JP5712569B2 - Moving object identification system, moving object identification device, and moving object identification program - Google Patents

Description

  The present invention relates to a moving object specifying system, a moving object specifying device, and a moving object specifying program.

  A technique for detecting the moving direction of a moving object such as a human is known. An example of such a technique is detecting the moving direction of a moving object using detection results of a geomagnetic sensor and an acceleration sensor provided in a mobile terminal carried by the moving object.

  A technique for identifying each of a plurality of moving objects is also known. As such a technique, for example, first, information on an acceleration sensor attached to a moving object and information on acceleration of the moving object obtained by processing a moving image from a stereo camera that images the moving object are collated. . When the information of the acceleration sensor and the information of the acceleration of the moving object obtained by processing the moving image match, the following processing is performed. That is, each of the plurality of moving objects is specified by associating the identification information of the moving object included in the information of the acceleration sensor with the position of the moving object included in the moving image from the stereo camera.

JP 2009-136991 A JP 2004-274101 A

  However, the above-described technique has a problem that each of the moving objects cannot be specified when there are a plurality of moving objects having the same or similar moving state. Here, the moving state is a physical quantity indicating the moving state of the moving object. An example of such a physical quantity is a velocity vector. The velocity vector indicates the magnitude of the velocity and the traveling direction. When the moving object is stationary, the velocity vector is a zero vector. Other examples of the physical quantity include an acceleration vector and a velocity vector trajectory at a predetermined time.

  The above problem will be described. In the above technique, when there are a plurality of moving objects having the same or similar moving state, the information obtained from the acceleration sensor attached to these moving objects and the moving image from the stereo camera are obtained. The result of collation with the acceleration information of the moving object is as follows. That is, the information of the plurality of acceleration sensors matches the acceleration information of one moving object obtained by processing the moving image. Therefore, in the above technique, when there are a plurality of moving objects having the same or similar moving state, a plurality of pieces of moving object identification information associated with the position of one moving object exist. Therefore, in the above technique, when there are a plurality of moving objects having the same or similar moving state, each of these moving objects cannot be uniquely specified.

  The disclosed technology has been made in view of the above, and an object thereof is to provide a moving object specifying system, a moving object specifying device, and a moving object specifying program capable of specifying each of a plurality of moving objects. .

  In one aspect, a moving object specifying system disclosed in the present application includes a plurality of portable terminals carried by each of a plurality of moving objects, and a specifying device. Each of the plurality of portable terminals includes a first detection unit and a transmission unit. The first detection unit detects a movement state of the mobile terminal itself. The transmission unit transmits identification information for identifying the movement state detected by the first detection unit and the mobile terminal itself. The identification device includes a second detection unit, a reception unit, a first identification unit, an acquisition unit, and a second identification unit. The second detection unit detects a movement state and a position of each of the plurality of moving objects. The receiving unit receives the movement state and identification information transmitted from the transmitting unit. The first specifying unit detects a moving object in which the moving state detected by the second detecting unit and the moving state received by the receiving unit are the same or similar, and the position is detected by the second detecting unit. The identification information of the detected moving object is specified. The acquisition unit performs the following process when a plurality of moving objects having the same or similar movement state are detected by the first specifying unit. That is, the acquisition unit calculates a distance between a predetermined node and a plurality of other nodes among a plurality of nodes including the plurality of portable terminals and the specific device carried by the plurality of moving objects. Acquired in association with identification information. The second specifying unit matches a distance for each acquired identification information among combinations in which the plurality of portable terminals are arranged at positions detected for the plurality of portable terminals among the plurality of nodes. A combination to be calculated is calculated, and identification information of the moving object at each position is specified.

  According to one aspect of the moving object specifying system disclosed in the present application, each of a plurality of moving objects can be specified.

FIG. 1 is a diagram illustrating the configuration of the moving object identification system according to the first embodiment. FIG. 2 is a diagram illustrating the configuration of the mobile terminal in the moving object identification system according to the second embodiment. FIG. 3 is a diagram illustrating the configuration of the moving object specifying device in the moving object specifying system according to the second embodiment. FIG. 4 is a diagram for explaining a person detection procedure in the LRF. FIG. 5 is a diagram for explaining a person detected by the moving object specifying device in the moving object specifying system according to the second embodiment. FIG. 6 is an example of the locus of the person's position and velocity vector detected by the moving object identification device of the second embodiment. FIG. 7 is an example of an ID and velocity vector trajectory transmitted by the mobile terminal of the second embodiment. FIG. 8 is a diagram for explaining the calculation procedure of the correlation value. FIG. 9 is a diagram for explaining the calculation procedure of the correlation value. FIG. 10 is a diagram illustrating an example in which a plurality of persons having different movement states exist in the moving object identification system according to the second embodiment. FIG. 11 is an example of a locus of a person's position and velocity vector detected by the moving object identification device according to the second embodiment. FIG. 12 is an example of an ID and velocity vector locus detected by the mobile terminal of the second embodiment. FIG. 13 is a diagram for explaining an example when the trajectories of speed vectors of a plurality of mobile terminals are the same or similar. FIG. 14 is a diagram illustrating an example of a detected position and a velocity vector locus. FIG. 15 is a diagram illustrating an example of an ID and a velocity vector trajectory transmitted from the mobile terminal to the moving object identifying device. FIG. 16 is a diagram for explaining an example of processing performed by the second specifying unit. FIG. 17 is a diagram for explaining an example of processing performed by the second specifying unit. FIG. 18 is a diagram for explaining an example of processing performed by the second specifying unit. FIG. 19 is a diagram for describing an example of processing performed by the second specifying unit. FIG. 20 is a diagram for explaining an example of processing performed by the second specifying unit. FIG. 21 is a flowchart illustrating the procedure of the moving object specifying process according to the second embodiment. FIG. 22 is a flowchart illustrating the procedure of the moving object specifying process according to the second embodiment. FIG. 23 is a flowchart illustrating the procedure of the moving object specifying process according to the second embodiment. FIG. 24 is a block diagram illustrating a configuration of a mobile terminal according to an application example of the second embodiment. FIG. 25 is a block diagram illustrating a configuration of the moving object identification device according to the application example of the second embodiment. FIG. 26 is a part of a flowchart illustrating the procedure of the moving object specifying process according to the application example of the second embodiment. FIG. 27 is a diagram illustrating an example of a case where a service is not performed on a moving object at a predetermined speed or higher. FIG. 28 is a block diagram illustrating the configuration of the moving object identification device according to the third embodiment. FIG. 29 is a diagram illustrating an example where the observation target object is moved by the moving object. FIG. 30 is a flowchart illustrating a procedure of log generation processing according to the third embodiment. FIG. 31 is a diagram illustrating a computer that executes a moving object specifying program.

  Embodiments of a moving object identification system disclosed in the present application will be described below in detail with reference to the drawings. Note that this embodiment does not limit the disclosed technology. Each embodiment can be appropriately combined within a range in which processing contents are not contradictory.

[Configuration of moving object identification system]
FIG. 1 is a diagram illustrating the configuration of the moving object identification system according to the first embodiment. A moving object specifying system 1 shown in FIG. 1 includes a plurality of portable terminals 2A to 2D and a specifying device 3. The moving object identification system 1 according to the present embodiment is configured such that each of the moving objects is the same or similar even if the movement states of the plurality of moving objects are the same or similar among the plurality of moving objects respectively carrying the plurality of mobile terminals 2A to 2D. The identification information is specified. Note that the portable terminals 2A to 2D are collectively referred to as the portable terminal 2 when they are described without distinction. In this embodiment, an example in which there are four mobile terminals 2 and one specific device 3 will be described. However, the number of mobile terminals 2 and specific devices 3 is not limited to this, and any number may be used. Good.

  The portable terminal 2 is carried by a moving object. Examples of such a moving object include a person, an animal, and a robot, but the moving object is not limited to this. As the moving object, any object can be adopted as long as it is a moving object. As illustrated in FIG. 1, the mobile terminal 2 includes a first detection unit 4 and a transmission unit 5. Among these, the 1st detection part 4 detects the movement state which is a physical quantity which shows the movement state of portable terminal 2 itself. For example, the first detection unit 4 detects the trajectory of the velocity vector of the mobile terminal 2 itself. Here, the time from the start point to the end point of the velocity vector locus is a predetermined time, for example, 2 seconds, but is not limited to this value. In addition, the movement state which the 1st detection part 4 detects is not restricted to this. For example, the first detection unit 4 may detect the acceleration vector of the mobile terminal 2 itself, or may detect the velocity vector of the mobile terminal 2 itself. Further, the first detection unit 4 may detect the locus of the acceleration vector of the mobile terminal 2 itself. With respect to the locus of the acceleration vector, the time from the start point to the end point is a predetermined time, for example, 2 seconds, but is not limited to this value. Here, since the portable terminal 2 is carried by a moving object, the first detection unit 4 detects the movement state of the moving object that carries the portable terminal 2 itself by detecting the movement state of the portable terminal 2 itself. Will be.

  The transmission unit 5 transmits to the identification device 3 identification information for identifying the moving state detected by the first detection unit 4 and the moving object that carries the portable terminal 2 itself. For example, the transmitting unit 5 uses, as identification information, identification information indicating the mobile terminal 2 itself such as a terminal MAC address (Media Access Control Address) or a unique ID number recorded on a SIM card (Subscriber Identity Module Card). It transmits to the specific apparatus 3 with a movement state. Moreover, the transmission part 5 may transmit the identification information which shows the moving object which carries the portable terminal 2, such as ID number of the user who is a moving object, for example as identification information.

  In this way, from each mobile terminal 2, the mobile terminal 2 itself has a moving state, that is, a moving state of the mobile object carrying the mobile terminal 2 and identification information for identifying the mobile object carrying the mobile terminal 2. It is transmitted to the specific device 3.

  Next, the specific device 3 according to the present embodiment will be described. As illustrated in FIG. 1, the identification device 3 includes a second detection unit 6, a reception unit 7, a first identification unit 8, an acquisition unit 9, and a second identification unit 10. Among these, the 2nd detection part 6 detects each moving state and position of a several moving object. For example, the second detection unit 6 detects the moving state and position of the moving object existing within the search range of the LRF based on the laser beam emitted from the LRF (Laser Range Finder) and reflected from the moving object. To do. In addition, the 2nd detection part 6 is not restricted to this. For example, the second detection unit 6 detects the position and moving state of the moving object included in the image, which is captured by the stereo camera and includes the moving object existing within the imaging range of the stereo camera. Image processing is performed to detect the moving state and position of the moving object.

  In the example of FIG. 1, the detected position of the moving object carrying the mobile terminal 2A is (x1, y1). In the example of FIG. 1, the detected position of the moving object that carries the mobile terminal 2B is (x2, y2). Further, in the example of FIG. 1, the detected position of the moving object carrying the mobile terminal 2C is (x3, y3). In the example of FIG. 1, the detected position of the moving object that carries the mobile terminal 2D is (x4, y4). However, the 2nd detection part 6 only detects the position of a moving object, and cannot identify the identification information previously given to portable terminal 2A-2D. In the following description, the identification information given to the portable terminal 2A is “ID.1”, the identification information given to the portable terminal 2B is “ID.2”, and the identification information given to the portable terminal 2C is “ ID.3 ”and the identification information given to the portable terminal 2D are“ ID.4 ”.

  Further, it is preferable that the second detection unit 6 detects a movement state of the same type as the movement state detected by the first detection unit 4. The reason for this is to facilitate the calculation of the correlation value or the similarity with respect to the movement state detected by each of the detection units by the first specifying unit 8 described later.

  The receiving unit 7 receives the movement state and identification information transmitted from the transmitting unit 5. The 1st specific | specification part 8 hold | maintains beforehand the information which shows the correspondence of the identification information of the portable terminal 2, and the moving object which carries the portable terminal 2 which this identification information shows. Then, when the received identification information is the identification information of the mobile terminal 2, the first specifying unit 8 identifies a moving object corresponding to the received identification information from the correspondence relationship held in advance.

  Then, the first specifying unit 8 detects a moving object in which the moving state detected by the second detecting unit 6 and the moving state received by the receiving unit 7 are the same or similar. An example of a method for detecting a moving object having the same or similar moving state will be described. In an example of the detection method, first, a correlation value or similarity between the movement state detected by the second detection unit 6 and the movement state received by the reception unit 7 is calculated. In an example of the detection method, when the degree of similarity indicated by the calculated similarity is greater than the predetermined degree of similarity, or when the degree of correlation indicated by the calculated correlation value is greater than the degree of predetermined correlation. , It is determined that both moving states are the same or similar. Subsequently, in an example of the detection method, a moving object that is determined to have the same or similar movement state is detected.

  Then, the first specifying unit 8 specifies the identification information of the moving object whose position is detected by the second detection unit 6. For example, the first specifying unit 8 uses the identification information for identifying the moving object determined to have the same or similar moving state as the second detection of the moving object determined to have the same or similar moving state. The identification information corresponding to the position detected by the unit 6 is specified.

