For example, when the position information database DB3 corresponding to the RFID ID information is used, it is assumed that the RFID ID information [EF86] is received. Then, the search means 7 searches [EF86] from the column (253) and outputs (141, 251) which are position coordinates corresponding to this ID. This search process can also be processed by the control PC 94 in FIG. Further, the RFID position information database DB3 may be recorded in a built-in storage device of the PC 94, or may be recorded in an external storage device via a network or the like. Such processing is performed, and finally the position output 8 in FIG. 1 is output.

  According to the present embodiment, it is possible to estimate the spatial position of each RFID after laying from the laying route information (database DB1) and the RFID arrangement distance information (database DB2) of the RFID elongate body, By reading the RFID of the RFID elongate body, it is possible to detect the position in the space of the read point.

  Finally, examples of position detection utilization and specific detection methods will be described with reference to the drawings. FIG. 15 shows an example in which a position is detected using an RFID long body (RFID cable) of a cable. FIG. 15 is a layout diagram in a building. In this figure, 130 is a device A, and 134 is a control panel A, and these are wired along a cable tray 132 surrounded by a dotted line. The cable tray 132 is registered as a wiring route and is a cable laying route. Reference numeral 137 denotes an installed RFID cable, and there are other devices 138 other than the installed route, and the cable cannot pass therethrough.

  The RFID cable 137 starts from a position 135 with ID “a” and ends at a position 134 with ID “k”, and RFIDs with ID: b to ID: j are appropriately arranged therebetween. Therefore, the position information at each point can be estimated using the procedure described in FIG. Although the position coordinates of the device and cable tray are not clearly shown in the figure, they can be read from the drawings and internal data. Further, regarding the bending point, the position of the bending point of the cable tray can be used as a representative point.

  At the time of use for specifying the position information, the RFID ID information at an arbitrary position in the RFID cable 137 may be read using the apparatus shown in FIG. 14, and the RFID position information database DB3 may be referred to. For example, if the position 133 with ID “g” is read, the position coordinates (XXcm, YYcm, ZZcm) can be obtained by referring to the RFID position information database DB3.

  Further, for example, the position 136 where the ID is f is the bending point of the cable tray, and the accurate position coordinates can be read by referring to the drawing. Therefore, as described above, it is possible to perform an operation for improving the position accuracy by performing an RFID position estimation process using ID: g as a new start point / end point position.

  In addition, it can be used as a guide when a new cable is laid using position information acquired using an RFID cable. For example, in FIG. 15, it is assumed that a cable is laid from the control panel A (131) to the device B (1303). In this case, there is a route B (139) nearby in addition to the correct route A (1301).

  If the shapes near the two paths are very similar, there is a possibility of laying cables in the wrong path. Therefore, an accurate route is selected by reading the RFID of the RFID cable 137 that has already been laid. For example, when the position 133 whose ID is g is read, it is determined that the branch point is an accurate route, so that the route A (1301) can be branched and laid. In this case, the building layout diagram as shown in FIG. 15 is stored together with the coordinate information, the entrance coordinates of the route A are stored in advance, and it is known in advance that the ID is near the position 133 of g. Needless to say. In this determination process, if the ID is e and the position 1302 is read, it is found that this is not the branch point of the route B (139) to be newly laid, and the laying is performed again. It is possible to branch from the place where the ID is g. Thus, the present invention can also be used for a cable (entire long body) laying support system.

  As another application, the system can be used as a system for determining whether or not an RFID cable is laid according to a laying route (construction drawing). In the cable layout after laying in FIG. 16, 145 indicated by a dotted line is a route of the construction drawing, and 140 indicated by a solid line is the route actually laid. In this case, for example, a position difference 143 occurs between the position information obtained by reading e as the ID and the position information of the actual route. If the difference 143 is greater than or equal to the reference value, it can be determined that the laying route is incorrect.

  Further, it is assumed that the remainder 144 of the cable is wound. In the case of a cable that causes a failure by winding the cable, there is a risk of an accident if such construction is performed. The position 146 where the ID is h passes on the laying path 145 indicated by the dotted line, and cannot be determined visually when the wound portion 144 is not visible. However, by reading the position where the ID is h and referring to the RFID position information database DB3, the position coordinates where the ID is h are located far away from the currently existing position. Therefore, it is possible to determine that there is an error in the route on the way by reading the position where the ID is h and comparing it with the actual position.