  Here, in the example of FIG. 1, the moving state of each moving object that carries each of the portable terminals 2A, 2B, and 2C is the same or similar, and the moving state of the moving object that carries the portable terminal 2D is the portable terminal 2A. The case will be described below assuming a case where the moving state of each moving object carrying each of ˜2C is different. In this case, the 1st specific | specification part 8 is the identification transmitted from the transmission part 5 of portable terminal 2D to the position (x4, y4) detected by the 2nd detection part 6 of the moving object which carries portable terminal 2D. The identification information corresponding to the portable terminal 2D is specified by associating the information “ID.4”. That is, the mobile terminal 2D existing at the position (x4, y4) can be specified as the mobile terminal having the identification information “ID.4”.

  On the other hand, about the several moving object which carries each of portable terminal 2A-2C, a movement state is the same or similar. For this reason, the 1st specific | specification part 8 has each of portable terminal 2A-2C in each of the position (x1, y1), (x2, y2), (x3, y3) detected by the 2nd detection part 6. Each piece of identification information transmitted from the transmission unit 5 and received by the reception unit 7 cannot be uniquely associated.

  Therefore, in this embodiment, the acquisition unit 9 and the second specifying unit 10 illustrated in FIG. 1 specify the identification information of each position of the moving object whose movement state is the same or similar.

  The acquisition unit 9 performs the following process when the first specifying unit 8 detects a plurality of moving objects having the same or similar movement state. That is, the acquisition unit 9 determines the distance between a predetermined node and other nodes among a plurality of nodes including the plurality of mobile terminals 2 and the specific device 3 carried by the plurality of moving objects. Acquired in association with the identification information. Here, when the node is the portable terminal 2, “node identification information” is identification information transmitted by the transmission unit 5 of each portable terminal 2 described above. When the node is the specific device 3, “node identification information” is identification information indicating the specific device 3.

  In the example of FIG. 1, for example, the acquisition unit 9 selects the mobile terminal 2A as a predetermined node. In this case, among the plurality of nodes including the mobile terminals 2A to 2C and the specific device 3, the mobile terminals 2B and 2C and the specific device 3 except for the mobile terminal 2A selected as the predetermined node are other nodes. It becomes.

  Then, the acquiring unit 9 acquires the distance D1 between the mobile terminal 2A and the mobile terminal 2B in association with the identification information “ID.2” corresponding to the mobile terminal 2B. The acquiring unit 9 acquires the distance D2 between the mobile terminal 2A and the mobile terminal 2C in association with the identification information “ID.3” corresponding to the mobile terminal 2C. In addition, the acquisition unit 9 acquires the distance D3 between the mobile terminal 2A and the specific device 3 in association with the identification information indicating the specific device 3. In the example of FIG. 1, the distance D1 is a distance between the position (x1, y1) to the position (x2, y2). In the example of FIG. 1, the distance D2 is a distance between the position (x1, y1) to the position (x3, y3). In the example of FIG. 1, the distance D3 is a distance between the position (x1, y1) to the position (x0, y0).

  The 2nd specific | specification part 10 performs the following processes about several portable terminal 2A-2C among said several node 2A-2C, 3. That is, the 2nd specific | specification part 10 corresponds with the distance for every identification information acquired by the acquisition part 9 among the combinations which arrange | position the some portable terminal 2 in each position detected by the 2nd detection part 6. FIG. Calculate the combination. And the 2nd specific | specification part 10 specifies the identification information of the moving object of each position.

  In the example of FIG. 1, for example, a plurality of mobile terminals 2A to 2C among a plurality of nodes including the mobile terminals 2A to 2C and the specific device 3 are moved to positions (x1, y1), (x2, y2), (x3, There are six combinations arranged in each of y3). Therefore, the second specifying unit 10 determines the distance between the mobile terminal 2A and the mobile terminal 2B, the distance between the mobile terminal 2A and the mobile terminal 2C, and the mobile terminal 2A and the specific device 3 for each of the six arrangements. It is determined whether each of the distances matches each of the distances D1, D2, and D3. And the 2nd specific | specification part 10 is each the distance D1, D2, D3, the distance of 2 A of portable terminals and the portable terminal 2B, the distance of 2 A of portable terminals and the portable terminal 2C, 2 A of portable terminals, and the specific apparatus 3 A combination of arrangements in the case where the distances coincide with each other is specified. And the 2nd specific | specification part 10 pinpoints each of the identification information "ID.1"-"ID.3" corresponding to each position of portable terminal 2A-2C which the specified arrangement | positioning shows. As described above, the second specifying unit 10 arranges the combinations that match the acquired corresponding distance among the combinations that arrange the mobile terminals 2 of the respective nodes, that is, the combinations that match the actual positions of the mobile terminals 2. And identification information corresponding to each position is specified. Therefore, according to the present embodiment, the actual arrangement of the mobile terminal 2 is specified, and the identification information corresponding to each position indicated by this arrangement is specified, so there are a plurality of moving objects having the same or similar movement state. Even then, each of the plurality of moving objects can be specified.

  A process for specifying identification information by the second specifying unit 10 will be described with reference to FIG. For example, the second specifying unit 10 performs the following process for each of the six arrangements. That is, the second specifying unit 10 has the corresponding distances D1, D2, and D3 acquired by the acquiring unit 9 around the respective positions of the mobile terminals 2B and 2C and the specifying device 3 that are other nodes. Each position of each intersection of the circles R1, R2, and R3 having a radius of is calculated. And the 2nd specific | specification part 10 calculates the sum of the distance of each calculated intersection and the position of 2 A of portable terminals which are predetermined nodes about each of six types of arrangement | positioning.

  And the 2nd specific | specification part 10 calculates the combination of arrangement | positioning that the sum of the calculated distance becomes the minimum. And the 2nd specific | specification part 10 specifies each of the identification information "ID.1"-"ID.3" corresponding to each position of portable terminal 2A-2C which the combination of the calculated arrangement | positioning shows. Thus, each position of the moving object detected by the second detection unit 6 and the acquisition unit are calculated by calculating a combination of arrangements that minimizes the sum of the distances between the respective intersections and the position of the predetermined node. Even if an error occurs in the distance acquired by 9, the identification information can be specified.

  As described above, the moving object identifying system 1 according to the present embodiment acquires the distance between a predetermined node and other plural nodes in association with the identification information of the plural nodes, and acquires the mobile terminal 2 of each node. Among the combinations in which the IDs are arranged, a combination that matches the distance for each identification information is calculated. As described above, the moving object specifying system 1 according to the present embodiment is a combination that matches the acquired corresponding distance that matches the actual position of the mobile terminal 2 among the combinations in which the mobile terminals 2 of each node are arranged. The identification information corresponding to each position is specified. Therefore, according to the moving object specifying system 1 according to the present embodiment, the actual arrangement of the mobile terminal 2 is specified, and the identification information corresponding to each position indicated by this arrangement is specified. Even if there are a plurality of moving objects, each of the plurality of moving objects can be specified. Similarly, according to the specifying device 3 according to the present embodiment, each of the plurality of moving objects can be specified even when there are a plurality of moving objects having the same or similar moving state.

  In addition, the moving object identification system 1 according to the present embodiment arranges the plurality of portable terminals 2 at each position detected by the second detection unit 6 for the plurality of portable terminals 2 among the plurality of nodes. The following processing is performed for each combination. That is, the moving object identification system 1 according to the present embodiment is configured so that each intersection point of each circle having a radius corresponding to each distance acquired by the acquisition unit 9 is centered on the position of each of a plurality of other nodes. Calculate the position. Then, the moving object specifying system 1 according to the present embodiment calculates the sum of the distances between the calculated intersections and the position of the mobile terminal 2A, which is a predetermined node, for each of the arrangements of all combinations. Then, the moving object identification system 1 according to the present embodiment calculates a combination of arrangements that minimizes the sum of the calculated distances. Then, the moving object specifying system 1 according to the present embodiment specifies identification information corresponding to each position of the portable terminal 2 indicated by the calculated arrangement combination. As described above, according to the moving object specifying system 1 according to the present embodiment, the detected moving object is calculated by calculating the combination of the arrangements that minimizes the sum of the distances between the respective intersections and the positions of the predetermined nodes. Even if an error occurs in each position and the acquired distance, the identification information can be specified. Similarly, according to the specifying device 3 according to the present embodiment, identification information can be specified even when an error occurs in each position of the detected moving object and the acquired distance.

  In the moving object identification system 1 according to the present embodiment, first, the movement state of the portable terminal 2 itself detected by the portable terminal 2 and the movement state of the moving object carrying the portable terminal 2 detected by the identification device 3. Based on the above, the first specifying unit 8 performs the following processing. That is, the 1st specific | specification part 8 specifies the moving object from which a movement state differs from all the other moving objects. Thereafter, in the moving object specifying system 1 according to the present embodiment, the second specifying unit 10 specifies a plurality of moving objects having the same or similar moving state using the distance for each piece of identification information acquired by the acquiring unit 9. To do. That is, in the moving object specifying system 1 according to the present embodiment, the moving object is specified only from the moving state without acquiring the distance for each identification information from the beginning. And in the moving object specific | specification system 1 which concerns on a present Example, the process which acquires the distance for every identification information is performed with respect to the moving object which could not be specified only by the movement state, and a moving object is specified. Thus, compared with the case where the moving object identification system 1 which concerns on a present Example performs the process which acquires the distance for every identification information with respect to all the moving objects from the beginning, the processing amount of the process which acquires distance is large. The number of moving objects can be specified more quickly. In particular, when the number of moving objects is large, the amount of processing for obtaining the distance for each piece of identification information for all the moving objects becomes large. In addition, since there are a large number of moving objects, there is a high possibility that there are a plurality of other nodes having the same distance from the predetermined node. In such a case, since the moving object cannot be specified, it is necessary to change the mobile terminal 2 or the specific device 3 serving as a predetermined node and perform the process of acquiring the distance for each identification information again. The amount further increases. On the other hand, in the moving object identification system 1 according to the present embodiment, the process of acquiring the distance for each identification information is performed only for the moving object that cannot be specified only by the moving state, not all the moving objects. Even if there are a large number, it is possible to quickly identify moving objects with a smaller amount of processing. Similarly, according to the specifying device 3 according to the present embodiment, a moving object can be specified more quickly.

[Configuration of mobile terminal]
Subsequently, the moving object identification system according to the second embodiment will be described. FIG. 2 is a block diagram illustrating the configuration of the mobile terminal in the moving object identification system according to the second embodiment. A portable terminal 50 shown in FIG. 2 is carried by a person.

  As shown in FIG. 2, the mobile terminal 50 includes an acceleration sensor 51, a geomagnetic sensor 52, a local communication unit 53, a storage unit 54, and a control unit 55.

  Among these, the acceleration sensor 51 is a sensor that detects the acceleration of the mobile terminal 50. The geomagnetic sensor 52 is a sensor that detects the direction of the mobile terminal 50 in a global absolute coordinate system.

  The local communication unit 53 performs wireless communication with the moving object specifying device 20 described later under the control of the communication control unit 55c described later. An example of the communication method of the local communication unit 53 is Bluetooth (registered trademark).

  For example, the local communication unit 53 receives an ID (identifier) response instruction transmitted from the moving object identifying device 20. In addition, the local communication unit 53 receives information indicating that it is a beacon receiving terminal candidate transmitted from the moving object identifying device 20. In addition, the local communication unit 53 receives the distance measurement beacon and the identification information transmitted from the moving object specifying device 20. In addition, the local communication unit 53 receives an instruction transmitted from the moving object identifying device 20 to transmit a distance measurement beacon to a beacon receiving terminal candidate. Moreover, the local communication part 53 receives the beacon and ID for distance measurement transmitted from the beacon transmission terminal candidate.

  In addition, the local communication unit 53 transmits ID 54a, which is identification information stored in the storage unit 54 described later, to the moving object specifying device 20 together with the locus of the velocity vector detected by the detection unit 55a described later. Further, the local communication unit 53 transmits the beacon for distance measurement and the ID 54a to the beacon receiving terminal candidate with a predetermined radio wave intensity. In addition, the local communication unit 53 transmits the received radio wave intensity of the beacon transmitted from the beacon transmission terminal candidate or the moving object specifying device 20 and the associated ID 54 a and identification information to the moving object specifying device 20. Here, the local communication unit 53 is an example of the transmission unit 5 shown in FIG.

  The storage unit 54 is, for example, a semiconductor memory device such as a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 54 is not limited to the above type of storage device, and may be a RAM (Random Access Memory) or a ROM (Read Only Memory).

  The storage unit 54 stores various programs executed by the control unit 55. In addition, the storage unit 54 stores an ID 54 a that is identification information for identifying a person carrying the mobile terminal 50.

  The control unit 55 is, for example, an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array), or an electronic circuit such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

  The control unit 55 has an internal memory for storing programs defining various processing procedures and control data, and executes various processes using these. As shown in FIG. 2, the control unit 55 includes a detection unit 55a, a response unit 55b, and a communication control unit 55c.

  Here, the detection unit 55a illustrated in FIG. 2 is an example of the first detection unit 4 illustrated in FIG. Further, the first detection unit 4 shown in FIG. 1 also corresponds to the acceleration sensor 51 and the geomagnetic sensor 52 shown in FIG.

  Among these, the detection part 55a is a process part which detects the locus | trajectory of the velocity vector (Vx, Vy) of the portable terminal 50 from the detection result of the acceleration sensor 51 and the geomagnetic sensor 52. FIG. Here, the time from the start point to the end point of the velocity vector locus is a predetermined time, for example, 2 seconds, but is not limited to this value. The coordinate system of the velocity vector coordinates obtained in this way is not a local coordinate system when the moving object specifying device 20 is the origin, but a global absolute coordinate system.

  When the response unit 55b receives the ID response instruction from the moving object specifying device 20, the response unit 55b acquires the ID 54a stored in the storage unit 54 and responds with the ID 54a together with the trajectory of the velocity vector detected by the detection unit 55a. It is. For example, when the response unit 55b receives the ID response instruction from the moving object specifying device 20, the response unit 55b outputs the locus of the velocity vector together with the ID 54a to the communication control unit 55c.

  The communication control unit 55 c is a processing unit that controls the local communication unit 53. For example, when the communication control unit 55c receives the ID response instruction transmitted from the moving object specifying device 20, the communication control unit 55c is configured to transmit the velocity vector locus to the moving object specifying device 20 together with the ID 54a input from the response unit 55b. The communication unit 53 is controlled. When the communication control unit 55c receives the beacon transmission terminal candidate and the moving object specifying device 20 from the beacon transmission terminal candidate and the moving object specifying device 20, the communication control unit 55c receives the distance measurement beacon, ID 54a, and identification information. Perform the following process. That is, the communication control unit 55 c transmits the received radio wave intensity of the beacon transmitted from the beacon transmission terminal candidate or the moving object specifying device 20, the associated ID 54 a, and identification information to the moving object specifying device 20. Further, when receiving an instruction to transmit a distance measurement beacon to the beacon receiving terminal candidate, the communication control unit 55c controls the local communication unit 53 to transmit the distance measurement beacon and the ID 54a to the beacon receiving terminal candidate. To do.

[Configuration of moving object identification device]
FIG. 3 is a block diagram illustrating the configuration of the moving object specifying device in the moving object specifying system according to the second embodiment. The moving object identification device 20 shown in FIG. 3 has a plurality of moving objects that carry the plurality of mobile terminals 50, even if the moving states of the plurality of moving objects are the same or similar. The ID 54a corresponding to the position is specified, and the service is provided to each moving object.

  As illustrated in FIG. 3, the moving object identification device 20 includes an LRF 21, a wireless communication unit 22, a communication unit 23, an output unit 24, a storage unit 25, and a control unit 26.

  Among these, the LRF 21 is a device that three-dimensionally reads the shape of an object existing around the moving object specifying device 20 using a laser beam. FIG. 4 is a diagram for explaining a person detection procedure in the LRF. The LRF 21 is installed so that a laser beam can be applied to a leg portion of a person located in the search range for the search range that the LRF 21 itself can detect. As shown in FIG. 4, the LRF 21 forms a fan-shaped search range 30 on the entire surface of the main body with the moving object specifying device 20 as the center.

  The LRF 21 receives the reflected light of the laser beam irradiated to the search range 30. Then, the LRF 21 outputs the light reception data of the reflected light to the detection unit 26a described later. The detection unit 26a detects the person H by detecting the presence or absence of the person H's foot from the received light data. Then, the coordinates of the center of gravity of the person H are detected as the coordinates of the position of the person H by the detection unit 26a. Further, the locus of the velocity vector (Vx, Vy) of the person H is detected by the detection unit 26a. Note that the coordinate system of the coordinates obtained in this way is not a local coordinate system when the moving object specifying device 20 is the origin, but a global absolute coordinate system. That is, the detection unit 26a converts the coordinate system of the detected coordinates into a global coordinate system.

  By using such an LRF 21, the position of the person H away from the moving object identifying device 20 and the trajectory of the speed vector of the person H can be detected at a wide angle. In the present embodiment, the LRF 21 is exemplified as a device for realizing human detection. However, any device may be mounted as long as it can detect the human detection, the movement direction of the person, and the trajectory of the movement speed. . For example, an ultrasonic sensor can be used in addition to various cameras such as a plurality of cameras and an omnidirectional camera. Furthermore, other sensors such as an infrared camera, a microphone, an infrared tag, and an ecological sensor may be used, or a combination thereof may be used.

  The wireless communication unit 22 performs wireless communication with the mobile terminal 50. For example, when an ID response instruction is input from the first specifying unit 26b described later, the wireless communication unit 22 broadcasts this ID response instruction. In addition, when an instruction to transmit a beacon receiving terminal candidate is input to a predetermined portable terminal from the acquisition unit 26c described later, the wireless communication unit 22 indicates that the predetermined portable terminal is a beacon receiving terminal candidate. Send. In addition, when an instruction to transmit a distance measurement beacon to a beacon receiving terminal candidate is input from the acquisition unit 26c described later to a mobile terminal other than the predetermined mobile terminal, the wireless communication unit 22 receives this instruction. Send to other mobile devices. Further, when an instruction to transmit the distance measurement beacon and the identification information of the specific device 20 is input to the beacon receiving terminal candidate from the acquisition unit 26c described later, the wireless communication unit 22 receives the distance measurement beacon to the beacon receiving terminal candidate. Beacon and identification information.

  In addition, when the wireless communication unit 22 receives the received radio wave intensity of the “other node” and the associated ID 54a and the identification information transmitted from the beacon receiving terminal candidate, the wireless communication unit 22 receives and matches the received radio wave intensity of the “other node”. The obtained ID 54a and identification information are transmitted to the acquisition unit 26c described later. Furthermore, when an instruction to transmit content to a predetermined mobile terminal is input from a service providing unit 26e described later, the wireless communication unit 22 transmits the content to the predetermined mobile terminal. Here, the wireless communication unit 22 is an example of the receiving unit 7 illustrated in FIG. 1. In addition, the wireless communication unit 22 is also an example of the acquisition unit 9 illustrated in FIG.

  Returning to the description of FIG. 3, the communication unit 23 performs communication with an external device. For example, the communication unit 23 communicates with the external server 27 via the network 60, thereby identifying corresponding to each position specified by the first specifying unit 26b and the second specifying unit 26d described later. Information is registered in the external server 27.

  The output unit 24 outputs various information. For example, the output unit 24 is a display device, and displays service content input from a service providing unit 26e described later. As such a display device, a display, a monitor, or the like can be applied. The output unit 24 may be a device that outputs sound.

  The storage unit 25 is, for example, a semiconductor memory device such as a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 25 is not limited to the above type of storage device, and may be a RAM (Random Access Memory) or a ROM (Read Only Memory).

  The storage unit 25 stores various programs executed by the control unit 26. The storage unit 25 stores a human detection pattern 25a used for human detection by the detection unit 26a. Furthermore, the storage unit 25 stores a “radio wave intensity-distance conversion table” 25b representing the relationship between the radio wave intensity and the distance. The “radio wave intensity-distance conversion table” 25b includes the beacon reception radio wave intensity of the receiving node that has received the beacon and the two nodes when the distance detection beacon is transmitted from a certain transmission node at a predetermined radio wave intensity. Represents the relationship between the distances. The relationship between the received radio wave intensity and the distance between nodes is measured in advance by experiments.

  In addition, the storage unit 25 also stores content 25a that is video data for guidance for each person identified by the ID 54a. The content 25a may be stored in the storage unit 25 in advance, or may be downloaded from a server device (not shown) at the stage of providing the service.

  The control unit 26 is, for example, an integrated circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA), or an electronic circuit such as a central processing unit (CPU) or a micro processing unit (MPU).

  The control unit 26 has an internal memory for storing programs defining various processing procedures and control data, and executes various processes using these. As shown in FIG. 3, the control unit 26 includes a detection unit 26a, a first specification unit 26b, an acquisition unit 26c, a second specification unit 26d, and a service providing unit 26e.

  Here, the detection unit 26a, the first specification unit 26b, the acquisition unit 26c, and the second specification unit 26d shown in FIG. 3 are respectively the second detection unit 6 and the first specification unit 8 shown in FIG. These are examples of the acquisition unit 9 and the second specifying unit 10. Further, the second detection unit 6 shown in FIG. 1 corresponds to the LRF 21 shown in FIG. 2, but hardware for detecting the movement speed and movement direction of the person is not limited to the LRF 21. As another example, it is good also as acquiring the data for detecting the locus | trajectory of a person's moving speed and a moving direction from the external device connected via the predetermined | prescribed interface or network.

  Among these, the detection unit 26a is a processing unit that detects the locus of the position and velocity vector of the person H by analyzing the light reception data of the reflected light input from the LRF 21.

  Explaining this, the detection unit 26a determines the presence or absence of the foot of the person H from the received light data of the reflected light by pattern matching using the person detection pattern 25a. At this time, when the legs of the person H are detected, it is determined that the person H exists within the search range 30. When the person H is detected in this way, the detection unit 26a further analyzes the light reception data to detect the coordinates of the position of the person H and the locus of the velocity vector (Vx, Vy). The location of the person H obtained in this way is in the global absolute coordinate system. The time from the start point to the end point of the velocity vector locus thus obtained is a predetermined time, for example, 2 seconds. The detection unit 26a can also detect the distance between the moving object identification device 20 and a person.

  FIG. 5 is a diagram for explaining a person detected by the moving object specifying device in the moving object specifying system according to the second embodiment. In the example of FIG. 5, there are five persons A to E within the search range 30 of the LRF 21 of the moving object specifying device 20 in the moving object specifying system 40. In the example of FIG. 5, the trajectories of the velocity vectors of the persons A to E are V1 to V5, respectively.

  In the example of FIG. 5, the detection unit 26 a detects the positions and velocity vector trajectories of the persons A to E. FIG. 6 is an example of the locus of the person's position and velocity vector detected by the moving object identification device of the second embodiment. In the example of FIG. 6, the detection unit 26a detects that a person is present at the position (x1, y1), and indicates that the velocity vector locus V1 of the person existing at the position (x1, y1) is detected. . In the example of FIG. 6, the detecting unit 26a detects that a person is present at the position (x2, y2), and has detected the velocity vector locus V2 of the person existing at the position (x2, y2). Indicates. In the example of FIG. 6, the detection unit 26a detects that a person is present at the position (x3, y3), and has detected the trajectory V3 of the speed vector of the person present at the position (x3, y3). Indicates. In the example of FIG. 6, the detection unit 26a detects that a person is present at the position (x4, y4), and has detected the velocity vector locus V4 of the person existing at the position (x4, y4). Indicates. In the example of FIG. 6, the detecting unit 26a detects that a person is present at the position (x5, y5), and has detected the velocity vector locus V5 of the person existing at the position (x5, y5). Indicates.

  FIG. 7 is an example of an ID and velocity vector trajectory transmitted by the mobile terminal of the second embodiment. In the example of FIG. 7, the mobile terminal 50 indicates that ID: A and the velocity vector locus V′1 of the mobile terminal 50 itself detected by the mobile terminal 50 are transmitted. In the example of FIG. 7, the mobile terminal 50 indicates that ID: B and the velocity vector locus V′2 of the mobile terminal 50 detected by the mobile terminal 50 are transmitted. In the example of FIG. 7, the mobile terminal 50 indicates that ID: C and the velocity vector locus V′3 of the mobile terminal 50 detected by the mobile terminal 50 are transmitted. In the example of FIG. 7, the mobile terminal 50 indicates that ID: D and the velocity vector locus V′4 of the mobile terminal 50 itself detected by the mobile terminal 50 are transmitted. In the example of FIG. 7, the mobile terminal 50 indicates that ID: E and the speed vector locus V′5 of the mobile terminal 50 itself detected by the mobile terminal 50 are transmitted.

  The first specifying unit 26b detects and detects a person whose trajectory of the velocity vector detected by the detection unit 26a and the trajectory of the velocity vector of the mobile terminal 50 received by the wireless communication unit 22 are the same or similar. And a processing unit for identifying identification information corresponding to each position.