  As another application, an example used when navigation / position detection of a moving body such as a person, a robot, or a vehicle will be described with reference to FIG. In FIG. 17, reference numeral 151 denotes an RFID long body laid on the floor, and reference numeral 150 denotes a marker used for guiding the laying path. If the position of the marker 150 is accurately measured, the RFID position of the RFID long body other than the marker can be estimated by performing the procedure of FIG. Reference numeral 152 denotes a robot as an example of a moving object. An RFID reader 153 is attached to the robot 152 and can read ID information of an RFID long body embedded in the floor. Therefore, it is possible to detect the position of the user based on the ID information and to proceed along the target movement route 154. In this way, it can be used as position detection means for the position detection of the moving body and the navigation system.

  FIG. 18 illustrates an example in which the position obtained with the RFID long body is used as a reference point of a position detection beacon transmission device. When a passive RFID is used, the position detection becomes difficult if the communication distance is very narrow and the RFID is separated from the long elongate body. Therefore, it is used in combination with a position detection device using a beacon that can detect a position even at a long distance.

  Reference numeral 166 denotes an RFID long body, and the RFID is embedded at positions 163, 164, and 165. The beacon device 1600 includes an ID reader 162, a modulator 161, and an LED 160. The beacon device 1600 is installed at the ID position 163, the ID is read using the ID reader 162, and the LED 160 is blinked via the modulation device 161. That is, the ID information at the position 163 is transmitted by blinking using the LED 160. The blinking information of the LED 160 is captured by the video camera 167. From the moving image, ID information is extracted from the ID information at the position 163 using the decoding device 168. In the process 169, the back projection transformation is used from the position obtained by referring to the RFID position information database DB3 from the position of each photographed LED on the image and the ID of the LED (= RFID ID of the RFID elongate body). Estimate shooting.

  In this case, the detection position accuracy depends on the position accuracy of the beacon. Surveying the laying position of the beacon is a very time-consuming work, but the survey of the position is completed simply by finding the RFID long body that passes through the wall, floor, and ceiling and installing the beacon 1600 at that position. Reduces man-hours. Further, since the position setting of the beacon can be easily performed, it is possible to move the beacon arranged in a place where it cannot be seen from the shooting place.

  The present invention is particularly suitable for position measurement in places where measurement by GPS is difficult, such as in buildings, vehicles, and airplanes.

1: RFID arrangement distance information DB
2: Laying route information DB
4: RFID position estimation unit other than the reference RFID 5: RFID position information DB
7: Means for retrieving position from ID 8: Position output

Claims (5)

A long body having a plurality of identification code transmitting means attached in the longitudinal direction, a distance in the longitudinal direction of the long body in which the identification code transmitting means is arranged, and an identification code of the identification code transmitting means are stored in association with each other. 1 of a storage means, second storage means for storing start position information of the vertices of the laying path including the end point as the laying route information of the long body in two-dimensional or three-dimensional space, attached to the elongated body A reading means for reading the identification code of the identification code transmitting means,
Calculating the distance between the vertices on the laying route from the position information of the vertices on the laying route in the second storage means ;
The long body is arranged at the laying site according to the laying path information , the identification code of the identification code transmitting means at the start point and the end point of the long body is read by the reading means, and the first storage means is referred to. Find the distance between the start point and end point of the long body ,
Further, from the distance between the vertices on the laying path obtained from the position information of the vertices on the laying path, and the distance between the start point and the end point in the long body , the distance between the vertices in the long body is calculated, According to the distance from the start point or end point of the scale to the calculated vertex, obtain the identification code of the identification code transmitting means of the calculated vertex with reference to the first storage means ,
A position detection system by means of an identification code transmission means characterized in that position information on the laying path is given to the identification code of the identification code transmission means to obtain a third storage means . In the position detection system by the identification code | symbol transmission means of Claim 1 ,
The long body is made of a material that can be arranged in a curved line. In the position detection system by the identification code | symbol transmission means of Claim 1 or Claim 2 ,
A position detection system using an identification code transmission means, wherein the detected position information is used as navigation for a laying route or a moving route. Using the position information of the identification code transmission means obtained in the position detection system using the identification code transmission means according to claim 1 or claim 2, the route actually laid and the route at the time of the floor design drawing are compared, and the difference between the routes An installation support system characterized by determining that the installation route is an error when the value is equal to or greater than a predetermined value. By using the location information of the identification code transmitting means determined in the position detection system according to the identification code transmitting means according to claim 1 or claim 2, characterized in that to measure the position as a reference point for another position detecting means Position detection system .

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