  For example, when a person is detected by the detection unit 26 a, the first specifying unit 26 b first inputs an ID response instruction to the wireless communication unit 22. Thereby, an ID response instruction is broadcast from the wireless communication unit 22. Then, the ID 54a which is identification information of the mobile terminal 50 itself from all the mobile terminals 50 existing within a predetermined communication range centering on the moving object specifying device 20 and the speed vector of the mobile terminal 50 itself detected by the mobile terminal 50. The trajectory is answered. Then, the wireless communication unit 22 receives the ID 54 a and the velocity vector trajectory responded by the portable terminal 50. Then, the first specifying unit 26 b acquires the ID 54 a and the velocity vector locus of the mobile terminal 50 from the wireless communication unit 22.

  Subsequently, the first specifying unit 26b compares each of the plurality of velocity vector tracks detected by the detection unit 26a with each of the received velocity vector tracks of the mobile terminal 50, and the degree of similarity. Is calculated. Here, an example of the procedure for calculating the correlation value will be described with reference to FIGS. 8 and 9 are diagrams for explaining the calculation procedure of the correlation value. In the example of FIGS. 8 and 9 described below, the smaller the correlation value, the higher the degree of similarity.

ただし、Ｒ_ｘ（ｔ）は、時刻ｔにおける携帯端末５０の速度ベクトルのＸ成分である。また、Ｓ_ｘ（ｔ）は、時刻ｔにおける検出部２６ａにより検出された速度ベクトルのＸ成分である。なお、変数ｕを−８から７まで変化させているのは、処理対象の２つの速度ベクトルの検出時刻にずれが生じていても、そのずれを許容して適切な相関値を演算するためである。したがって、かかる検出時刻のずれの大きさに応じて、変数ｕの変化の範囲を変更してもよい。 The first specifying unit 26b changes the value of the variable u from a first predetermined value to a second predetermined value, for example, from −8 to 7, the correlation value D (u) indicated by the following equation (1) ) Is lower than a predetermined threshold value.

However, R _x (t) is the X component of the velocity vector of the mobile terminal 50 at time t. S _x (t) is the X component of the velocity vector detected by the detector 26a at time t. The reason why the variable u is changed from −8 to 7 is to allow an appropriate correlation value to be calculated while allowing the deviation even if the detection time of the two speed vectors to be processed is different. is there. Therefore, the range of change of the variable u may be changed according to the magnitude of the detection time deviation.

ただし、Ｒ_ｙ（ｔ）は、時刻ｔにおける携帯端末５０の速度ベクトルのＹ成分である。また、Ｓ_ｙ（ｔ）は、時刻ｔにおける検出部２６ａにより検出された速度ベクトルのＹ成分である。なお、変数ｕ´を−８から７まで変化させているのは、変数ｕの変化の範囲について説明したのと同様に、処理対象の２つの速度ベクトルの検出時刻にずれが生じていても、そのずれを許容するためである。したがって、かかる検出時刻のずれの大きさに応じて、変数ｕ´の変化の範囲を変更してもよい。 And when the peak which becomes lower than a predetermined threshold exists, the 1st specific | specification part 26b performs the following processes further. That is, the first specifying unit 26b correlates the correlation value indicated by the following expression (2) when the value of the variable u ′ is changed from the third predetermined value to the fourth predetermined value, for example, from −8 to 7. It is determined whether there is a peak where D ′ (u ′) is lower than a predetermined threshold.

However, R _y (t) is the Y component of the velocity vector of the portable terminal 50 at time t. S _y (t) is the Y component of the velocity vector detected by the detector 26a at time t. It should be noted that the variable u ′ is changed from −8 to 7 even if the detection time of the two velocity vectors to be processed is deviated in the same manner as described for the range of change of the variable u. This is to allow the deviation. Therefore, the range of change of the variable u ′ may be changed according to the magnitude of the detection time deviation.

  Subsequently, when there is a peak that is lower than a predetermined threshold, the first specifying unit 26b determines that the velocity vector locus detected by the detection unit 26a and the received velocity vector locus of the mobile terminal 50 are It is determined that they are the same or similar. In determining whether or not the trajectories of both speed vectors are the same or similar, the first specifying unit 26b determines whether each of the trajectories of the plurality of speed vectors detected by the detection unit 26a and the received mobile terminal For all combinations with each of the 50 velocity vector trajectories.

  Here, the determination will be described with a specific example. FIG. 10 is a diagram illustrating an example in which a plurality of persons having different movement states exist in the moving object identification system according to the second embodiment. FIG. 11 is an example of a locus of a person's position and velocity vector detected by the moving object identification device according to the second embodiment. FIG. 12 is an example of an ID and velocity vector locus detected by the mobile terminal of the second embodiment.

  In the example of FIG. 10, there are five persons F to J within the search range 30 of the LRF 21 of the moving object specifying device 20 in the moving object specifying system 40. In the example of FIG. 10, the trajectories of the velocity vectors of the persons F to J are V6 to V10, respectively.

  For example, when there are a plurality of persons F to J within the search range 30 as shown in FIG. 10, the first specifying unit 26b has the same trajectory of the speed vector for each of the persons F to J. Alternatively, it is determined whether or not they are similar. Here, it is assumed that the locus of the person's position and velocity vector detected by the detection unit 26a is the locus of the position and velocity vector shown in FIG. Further, it is assumed that the ID 54a and the velocity vector locus detected by the portable terminal 50 are the ID and velocity vector locus shown in FIG.

  In the example of FIG. 11, the detection unit 26a detects that a person is present at the position (x6, y6), and has detected the velocity vector locus V6 of the person existing at the position (x6, y6). Indicates. In the example of FIG. 11, the detecting unit 26a detects that a person is present at the position (x7, y7), and has detected the velocity vector locus V7 of the person existing at the position (x7, y7). Indicates. In the example of FIG. 11, the detection unit 26a detects that a person is present at the position (x8, y8), and has detected the velocity vector locus V8 of the person existing at the position (x8, y8). Indicates. In the example of FIG. 11, the detection unit 26a detects that a person is present at the position (x9, y9), and has detected the velocity vector locus V9 of the person existing at the position (x9, y9). Indicates. In the example of FIG. 11, the detection unit 26a detects that a person is present at the position (x10, y10), and has detected the locus of the velocity vector V10 of the person existing at the position (x10, y10). Indicates.

  In the example of FIG. 12, the wireless communication unit 22 indicates that the ID: F for identifying a person and the velocity vector locus V′6 of the portable terminal 50 detected by the portable terminal 50 are received. . In the example of FIG. 12, the wireless communication unit 22 indicates that the ID: G for identifying a person and the velocity vector locus V′7 of the portable terminal 50 detected by the portable terminal 50 are received. . In the example of FIG. 12, the wireless communication unit 22 indicates that ID: H for identifying a person and the velocity vector locus V′8 of the portable terminal 50 detected by the portable terminal 50 are received. . In the example of FIG. 12, the wireless communication unit 22 indicates that the ID: I for identifying a person and the velocity vector locus V′9 of the portable terminal 50 detected by the portable terminal 50 are received. . In the example of FIG. 12, the wireless communication unit 22 indicates that the ID: J for identifying a person and the velocity vector locus V′10 of the portable terminal 50 detected by the portable terminal 50 are received. .

  In such a case, the first specifying unit 26b, for all combinations of the velocity vector trajectories V6 to V10 and the velocity vector trajectories V'6 to V'10, as described above. The correlation value is calculated. And the 1st specific | specification part 26b performs discrimination | determination about all the combinations whether the locus | trajectory of both speed vectors is the same or similar. In the example of FIGS. 11 and 12, the first specifying unit 26b determines that the velocity vector locus V6 and the velocity vector locus V′6 are the same or similar. 11 and 12, the first specifying unit 26b determines that the velocity vector locus V7 and the velocity vector locus V'7 are the same or similar. In the example of FIGS. 11 and 12, the first specifying unit 26b determines that the velocity vector locus V8 and the velocity vector locus V′8 are the same or similar. In the example of FIGS. 11 and 12, the first specifying unit 26b determines that the velocity vector locus V9 and the velocity vector locus V'9 are the same or similar. In the examples of FIGS. 11 and 12, the first specifying unit 26b determines that the velocity vector locus V10 and the velocity vector locus V′10 are the same or similar.

  Subsequently, the first specifying unit 26b determines that only one velocity vector locus received by the wireless communication unit 22 is similar to or coincides with one velocity vector locus detected by the detection unit 26a. Identifies persons whose trajectories of both velocity vectors are the same or similar. For example, the first specifying unit 26b associates the position where the trajectory of the velocity vector is determined to be the same or similar with the ID 54a. In the example of FIGS. 11 and 12, the position (x6, y6) and ID: F are associated with each other by the first specifying unit 26b. Further, in the example of FIGS. 11 and 12, the position (x7, y7) and the ID: G are associated with each other by the first specifying unit 26b. In the example of FIGS. 11 and 12, the position (x8, y8) and ID: H are associated with each other by the first specifying unit 26b. In the example of FIGS. 11 and 12, the position (x9, y9) and ID: I are associated with each other by the first specifying unit 26b. In the example of FIGS. 11 and 12, the position (x10, y10) and ID: J are associated with each other by the first specifying unit 26b.

  In this way, when the trajectories of the speed vectors of the plurality of persons existing in the search range 30 are different, the first specifying unit 26b specifies all persons existing at the detected position. Can do.

  Then, the first specifying unit 26 b transmits an instruction to transmit the associated position and the ID 54 a to the external server 27 to the communication unit 23. Thereby, the external server 27 registers the identification information corresponding to the position specified by the first specifying unit 26b.

  In addition, in the 1st specific | specification part 26b, when there exist two or more persons with the same movement state, the person who exists in each position cannot be specified uniquely. Accordingly, in order to uniquely associate the position and the identification information when there are a plurality of the same or similar speed vector trajectories among the trajectories of the speed vectors of a plurality of persons existing in the search range 30, the acquisition unit 26c And the 2nd specific | specification part 26d performs the process demonstrated below.

  That is, the acquisition unit 26c associates the distance between a predetermined node and another node among the plurality of nodes including the plurality of mobile terminals 50 and the moving object specifying device 20 existing in the search range 30 with the identification information. Get.

  For example, the acquisition unit 26c selects, as a beacon receiving terminal candidate, one unselected mobile terminal 50 among a plurality of mobile terminals 50 having the same or similar trajectory of the velocity vector. Note that the mobile terminal 50 selected as the beacon receiving terminal candidate receives distance measurement beacons transmitted from the other mobile terminals 50 and the specific device 20 which are other nodes. Each beacon is assigned ID 54a held by the transmitting node and identification information of the moving object specifying device 20.

  And the acquisition part 26c inputs the instruction | indication which transmits that it is a beacon receiving terminal candidate to the wireless communication part 22 to the portable terminal 50 of a beacon receiving terminal candidate. Subsequently, the acquisition unit 26c selects the mobile terminal 50 other than the beacon receiving terminal candidate as the beacon transmitting terminal candidate. Thereafter, the acquisition unit 26c inputs an instruction to the wireless communication unit 22 to transmit a beacon for distance measurement to the beacon receiving terminal candidate with a predetermined radio wave intensity with respect to the mobile terminal 50 selected as the beacon transmitting terminal candidate.

  A specific example will be described. FIG. 13 is a diagram for explaining an example when the trajectories of speed vectors of a plurality of mobile terminals are the same or similar. In the example of the moving object specifying system shown in FIG. 13, among the persons I to M existing in the search range 30, the persons I, J, and K continue to stand still, and the person L and the person M have different speeds and traveling directions. Move. In addition, each of the persons I to M carries each of the portable terminals 50i to 50m. In the example of FIG. 13, the person L and the person M move differently from other persons existing in the search range 30. Therefore, in the example of FIG. 13, for the person L and the person M, the position and ID 54a are associated with each other in the first specifying unit 26b.

  In the case of the example of FIG. 13, the position detected by the detection unit 26a and the trajectory of the velocity vector will be described. FIG. 14 is a diagram illustrating an example of a detected position and a velocity vector locus. In FIG. 14, the detection unit 26a detects that a person is present at the position (x11, y11), and indicates that the velocity vector locus V11 of the person existing at the position (x11, y11) is detected. In the example of FIG. 14, the detection unit 26a detects that a person is present at the position (x12, y12), and has detected the velocity vector locus V12 of the person existing at the position (x12, y12). Indicates. In the example of FIG. 14, the detection unit 26a detects that a person is present at the position (x13, y13), and has detected the velocity vector locus V13 of the person existing at the position (x13, y13). Indicates. In the example of FIG. 14, the detecting unit 26a detects that a person is present at the position (x14, y14), and has detected the velocity vector locus V14 of the person existing at the position (x14, y14). Indicates. In the example of FIG. 14, the detecting unit 26a detects that a person is present at the position (x15, y15), and has detected the velocity vector locus V15 of the person existing at the position (x15, y15). Indicates. The velocity vector trajectories V11, V12, and V13 are zero vectors.

  In the case of the example of FIG. 13, the identification information transmitted from the portable terminal 50 to the specific device 20 and the trajectory of the velocity vector will be described. FIG. 15 is a diagram illustrating an example of an ID and a velocity vector trajectory transmitted from the mobile terminal to the moving object identifying device. In the example of FIG. 15, ID 54a, which is identification information for identifying a moving object that carries the mobile terminal 50, is I, and the velocity vector locus of the mobile terminal 50 corresponding to ID: I is V'11. Indicates. In the example of FIG. 15, ID 54 a is J, and the velocity vector locus of the portable terminal 50 corresponding to ID: J is V′12. In the example of FIG. 15, ID 54 a is K, and the velocity vector locus of the portable terminal 50 corresponding to ID: K is V′13. In the example of FIG. 15, ID 54 a is L, and the velocity vector locus of the mobile terminal 50 corresponding to ID: L is V′14. In the example of FIG. 15, ID 54 a is M, and the velocity vector locus of the portable terminal 50 corresponding to ID: M is V′15.

  Here, in the example of FIG. 13, among the trajectories of the speed vectors of the plurality of persons I to M within the search range 30, the trajectories of the speed vectors of the persons I, J, and K are still stationary, It remains. That is, in the example of FIG. 13, the trajectories of the speed vectors of the plurality of persons I, J, and K are the same. Therefore, in the example of FIG. 13, the trajectories V11 to V13 of the respective velocity vectors of the plurality of persons I, J, and K detected by the detection unit 26a and the respective portable terminals carried by each of the persons I, J, and K. Velocity vector trajectories V′11 to V′13 transmitted from 50i, 50j, and 50k are the same. That is, in the example of FIG. 13, a plurality of persons I, J, and K having the same movement state are detected by the first specifying unit 26b. For this reason, in the example of FIG. 13, the acquisition unit 26c selects any one of the mobile terminals 50i, 50j, and 50k as a beacon receiving terminal candidate. In the example of FIG. 13, the acquisition unit 26c selects the mobile terminals 50 other than the beacon receiving terminal candidates among the mobile terminals 50i, 50j, and 50k as beacon transmitting terminal candidates.

  For example, in the example of FIG. 13, when the mobile terminal 50i is selected as a beacon receiving terminal candidate, the acquiring unit 26c selects the mobile terminals 50j and 50k as beacon transmitting terminal candidates. In such a case, the acquisition unit 26c inputs an instruction to transmit to the portable terminal 50i that it is a beacon receiving terminal. In addition, the acquisition unit 26c inputs, to the wireless communication unit 22, an instruction to transmit a beacon for distance measurement to the mobile terminal 50i with a predetermined radio wave intensity for the mobile terminals 50j and 50k.

  Subsequently, the acquisition unit 26c inputs, to the wireless communication unit 22, an instruction to transmit a distance measurement beacon to the beacon receiving terminal candidate with a predetermined radio wave intensity. For example, in the example of FIG. 13, when the portable terminal 50 i is selected as a beacon receiving terminal candidate, the acquisition unit 26 c wirelessly communicates an instruction to transmit a beacon for distance measurement to the portable terminal 50 i with a predetermined radio wave intensity. Input to the unit 22.

  Then, the acquisition unit 26 c acquires the radio wave intensity, ID 54 a, and identification information of each beacon received by the mobile terminal 50 as a beacon receiving terminal candidate via the wireless communication unit 22. For example, in the example of FIG. 13, when the portable terminal 50i is selected as a beacon receiving terminal candidate, the acquisition unit 26c performs the following process. That is, the acquisition unit 26c acquires, via the wireless communication unit 22, the received radio wave intensity when the mobile terminal 50i receives the distance measurement beacon from the mobile terminal 50j and the ID 54a of the mobile terminal 50j. Furthermore, the acquisition unit 26c acquires the received radio wave intensity when the mobile terminal 50i receives the distance measurement beacon from the mobile terminal 50k and the ID 54a of the mobile terminal 50k via the wireless communication unit 22. Furthermore, the acquisition unit 26 c acquires the received radio wave intensity when the mobile terminal 50 i receives the distance measurement beacon from the moving object specifying device 20 and the identification information of the moving object specifying device 20 via the wireless communication unit 22. To do.

  Subsequently, the acquisition unit 26c acquires each distance corresponding to each acquired radio wave intensity from the radio wave intensity-distance conversion table 25b. For example, in the example of FIG. 13, when the mobile terminal 50i is selected as a beacon receiving terminal candidate, the acquisition unit 26c receives the received radio wave intensity when the mobile terminal 50i receives a distance measurement beacon from the mobile terminal 50j. Based on ID 54a, the following processing is performed. That is, the acquisition unit 26c acquires the distance registered in the radio wave intensity-distance conversion table 25b corresponding to the received radio wave intensity as the distance between the mobile terminal 50i and the mobile terminal 50j. Furthermore, the acquisition unit 26c performs the following processing based on the received radio wave intensity when the mobile terminal 50i receives the distance measurement beacon from the mobile terminal 50k and the ID 54a. That is, the acquisition unit 26c acquires the distance registered in the radio wave intensity-distance conversion table 25b corresponding to the received radio wave intensity as the distance between the mobile terminal 50i and the mobile terminal 50k. Furthermore, the acquisition unit 26c performs the following process based on the received radio wave intensity and the identification information when the mobile terminal 50i receives the distance measurement beacon from the moving object specifying device 20. That is, the acquisition unit 26c acquires the distance registered in the radio wave intensity-distance conversion table 25b corresponding to the received radio wave intensity as the distance between the mobile terminal 50i and the moving object specifying device 20.

  Thereafter, the acquisition unit 26c determines whether the same distance exists among the acquired distances. The reason for this determination is that when the same distance exists, the second specifying unit 26d described later cannot uniquely specify a moving object having the same or similar trajectory of the velocity vector. This is in order to avoid that it becomes impossible.

  Subsequently, when the same distance exists, the acquisition unit 26c has selected all the terminals of the portable terminal 50 carried by each of a plurality of persons having the same or similar movement state as beacon receiving terminal candidates. Determine whether or not. When all the terminals are not selected as beacon receiving terminal candidates, the acquisition unit 26c selects an unselected portable terminal 50 as a beacon receiving terminal candidate.

  The acquisition unit 26c repeatedly performs the processing described above until all terminals are selected as beacon receiving terminal candidates or the same distance does not exist among the acquired distances. And the acquisition part 26c makes the beacon receiving terminal the portable terminal 50 of a beacon receiving terminal candidate when the same distance does not exist in each acquired distance. In addition, the acquisition unit 26c sets the beacon transmission terminal candidate portable terminal 50 at this time as a beacon transmission terminal.

  Returning to the description of FIG. The second specifying unit 26d specifies each of the plurality of portable terminals 50 having the same or similar trajectory of the velocity vector, that is, the moving state is the same or similar.

  For example, the second specifying unit 26d first specifies the position of a moving object having the same or similar trajectory of the velocity vector detected by the detecting unit 26a. For example, in the example of FIG. 13, the detection unit 26a identifies the position (x11, y11), the position (x12, y12), and the position (x13, y13) as the positions of moving objects having the same or similar velocity vector trajectory. To do.

  Subsequently, the second specifying unit 26d selects one unselected arrangement from the combinations in which the mobile terminal 50 corresponding to the ID 54a received by the wireless communication unit 22 is arranged at the specified position. And the 2nd specific | specification part 26d performs the following processes about each of the portable terminal 50 of a beacon transmission terminal in the combination of the arrangement | positioning selected. That is, the second specifying unit 26d is a circle with the radius of each distance corresponding to each portable terminal 50, which is the distance for each ID 54a obtained by the obtaining unit 26c with the position of each portable terminal 50 as the center. Is calculated. And the 2nd specific | specification part 26d calculates the sum of the distance of the calculated intersection of each circle | round | yen, and the portable terminal 50 of a beacon receiving terminal.

  The second specifying unit 26d performs the process of calculating such a sum of distances for all combinations of arrangements.

  And the 2nd specific | specification part 26d calculates the combination of arrangement | positioning of the sum of the minimum distance among the sum of the distance calculated for every combination of each arrangement | positioning. Subsequently, the second specifying unit 26d specifies the ID 54a corresponding to each position from the arrangement of the mobile terminals 50 indicated by the calculated combination. Thus, by calculating the combination of the minimum distances among the sums of the distances calculated for each combination, it is possible to identify each of the plurality of mobile terminals 50 having the same or similar trajectory of the speed vector. it can.

  Here, the process performed by the second specifying unit 26d will be described with a specific example. 16 to 20 are diagrams for explaining an example of processing performed by the second specifying unit. As shown in FIG. 16, it is assumed that the positions P1, P2, and P3 are detected by the second specifying unit 26d. At this time, as illustrated in FIG. 17, the second specifying unit 26 d selects an unselected combination from among the combinations in which the mobile terminal 50 corresponding to the received ID 54 a is disposed at each of the positions P1, P2, and P3. Select one. In the example of FIG. 17, a combination in which the portable terminal 50n is arranged at the position P1, the portable terminal 50o is arranged at the position P2, and the portable terminal 50p is arranged at the position P3 is shown by the second specifying unit 26d.

  Here, it is assumed that the mobile terminal 50n is a beacon receiving terminal and the mobile terminals 50o and 50p are beacon transmitting terminals. In this case, as shown in FIG. 18, the second specifying unit 26d uses the position Do of the mobile terminal 50o as the center, and the radius Do is the distance Do between the mobile terminal 50n and the mobile terminal 50o acquired by the acquisition unit 26c. The circle Ro is calculated. Further, the second specifying unit 26d calculates a circle Rp having a radius of the distance Dp between the mobile terminal 50n and the mobile terminal 50p acquired by the acquisition unit 26c with the position P3 of the mobile terminal 50p as the center. Further, the second specifying unit 26d uses the distance Dt between the mobile terminal 50n and the moving object specifying device 20 acquired by the acquiring unit 26c as a radius around the position P0 of the moving object specifying device 20 that is known in advance. A circle Rt is calculated.

The second specific portion 26d, as shown in FIG. 19, calculates the intersection _{P R1} of the circle Ro and the circle Rp, the distance _{D R1} between the position P1 of the mobile terminal 50n of the beacon reception device. The second identifying unit 26d calculates the intersection _{P R2} of a circle Ro and the circle Rt, the distance _{D R2} between the position P1. The second identifying unit 26d calculates the intersection _{P R3} between the circle Rp and the circle Rt, the distance _{D R3} between the position P1.

The second specific portion 26d has a distance _{D R1,} the distance _{D R2,} calculates the sum of the distance _{D R3.}

  In this way, the second specifying unit 26d performs the process for calculating the sum for all combinations of arrangements. Then, the second specifying unit 26d calculates the combination of the arrangements of the minimum distances among the plurality of sums calculated for all the combinations of the arrangements. For example, when the combination of arrangements shown in FIG. 19 indicates the actual arrangement of the portable terminal 50, the sum calculated in this combination is the combination of arrangements shown in FIG. The value is smaller than the sum (Dw1 + Dw2 + Dw3) calculated when the arrangement of the mobile terminals 50p and 50o is different.

  As described above, the second specifying unit 26d calculates a combination of arrangements when the sum is minimum, and specifies an ID 54a corresponding to each position from the calculated combination of arrangements. Therefore, even if an error occurs in the position of the person detected by the detection unit 26a or the position received by the communication unit 23, the identification information of each position is obtained based on the combination when the sum is minimum. In order to specify, the identification information of each position can be specified appropriately.

  Returning to the description of FIG. 3, the service providing unit 26 e is a processing unit that provides a service corresponding to the person indicated by the ID 54 a whose position is specified. For example, the service providing unit 26e acquires content corresponding to the person indicated by the ID 54a whose position is specified by the first specifying unit 26b and the second specifying unit 26c from the content 25c. And the service provision part 26e inputs the instruction | indication which transmits the acquired content to the portable terminal 50 which this person carries in the wireless communication part 22. FIG. As a result, the wireless communication unit 22 transmits the content to the corresponding portable terminal 50. In addition, the service providing unit 26 e outputs the acquired content to the output unit 24. As a result, the output unit 24 outputs the content. Thus, even when there are a plurality of persons having the same or similar trajectory of the velocity vector, it is possible to identify each person and transmit content suitable for each person. Therefore, for example, when an advertisement suitable for each person is provided as content, since an appropriate advertisement can be provided to each person, useless advertisements can be omitted. In addition, even when there are multiple people with the same or similar trajectory of the speed vector, each person can be identified and an advertisement suitable for each person can be provided, so the advertisement is provided using time efficiently. can do. Therefore, it is possible to reduce costs such as time and money required for advertisement.

[Process flow]
Next, the flow of processing of the moving object identification device 20 according to the present embodiment will be described. FIGS. 21 to 23 are flowcharts illustrating the procedure of the moving object specifying process according to the second embodiment. This moving object specifying process is executed at predetermined time intervals, for example, at intervals of 5 seconds, as long as the moving object specifying device 20 is powered on. However, it is not always necessary to continue the execution, and the processing can be interrupted during the charging period, or the processing can be stopped upon receiving a service stop notification from a server device (not shown).

  As shown in FIG. 21, the detection unit 26a analyzes the light reception data from the LRF 21, and detects the shape of the object, the locus of the velocity vector, and the position (step S101).

  Then, the detection unit 26a performs pattern matching using the human detection pattern 25a on the received light data (step S102). Subsequently, the detection unit 26a determines whether or not a person has been detected by pattern matching (step S103).

  If no person is detected (No at Step S103), the process returns to Step S101. On the other hand, when a person is detected (Yes at Step S103), the first specifying unit 26b inputs the ID response instruction to the wireless communication unit 22 in order to broadcast the ID response instruction (Step S104).

  Subsequently, the first specifying unit 26b determines whether or not the ID 54a and the velocity vector locus of the mobile terminal 50 have been acquired from the wireless communication unit 22 (step S105). When the ID 54a and the velocity vector locus of the portable terminal 50 are acquired (Yes at Step S105), the first specifying unit 26b performs the following process. That is, the first specifying unit 26b compares each of the velocity vector trajectories detected by the detection unit 26a with each of the acquired velocity vectors, and calculates a correlation value for all combinations of trajectories of the movement vectors ( Step S106).

  Then, from the correlation value calculation result, the first specifying unit 26b determines whether a plurality of velocity vector trajectories transmitted from the mobile terminal 50 are similar to one velocity vector locus detected by the detection unit 26a. It is determined whether or not (step S107).

  When a plurality of velocity vector trajectories transmitted from the mobile terminal 50 are not similar to one velocity vector locus detected by the detection unit 26a (No in step S107), the first specifying unit 26b The following processing is performed. That is, the first specifying unit 26b specifies all the corresponding positions and IDs 54a when the correlation values calculated for the X component and the Y component are equal to or less than the threshold value (step S108).

  Subsequently, the first specifying unit 26b stores the specified position and the ID 54a in association with each other in the storage unit 25, and transmits an instruction to transmit the associated position and ID 54a to the external server 27 to the communication unit 23. (Step S109), the process ends.

  On the other hand, when a plurality of velocity vector trajectories transmitted from the portable terminal 50 are similar to one velocity vector locus detected by the detection unit 26a (Yes in step S107), the first specifying unit 26b The following processing is performed. In other words, the first specifying unit 26b uses the velocity when only one velocity vector locus received by the wireless communication unit 22 is similar to or coincides with the locus of one velocity vector detected by the detection unit 26a. For the vector trajectory, the corresponding position and ID 54a are specified. And the 1st specific | specification part 26b matches the specified position and ID54a, memorize | stores it in the memory | storage part 25, and transmits the instruction | indication which transmits the matched position and ID54a to the external server 27 to the communication part 23 ( Step S110).

  Subsequently, the acquisition unit 26c selects one unselected mobile terminal 50 as a beacon receiving terminal candidate among a plurality of mobile terminals 50 having the same or similar trajectory of the velocity vector (step S111).

  Thereafter, the acquisition unit 26c inputs to the wireless communication unit 22 an instruction to transmit to the portable terminal 50 that is a beacon receiving terminal candidate that the beacon receiving terminal candidate is present (step S112). And the acquisition part 26c selects the portable terminals 50 other than a beacon receiving terminal candidate as a beacon transmission terminal candidate (step S113).

  Thereafter, the acquisition unit 26c inputs, to the wireless communication unit 22, an instruction to transmit a beacon for distance measurement to the beacon receiving terminal candidate with a predetermined radio wave intensity, with respect to the mobile terminal 50 selected as the beacon transmitting terminal candidate (Step S26). S114).

  And the acquisition part 26c inputs the instruction | indication which transmits the beacon for a distance measurement to a beacon receiving terminal candidate with predetermined | prescribed radio wave intensity with respect to the portable terminal 50 selected as a beacon transmission terminal candidate (step). S115).

  Subsequently, when the acquisition unit 26c acquires the received radio wave intensity, ID 54a, and identification information of each beacon received by the mobile terminal 50 as a beacon receiving terminal candidate via the wireless communication unit 22 (Yes in step S116), the following Process. That is, the acquisition unit 26c acquires each distance corresponding to each acquired radio wave intensity from the radio wave intensity-distance conversion table 25b. And the acquisition part 26c determines whether the same distance which cannot specify the person who exists in each position among each acquired distance exists (step S117).

  In the acquired distances, when there is an identical distance that makes it impossible to specify a person existing at each position (Yes in step S117), the acquisition unit 26c performs the following process. That is, the acquisition unit 26c determines whether or not all the mobile terminals 50 of the plurality of mobile terminals 50 having the same or similar trajectory of the velocity vector have been selected as beacon receiving terminal candidates in Step S111 (Step S118). . If all the portable terminals 50 are selected as beacon receiving terminal candidates (Yes at step S118), the process is terminated. On the other hand, if all the portable terminals 50 are not selected as beacon receiving terminal candidates (No at Step S118), the process returns to Step S111.

  In addition, in the acquired distances, when there is no identical distance that makes it impossible to specify a person present at each position (No in step S117), the second specifying unit 26d Process. That is, the second specifying unit 26d calculates circles for all combinations in which mobile terminals 50 having the same or similar speed vector trajectory are placed at each position of a moving object having the same or similar speed vector trajectory. . This circle is a circle for each ID 54a acquired by the acquisition unit 26c with the position of each beacon transmission terminal as the center and having a radius corresponding to each distance corresponding to each portable terminal 50. And the 2nd specific | specification part 26d calculates the sum of the distance of the intersection of each circle | round | yen, and the portable terminal 50 of a beacon receiving terminal for every combination (step S119).

  Subsequently, the second specifying unit 26d calculates a combination of arrangements when the sum of the distances between the intersections of the respective circles and the mobile terminal 50 of the beacon receiving terminal is minimum, and calculates each position from the calculated combination of arrangements. ID 54a corresponding to is identified (step S120). Thereafter, the second specifying unit 26d stores the specified position and the ID 54a in association with each other in the storage unit 25, and transmits an instruction to transmit the associated position and ID 54a to the external server 27 to the communication unit 23 ( Step 121). Then, the service providing unit 26e acquires content corresponding to the person indicated by the ID 54a corresponding to each position from the content 25c, and transmits an instruction to transmit the acquired content to the portable terminal 50 carried by the person. To enter. In addition, the service providing unit 26e outputs the acquired content to the output unit 24 (Step S122). Then, the process ends.

[Effect of Example 2]
As described above, the moving object specifying device 20 according to the present embodiment calculates a combination that matches the ID 54a and the distance for each identification information of the moving object specifying device 20 among the combinations in which the plurality of mobile terminals 50 are arranged. The ID 54a of the person at each position is specified. As described above, the moving object identifying device 20 according to the present embodiment arranges the combinations of the combinations in which the mobile terminals 50 are arranged and the combinations corresponding to the acquired corresponding distances that match the actual positions of the mobile terminals 50. The ID 54a corresponding to each position is calculated and specified. Therefore, according to the moving object specifying device 20, the actual arrangement of the mobile terminal 50 is specified, and the ID 54a corresponding to each position indicated by this arrangement is specified. Even if there are a plurality of persons, each person can be specified. Similarly, the moving object specifying system according to the present embodiment can specify each of a plurality of persons even when there are a plurality of persons having the same or similar trajectory of the velocity vector.

  In addition, the moving object identification device 20 according to the present embodiment performs the following for each of the combinations in which the plurality of portable terminals 50 are arranged at the detected positions of the plurality of portable terminals 50 among the plurality of nodes. Perform the following process. That is, the moving object specifying device 20 according to the present embodiment calculates each position of each intersection of each circle having a radius corresponding to each acquired distance, with each position of the other plurality of nodes as the center. . Then, the moving object specifying device 20 according to the present embodiment calculates the sum of the distances between the calculated intersections and the position of the mobile terminal 50 of the beacon receiving terminal that is a predetermined node for each of the combinations of all the combinations. To do. Then, the moving object identification device 20 according to the present embodiment calculates a combination of arrangements that minimizes the sum of the calculated distances. Then, the moving object specifying device 20 according to the present embodiment specifies the ID 54a corresponding to each position of the mobile terminal 50 indicated by the calculated arrangement. Thus, according to the moving object specifying device 20 according to the present embodiment, the detected moving object is calculated by calculating the combination of the arrangements that minimizes the sum of the distances between the respective intersections and the positions of the predetermined nodes. Even if an error occurs in each position and the acquired distance, the ID 54a can be specified. Similarly, according to the moving object specifying system according to the present embodiment, the ID 54a can be specified even when an error occurs in each position of the detected moving object and the acquired distance.

  In addition, the moving object identification device 20 according to the present embodiment selects a node in which the distances between the own node and the other plurality of nodes are all different from among the plurality of nodes, and selects the selected node and the other plurality of nodes. The distance to the node is acquired in association with the identification information of the plurality of nodes. As a result, the ID 54a corresponding to each detected position can be uniquely identified.

  In the moving object specifying device 20 according to the present embodiment, first, the moving state of the mobile terminal 50 itself detected by the mobile terminal 50 and the moving object carrying the mobile terminal 50 detected by the moving object specifying device 20 itself. Based on the moving state, the moving object having a moving state different from all other moving objects is specified. Thereafter, in the moving object specifying device 20 according to the present embodiment, a plurality of moving objects having the same or similar moving state are specified using the distance for each acquired ID 54a. That is, in the moving object specifying device 20 according to the present embodiment, first, the moving object is specified only by the moving state without acquiring the distance for each ID 54a. And in the moving object specific | specification apparatus 20 which concerns on a present Example, the process which acquires the distance for every ID54a is performed with respect to the moving object which could not be specified only by the movement state, and a moving object is specified. As described above, the moving object identification device 20 according to the present embodiment has a smaller amount of processing for obtaining the distance than the case of performing the process of obtaining the distance for each ID 54a for all moving objects from the beginning. Therefore, the moving object can be identified more quickly. In particular, when the number of moving objects is large, the amount of processing for acquiring the distance for each ID 54a for all moving objects becomes large. In addition, since there are a large number of moving objects, there is a high possibility that there are a plurality of other nodes having the same distance from the predetermined node. In such a case, since the moving object cannot be specified, it is necessary to change the mobile terminal 50 or the specific device 20 that is a predetermined node and perform the process of acquiring the distance for each ID 54a again. Will further increase. On the other hand, in the moving object identification device 20 according to the present embodiment, the process of acquiring the distance for each ID 54a is performed only for the moving objects that cannot be specified only by the moving state, not all the moving objects. Even if there are many, moving objects can be identified quickly with a smaller amount of processing. Similarly, the moving object specifying system according to the present embodiment can specify moving objects more quickly.

  In addition, in the present Example, although illustrated about the case where the beacon receiving terminal was made into the portable terminal 50, the moving object identification system of an indication is not restricted to this. For example, in the disclosed moving object specifying system, the beacon receiving terminal is the moving object specifying device 20, the beacon transmitting terminal is the portable terminal 50 having the same or similar trajectory of the speed vector, and the same processing as the above processing is performed, Persons with the same or similar movement state can be identified.

[Application Example of Example 2]
In the second embodiment, the case where the combination of the arrangements that minimize the sum of the distances between the intersections of the circles and the beacon receiving terminal is calculated and the identification information of each position is specified is illustrated. The moving object identification device is not limited to this. For example, each portable terminal is configured to transmit profile data indicating the characteristics of the moving object carrying the portable terminal 50 to the moving object specifying device. Then, the moving object identification device calculates a combination of arrangements that minimizes the sum of the distances. Then, the moving object specifying device temporarily specifies the identification information of each position. Then, the moving object specifying device can finally specify the identification information of each position when the profile data transmitted from the mobile terminal matches the feature indicated by the shape detected by the detection unit. In addition, the disclosed moving object specifying device may eliminate the identification information of each position temporarily specified when the profile data transmitted from the mobile terminal does not match the feature indicated by the shape detected by the detection unit. it can.

  As described above, by specifying the identification information of each position based on the profile data transmitted from the portable terminal and the feature indicated by the shape detected by the detection unit, the specific accuracy is further increased. Therefore, in order to further increase the specific accuracy, in the application example of the second embodiment, the identification information of each position is obtained based on the profile data transmitted from the mobile terminal and the feature indicated by the shape detected by the detection unit. Identify.

[Device configuration]
FIG. 24 is a block diagram illustrating a configuration of a mobile terminal according to an application example of the second embodiment. As illustrated in FIG. 24, the mobile terminal 70 includes a storage unit 54. The storage unit 54 is different from the storage unit 54 according to the second embodiment illustrated in FIG. 2 in that the profile data 54b is further stored. FIG. 25 is a block diagram illustrating a configuration of the moving object identification device according to the application example of the second embodiment. As illustrated in FIG. 25, the moving object identification device 71 includes a storage unit 25. Compared with the storage unit 25 according to the second embodiment illustrated in FIG. 3, the storage unit 25 further stores, for each profile data 54b, a pattern matching person identification pattern 25d that includes the characteristics indicated by the profile data 54b. The point to do is different. In the following description, circuits and devices that perform the same functions as those in the second embodiment are denoted by the same reference numerals as those in FIGS. 2 and 3, and description thereof is omitted.

  The profile data 54b indicates the characteristics of the moving object that carries the portable terminal 50. For example, the profile data 54b includes data indicating the characteristics of the person such as the person's height, gender, and age.

  The second specifying unit 26d according to the application example of the second embodiment calculates and calculates the combination when the sum of the distances between the calculated circle intersections and the mobile terminal 50 of the beacon receiving terminal is minimum. Each position indicated by the combination portable terminal 70 and the corresponding ID 54a are temporarily associated with each other. Then, the second specifying unit 26 d outputs an instruction to transmit profile data to each mobile terminal 70 to the wireless communication unit 22. Accordingly, the wireless communication unit 22 transmits an instruction to transmit profile data to each portable terminal 70. Then, each portable terminal 70 that has received such an instruction transmits the profile data 54 b to the moving object specifying device 71.

  Then, the second specifying unit 26d acquires a corresponding person specifying pattern 25d for each received profile data 54b. Subsequently, the second specifying unit 26d performs pattern matching on the feature of the corresponding moving object detected by the previous detection unit 26a using each of all the acquired person specifying patterns 25d. Then, the second specifying unit 26d cancels the association between the position and the ID 54b, which is determined not to match as a result of pattern matching.

  Subsequently, the second specifying unit 26d specifies, as an ID 54b corresponding to the position, a temporary association between the position and the ID 54b that is determined to match as a result of pattern matching.

[Process flow]
Next, a processing flow of the moving object identification device according to the application example of the second embodiment will be described. FIG. 26 is a part of a flowchart illustrating the procedure of the moving object specifying process according to the application example of the second embodiment. This process is started at a predetermined cycle, similar to the moving object specifying process shown in FIGS.

[Moving object identification processing]
As shown in FIG. 26, after the process of step S119, the second specifying unit 26d calculates a combination when the sum is minimum, and each position indicated by the mobile terminal 70 of the calculated combination and the corresponding ID 54a. Are temporarily associated with each other (step S201). And the 2nd specific | specification part 26d outputs the instruction | indication which transmits the profile data 54b to each portable terminal 70 to the radio | wireless communication part 22 (step S202).

  When the profile data 54b is received (Yes at Step S203), the second specifying unit 26d acquires a corresponding person specifying pattern 25d for each received profile data 54b (Step S204). Subsequently, the second specifying unit 26d performs pattern matching on the feature of the corresponding moving object detected by the previous detecting unit 26a using each of all the acquired person specifying patterns 25d (step S205). Then, the second specifying unit 26d cancels the association between the position and the ID 54b that is determined not to match as a result of the pattern matching (step S206).

  Subsequently, the second specifying unit 26d specifies the provisional association between the position and the ID 54b determined to match as a result of the pattern matching as the ID 54b corresponding to the position (step S207), and proceeds to step S121.

[Effect of application example of embodiment 2]
Thus, the moving object identification device 71 according to this application example calculates a combination of arrangements that minimizes the sum of distances. And the moving object specific device 71 which concerns on this application example specifies temporarily the identification information of each position. Then, the moving object identification device 71 according to this application example finally outputs the identification information of each position when the profile data 54b transmitted from the mobile terminal 70 matches the feature indicated by the shape detected by the detection unit 26a. Specific. In addition, the moving object specifying device 71 according to this application example, when the profile data 54b transmitted from the mobile terminal 70 and the feature indicated by the shape detected by the detecting unit 26a do not match, Dissolve identification information.

  As described above, according to the moving object specifying device 71 according to this application example, based on the profile data 54b transmitted from the mobile terminal 70 and the feature indicated by the shape detected by the detection unit 26a, Since the identification information is specified, the specific accuracy becomes higher.

  Note that, in the application examples of the above-described Example 2 and Example 2, a service is provided for the identified moving object regardless of the speed of the moving object. However, the disclosed moving object identification device according to the application example of the second embodiment and the second embodiment is not limited thereto. For example, the disclosed moving object identification device detects the speed of a moving object, and determines that there is no intention to receive service for a moving object whose detected speed is a predetermined speed or higher, and does not provide the service. Can be.

  FIG. 27 is a diagram illustrating an example of a case where a service is not performed on a moving object at a predetermined speed or higher. In the example of FIG. 27, it is assumed that the moving objects A and B are moving at a speed smaller than a predetermined speed, but the moving object C is moving at a predetermined speed or more. In this case, the moving object specifying device provides services to the moving objects A and B, but does not provide services to the moving object C. Thereby, it is possible to prevent unnecessary services from being performed on a moving object that does not intend to receive the service.

  In the application example of the second embodiment and the second embodiment described above, the case where an appropriate service is provided for the identified moving object is illustrated, but the disclosed moving object specifying apparatus is not limited to this. Therefore, in the third embodiment, a case where a log indicating that an observation target object has been moved by the specified moving object is stored when the specified moving object moves an observation target object such as a device will be described. . Such a log is effective information for specifying a moving object that has moved the observation target object.

[Configuration of moving object identification device]
FIG. 28 is a block diagram illustrating the configuration of the moving object identification device according to the third embodiment. As illustrated in FIG. 28, the moving object identification device 80 includes a storage unit 25 and a control unit 26. The storage unit 25 is different from the storage unit 25 according to the second embodiment illustrated in FIG. 3 in that the log 25e is stored. Further, the control unit 26 is different from the control unit 26 according to the second embodiment illustrated in FIG. 3 in that it includes a registration unit 26f. In the following description, circuits and devices that perform the same functions as those in the second embodiment are denoted by the same reference numerals as those in FIG. 3, and description thereof is omitted.

  The log 25e is data indicating that the specified person has moved an observation target object such as a device. For example, the log 25e includes identification information for identifying the person who moved the observation target object, the time of movement, and each position of the observation target object before and after the movement.

  The detection unit 26a according to the third embodiment determines whether an object in the search range 30 is a device of a predetermined observation target object by pattern matching using the observation target object detection pattern with respect to the light reception data of the reflected light. judge. The detection unit 26a further detects the coordinates of the location of the object and the locus of the velocity vector by further analyzing the received light data. The location of the object obtained in this way is in the global absolute coordinate system. The time from the start point to the end point of the velocity vector locus thus obtained is a predetermined time, for example, 2 seconds.

  When a predetermined observation target object is detected by the detection unit 26a, the registration unit 26f calculates a distance between the observation target object and the specified person from the position of the observation target object and the specified person. Then, the registration unit 26f determines that the observation object has been moved by the person if the calculated distance is within the predetermined value and the movement direction of the observation object and the person is the same. Subsequently, when the distance between the observation target object and the person becomes greater than a predetermined value, the registration unit 26f determines that the person has moved away from the observation target object. Then, the registration unit 26 f registers, in the storage unit 25, a log including identification information for identifying the person who moved the observation target object, the time of movement, and each position of the observation target object before and after the movement. Thereafter, the registration unit 26 f controls the communication unit 23 to transmit an instruction to register a log to the external server 27. As a result, the log is registered in the external server 27. Such a log is effective information for specifying a moving object that has moved the observation target object.

  FIG. 29 is a diagram illustrating an example where the observation target object is moved by the moving object. In the example of FIG. 29, the distance between the moving object A and the device 90 is within a predetermined range, and the moving direction is the same. At this time, the moving object specifying device 80 determines that the moving object A has been moved by the moving object A. Thereafter, when the moving object A is separated from the device 90 and exceeds a predetermined range, the moving object specifying device 80 identifies the identification information for identifying the moving object A, the time when the moving object A is moved, and the device 90 before and after the movement. A log including each position is registered in the storage unit 25 and the external server 27.

[Process flow]
Next, a process flow of the moving object identification device according to the third embodiment will be described. FIG. 30 is a flowchart illustrating a procedure of log generation processing according to the third embodiment. This process is started at a predetermined cycle, similar to the moving object specifying process shown in FIGS.

[Log generation processing]
As illustrated in FIG. 30, the detection unit 26a, the first specification unit 26b, the acquisition unit 26c, and the second specification unit 26d execute a moving object specification process (step S301). This moving object identification process is a process of steps S101 to S121 shown in FIGS.

  Subsequently, the detection unit 26a detects the shape of the object within the search range 30, the coordinates of the location position, and the trajectory of the velocity vector (step S302). Then, the detection unit 26a performs pattern matching using the observation target object detection pattern on the light reception data of the reflected light to determine whether the object within the search range 30 is a device of a predetermined observation target object (Step S26). S303).

  When the detection unit 26a detects a predetermined observation target object (Yes at Step S304), the registration unit 26f performs the following process. That is, the registration unit 26f calculates the distance between the observation target object and the specified person, and if the calculated distance is within a predetermined value (Yes in step S305) and the movement direction of the observation target object and the person is the same. (Yes at step S306), it is determined that the observation object has been moved by the person.

  When the distance between the observation target object and the person becomes larger than the predetermined value and the person is separated from the observation target object (Yes at Step S307), the registration unit 26f performs the following process. That is, the registration unit 26f registers, in the storage unit 25, a log including identification information for identifying the person who moved the observation target object, the time of movement, and each position of the observation target object before and after the movement (step S308). ). Thereafter, the registration unit 26f controls the communication unit 23 to transmit an instruction to register a log to the external server 27 (step S308), and ends the process.

[Effect of Example 3]
As described above, the moving object specifying device 80 according to the present embodiment includes a log including identification information for identifying the person who moved the observation target object, the time of movement, and each position of the observation target object before and after the movement. Register in the storage unit 25. Therefore, according to the moving object specifying device 80 according to the present embodiment, it is possible to register information effective as a log when specifying a moving object that has moved the observation target object.

  Although the embodiments related to the disclosed apparatus and system have been described above, the present invention may be implemented in various different forms other than the above-described embodiments. Therefore, another embodiment included in the present invention will be described below.

[Distance measurement]
In the application examples of the second, third, and second embodiments, the case where the distance between two nodes is measured from the received radio wave intensity of the distance measurement beacon is illustrated, but the disclosed apparatus and system are limited to this. Not. For example, the disclosed apparatus may measure the distance between two nodes using an infrared rangefinder.

[Moving object]
Moreover, although the case where the moving object is a person is illustrated in the application examples of the above-described second to third and second embodiments, the disclosed apparatus and system are not limited thereto. For example, the disclosed apparatus can use any object as long as it can carry a mobile terminal as a moving object.

  In addition, among the processes described in the embodiments, all or a part of the processes described as being automatically performed can be manually performed. In addition, among the processes described in this embodiment, all or a part of the processes described as being performed manually can be automatically performed by a known method. For example, in step S103 of FIG. 21, the user of this system visually confirms whether or not a person is present in the vicinity, and the user sets operation reception means such as a keyboard, a mouse, and a touch panel to determine whether or not a person exists. You may tell to an apparatus by operating.

  In addition, the processing at each step of each processing described in each embodiment can be arbitrarily finely divided or combined according to various loads and usage conditions. Also, the steps can be omitted. For example, when there is no appropriate content to be provided to the specified person, the process of step S122 shown in FIG. 23 can be omitted.

  Further, each component of each illustrated apparatus is functionally conceptual, and does not necessarily need to be physically configured as illustrated. In other words, the specific state of distribution / integration of each device is not limited to the one shown in the figure, and all or a part thereof may be functionally or physically distributed or arbitrarily distributed in arbitrary units according to various loads or usage conditions. Can be integrated and configured. For example, the first specifying unit 8 and the second specifying unit 10 illustrated in FIG. 1 may be integrated. Moreover, the acquisition part 9 and the 2nd specific | specification part 10 may be integrated.

[Moving object identification program]
The various types of processing of the moving object identification device described in the above embodiments can be realized by executing a program prepared in advance on a computer system such as a personal computer or a workstation. Therefore, in the following, an example of a computer that executes a moving object specifying program having the same function as the moving object specifying device described in the above embodiment will be described with reference to FIG. FIG. 31 is a diagram illustrating a computer that executes a moving object specifying program.

  As illustrated in FIG. 31, the computer 300 according to the fourth embodiment includes a central processing unit (CPU) 310, a read only memory (ROM) 320, a hard disk drive (HDD) 330, and a random access memory (RAM) 340. These units 300 to 340 are connected via a bus 400.

  The ROM 320 exhibits the same functions as those of the second detection unit 6, the reception unit 7, the first specification unit 8, the acquisition unit 9, and the second specification unit 10 described in the first embodiment. A moving object specifying program is stored in advance. That is, the moving object specifying program 320a is stored in the ROM 320 as shown in FIG. Note that the moving object specifying program 320a may be appropriately separated.

  Then, the CPU 310 reads the moving object specifying program 320a from the ROM 320 and executes it.

  The HDD 330 is provided with a human detection pattern 330a, a radio wave intensity-distance conversion table 330b, and a content 330c. The human detection pattern 330a, the radio wave intensity-distance conversion table 330b, and the content 330c correspond to the human detection pattern 25a, the radio wave intensity-distance conversion table 25b, and the content 25c shown in FIG.

  Then, the CPU 310 reads out the person detection pattern 330a, the radio wave intensity-distance conversion table 330b, and the content 330c and stores them in the RAM 340. Further, the CPU 310 executes the moving object specifying program using the human detection pattern data 340a, the radio wave intensity-distance conversion table data 340b, and the content data 340c stored in the RAM 340. Each data stored in the RAM 340 does not always need to be stored in the RAM 340, and only the data necessary for the process may be stored in the RAM 340.

  Note that the moving object specifying program described above does not necessarily have to be stored in the HDD 330 from the beginning.

  For example, the program is stored in a “portable physical medium” such as a flexible disk (FD), a CD-ROM, a DVD disk, a magneto-optical disk, or an IC card inserted into the computer 300. Then, the computer 300 may read and execute the program from these.

  Furthermore, the program is stored in “another computer (or server)” connected to the computer 300 via a public line, the Internet, a LAN, a WAN, or the like. Then, the computer 300 may read and execute the program from these.

  The following supplementary notes are further disclosed regarding the embodiment described above and its modifications.

(Appendix 1) A moving object specifying system having a plurality of portable terminals carried by each of a plurality of moving objects and a specific device,
Each of the plurality of portable terminals is
A first detection unit for detecting the movement state of the mobile terminal itself;
A transmission unit that transmits identification information for identifying the moving state detected by the first detection unit and a moving object that carries the portable terminal;
The specific device is:
A second detection unit for detecting a movement state and a position of each of the plurality of moving objects;
A receiving unit that receives the movement state and identification information transmitted from the transmitting unit;
Identification information of the moving object in which the moving state detected by the second detecting unit and the moving state received by the receiving unit are the same or similar, and the position is detected by the second detecting unit A first identifying unit that identifies
When a plurality of moving objects having the same or similar movement state are detected by the first specifying unit, among a plurality of mobile terminals carried by the plurality of moving objects and a plurality of nodes including the specifying device, An acquisition unit that acquires distances between a predetermined node and a plurality of other nodes in association with identification information of the plurality of nodes;
Of the plurality of mobile terminals of the plurality of nodes, for each of the identification information acquired by the acquisition unit, the combination of disposing the plurality of mobile terminals at each position detected by the second detection unit. A moving object specifying system comprising: a second specifying unit that calculates a combination that matches the distance and specifies identification information of the moving object at each position.

(Additional remark 2) Among the combinations which arrange | position the said several portable terminal in each position detected by the said 2nd detection part about the said several portable terminal of the said several 2nd specific | specification part, Centering on the position of each of the other plurality of nodes, the distance between the intersection of each circle having a radius corresponding to each of the identification information acquired by the acquisition unit and the position of the predetermined node The moving object specifying system according to appendix 1, wherein a combination is calculated when the sum of the values of the mobile terminal is minimized, and identification information corresponding to each position of the mobile terminal indicated by the placement of the mobile terminal of the calculated combination is specified.

(Additional remark 3) The said acquisition part selects the node from which each of the distance of an own node and other several nodes differs from the said several nodes, and this selected node, other several nodes, and The moving object specifying system according to Supplementary Note 1 or 2, wherein the distance is acquired in association with the identification information of the plurality of nodes.

(Supplementary Note 4) The transmitter further transmits profile data for specifying a mobile object to be carried,
The second detection unit further detects a feature of the moving object,
The second specifying unit further includes the profile data transmitted by the transmission unit and the characteristics detected by the second detection unit, with respect to the plurality of mobile terminals of the plurality of nodes. The moving object specifying system according to any one of appendices 1 to 3, which specifies identification information of a moving object at each position detected by the second detection unit.

(Supplementary Note 5) The second detection unit further detects the movement state and position of the observation target object,
The specific device is:
Based on the moving state and position of the moving object specified by the first specifying unit and the second specifying unit, and the moving state and position of the observation target object detected by the second detecting unit, the moving object If the observation target object is determined to be moved by the moving object, the information processing apparatus further includes a registration unit that registers, in the storage unit, information indicating that the observation target object has been moved by the moving object. The moving object identification system as described in any one of -4.

(Supplementary Note 6) A detection unit that detects the movement state and position of each of the plurality of moving objects;
A receiving unit for receiving the movement state of each mobile terminal transmitted from each of the plurality of mobile terminals carried by each of the plurality of moving objects and identification information for identifying each mobile terminal;
A moving object having the same or similar moving state detected by the detecting unit and the moving state received by the receiving unit is detected, and identification information of the moving object whose position is detected by the detecting unit is specified. A specific part,
When a plurality of moving objects having the same or similar movement state are detected by the first specifying unit, a plurality of mobile terminals carried by the plurality of moving objects and a plurality of nodes including the moving object specifying device Among them, an acquisition unit that acquires the distance between a predetermined node and a plurality of other nodes in association with the identification information of the plurality of nodes,
Among the plurality of mobile terminals among the plurality of nodes, the combination of disposing the plurality of mobile terminals at each position detected by the detection unit matches the distance for each identification information acquired by the acquisition unit. And a second specifying unit that specifies identification information of the moving object at each position.

(Appendix 7)
Detecting the moving state and position of each moving object,
Receiving the movement state of each portable terminal and identification information for identifying each portable terminal transmitted from each of the plurality of portable terminals carried by each of the plurality of moving objects;
Detecting a moving object whose detected moving state is the same as or similar to the received moving state, identifying identification information of the moving object whose position is detected,
When a plurality of moving objects having the same or similar movement state are detected, among a plurality of mobile terminals carried by the plurality of moving objects and a plurality of nodes including the computer, a predetermined node and other plurality of nodes Acquire the distance to the node in association with the identification information of the plurality of nodes,
Of the combinations in which the plurality of portable terminals are arranged at the respective positions detected for the plurality of portable terminals among the plurality of nodes, a combination that matches the distance for each acquired identification information is calculated, A moving object specifying program that executes processing for specifying identification information of a moving object at a position.

DESCRIPTION OF SYMBOLS 1 Moving object specific system 2 Portable terminal 3 Specific apparatus 4 1st detection part 5 Transmission part 6 2nd detection part 7 Reception part 8 1st specific part 9 Acquisition part 10 2nd specific part

Claims (6)

A moving object specifying system having a plurality of mobile terminals carried by each of a plurality of moving objects and a specific device,
Each of the plurality of portable terminals is
A first detection unit that detects a moving state that is a velocity vector, an acceleration vector, a velocity vector locus, or an acceleration vector locus of the mobile terminal itself;
A transmission unit that transmits identification information for identifying the moving state detected by the first detection unit and a moving object that carries the portable terminal;
The specific device is:
A second detection unit that detects a moving state and a position that are a velocity vector, an acceleration vector, a velocity vector locus, or an acceleration vector locus of each of the plurality of moving objects;
A receiving unit that receives the movement state and identification information transmitted from the transmitting unit;
The moving object carrying the portable terminal when the degree of correlation indicated by the correlation value with the moving state received in said receiving part and moving state detected by the second detection section is larger than the degree of predetermined correlation The moving state detected by the second detecting unit and the moving state received by the receiving unit are detected as the same or similar moving object, and the moving object whose position is detected by the second detecting unit is identified. A first identification unit for identifying information;
When a plurality of moving objects having the same or similar movement state are detected by the first specifying unit, among a plurality of mobile terminals carried by the plurality of moving objects and a plurality of nodes including the specifying device, An acquisition unit for acquiring, from the predetermined node, a distance between the predetermined node and each of the other plurality of nodes, in which identification information of each of a plurality of other nodes other than the predetermined node is associated;
Of the plurality of mobile terminals among the plurality of nodes, the center of the positions of the other plurality of nodes in the combination of arranging the plurality of mobile terminals at the respective positions detected by the second detection unit. As a combination when the sum of the distances between the intersections of the circles having radii corresponding to the distances corresponding to the identification information acquired by the acquisition unit and the positions of the predetermined nodes is minimum. And a second specifying unit that specifies identification information of the moving object corresponding to each position of the mobile terminal indicated by the arrangement of the mobile terminals of the calculated combination.   The acquisition unit selects, from among the plurality of nodes, nodes whose distances between the own node and the other plurality of nodes are all different, and the identification information of each of the other plurality of nodes is associated. The moving object specifying system according to claim 1, wherein the distance between the selected node and each of the other plurality of nodes is acquired. The transmitter further transmits profile data for specifying a mobile object to be carried,
The second detection unit further detects a feature of the moving object,
The second specifying unit further includes the plurality of nodes when the feature of the moving object indicated by the profile data transmitted by the transmitter matches the feature detected by the second detector. The moving object identification system according to claim 1 or 2, wherein identification information of a moving object at each position detected by the second detection unit is specified for the plurality of mobile terminals. The second detection unit further detects the movement state and position of the observation target object,
The specific device is:
Based on the moving state and position of the moving object specified by the first specifying unit and the second specifying unit, and the moving state and position of the observation target object detected by the second detecting unit, the moving object The registration unit for registering information indicating that the observation target object has been moved by the moving object in a storage unit when the observation target object is determined to be moved by the moving object. The moving object identification system of any one of 1-3. A detection unit that detects a moving state and a position that are a velocity vector, an acceleration vector, a velocity vector locus, or an acceleration vector locus of each of a plurality of moving objects;
Identifies each mobile terminal's speed vector, acceleration vector, speed vector trajectory or movement state that is a trajectory of acceleration vector and each mobile terminal transmitted from each of the plurality of mobile terminals carried by each of the plurality of moving objects. A receiving unit for receiving identification information for
The moving object carrying the portable terminal when the degree of correlation indicated by the correlation value between the moving state detected by the detecting unit and the moving state received by the receiving unit is larger than a predetermined degree of correlation is detected. A first specifying unit that detects the moving state detected by the moving unit and the moving state received by the receiving unit as the same or similar moving object, and identifies identification information of the moving object whose position is detected by the detecting unit When,
When a plurality of moving objects having the same or similar movement state are detected by the first specifying unit, a predetermined one of a plurality of nodes including a plurality of portable terminals and its own device carried by the plurality of moving objects An acquisition unit for acquiring, from the predetermined node, the distance between the predetermined node and each of the other plurality of nodes, which is associated with identification information of each of the plurality of other nodes other than the node;
Of the combinations of arranging the plurality of mobile terminals at the respective positions detected by the detection unit with respect to the plurality of mobile terminals among the plurality of nodes, the positions of the plurality of other nodes as a center, A combination is calculated when the sum of the distance between the intersection of each circle having a radius corresponding to each of the identification information acquired by the acquisition unit and the position of the predetermined node is minimum, and calculated. A moving object specifying device comprising: a second specifying unit that specifies identification information of a moving object corresponding to each position of the portable terminal indicated by the arrangement of the combination portable terminal. On the computer,
Detect the moving state and position that are the velocity vector, acceleration vector, velocity vector trajectory or acceleration vector trajectory of each moving object,
Identifies each mobile terminal's speed vector, acceleration vector, speed vector trajectory or movement state that is a trajectory of acceleration vector and each mobile terminal transmitted from each of the plurality of mobile terminals carried by each of the plurality of moving objects. Receiving identification information to
A moving object carrying a portable terminal when the degree of correlation indicated by the correlation value between the detected moving state and the received moving state is larger than a predetermined degree of correlation , the detected moving state and the received moving state Is detected as the same or similar moving object, and the identification information of the moving object whose position is detected is specified,
When a plurality of moving objects having the same or similar moving state are detected, a plurality of nodes other than the predetermined node among a plurality of nodes including a plurality of portable terminals and the computer carried by the plurality of moving objects A distance between the predetermined node and each of the other plurality of nodes associated with the identification information of each of the nodes is acquired from the predetermined node;
Acquired by the acquisition unit centering on the position of each of the other plurality of nodes in the combination of arranging the plurality of portable terminals at each position detected for the plurality of portable terminals of the plurality of nodes. A combination when the sum of the distance between the intersection of each circle having a radius corresponding to each of the identified distances for each of the identification information and the position of the predetermined node is minimized, and the portable terminal of the calculated combination A moving object specifying program that executes a process of specifying identification information of a moving object corresponding to each position of the mobile terminal indicated by the arrangement of.

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