JP5752084B2 - Control device, control method and program - Google Patents

Description

  The present invention relates to a control device, a control method, and a program.

  There is a position specifying system described in Patent Document 1 that can specify the position of an object regardless of whether it is indoors or outdoors by receiving an optical signal transmitted from a light source unit.

  The position specifying system described in Patent Literature 1 transmits an optical signal including unique identification information from a light source unit arranged at a predetermined fixed position, and causes the object to receive the optical signal. The object generates a light reception output corresponding to the received light signal, and identifies the light source unit based on the identification signal extracted from the light reception output. Then, the object calculates the positional relationship between the identified light source unit and its own device based on the received light output, and based on the information indicating the calculated positional relationship and the information indicating the position of the light source unit, Identify the location.

  In addition, in order to set the light intensity of the light emitted from the lighting device placed indoors to the target light intensity at a desired position, measurement is performed so that the light intensity measured at the position where the measurement device exists becomes the target value. There exist the illumination system of patent document 2 and patent document 3 as what adjusts the luminous intensity of the light irradiated from an illuminating device based on the positional relationship of an apparatus and an illuminating device.

  The illumination system described in Patent Literature 2 includes time-series data of light intensity values that randomly change the light intensity of light emitted from each illumination device (lighting fixture), and the light intensity value of light emitted from each illumination device. The correlation coefficient value indicating the correlation with the time series data of the illuminance value measured when changed according to the time series data is obtained for each time series data of the luminosity value (each lighting device), and the obtained correlation coefficient value is obtained. Based on this, the luminous intensity of the light emitted from the illumination apparatus is adjusted so that the luminous intensity measured at the position where the measuring apparatus (illuminance measuring apparatus) is present becomes a target value.

  In addition, the illumination system described in Patent Document 3 is a light intensity change amount indicating how the light intensity has changed after randomly changing the light intensity of light emitted from each illumination device (illumination device). And a regression coefficient of the measured value change amount measured when the luminous intensity is changed for each luminous intensity variation amount (for each lighting device), and based on the obtained regression coefficient, a measuring device (illuminance measuring device) ) Is adjusted so that the light intensity measured at the position where the light source is present becomes a target value.

JP 2006-220465 A JP 2006-302517 A JP 2008-243390 A

  Here, for example, when a system in which the illumination system of Patent Document 2 or Patent Document 3 is applied to the position specifying system described in Patent Document 1, specifically, the position specifying system described in Patent Document 1 is used. When a system for transmitting (irradiating) light of random luminosity used in the illumination systems of Patent Document 2 and Patent Document 3 instead of an optical signal including identification information to be used was measured by a measuring device. From the luminous intensity, the position of the measuring device can be obtained. However, since the assumed system changes the luminous intensity of the light emitted from each lighting device at a random luminous intensity, there is a correlation in the manner of change in the luminous intensity of the light emitted from each lighting device. For this reason, in the case of the assumed system, the influence of the light irradiated from another illuminating device is included in the luminous intensity measured with the measuring device. In order to reduce this influence, for example, a dedicated signal processing circuit or the like is required, but it is difficult to sufficiently remove the influence even by a dedicated signal processing circuit or the like. Therefore, in the assumed system, a dedicated signal processing circuit or the like is required, and in addition to being expensive, the influence cannot be sufficiently removed, so that the position of the obtained measuring device indicates low accuracy. There was a problem.

  The present invention has been made in view of the above circumstances, and provides a control device, a control method, and a program that are less expensive than conventional ones and that provide high accuracy in the position of the obtained measurement device. Objective.

In order to achieve the above object, the pattern information storage unit of the control device according to the present invention correlates each other with a mode of change of light intensity of light emitted by a plurality of illumination devices respectively arranged at different positions. No pattern information is stored for each lighting device. The control unit controls each of the illuminating devices so that a change mode of light irradiated by each of the illuminating devices becomes a change according to the pattern information stored in the pattern information storage unit. An acquisition part acquires the measured value of the luminous intensity of the light irradiated with the same timing from each of a some illuminating device from the measuring apparatus which measures luminous intensity. The correlation determination unit determines a correlation value indicating a degree of correlation between the measured value of the luminous intensity acquired by the acquisition unit and each of the pattern information stored in the pattern information storage unit. A position estimation part calculates | requires the position of a measuring device based on each correlation value determined by the correlation determination part, and each position of the predetermined illuminating device. The maximum determination unit indicates whether the pattern information indicating the maximum correlation value among the correlations determined by the correlation determination unit indicates the maximum correlation value among the correlation values previously determined by the correlation determination unit. Determine whether. When it is determined by the maximum determination unit that the pattern information indicates the maximum correlation value among the correlation values determined last time, the first range determination unit and the correlation value indicating the maximum determined this time and the previous time It is determined whether the difference from the determined correlation value indicating the maximum is within a predetermined first range. The second range determination unit, when it is determined by the maximum determination unit that the pattern information indicating the maximum correlation value does not indicate the maximum correlation value among the correlation values previously determined by the correlation determination unit, It is determined whether or not the difference between the previous correlation value of the pattern information indicating the maximum correlation value this time and the correlation value indicating the maximum value determined this time is within a predetermined second range. Further, the position estimation unit is a position of the measurement device, the position of the illumination device that has changed the luminous intensity according to the pattern information showing the maximum correlation value among the correlation values determined by the correlation determination unit, When the first range determination unit determines that the difference is within the first range determined in advance, the correlation determination unit obtains the position of the measuring device using the correlation value determined this time, and the first range determination When it is determined that the difference exceeds the first range determined in advance by the unit, the position of the measurement device obtained last time is set as the current position of the measurement device, and the difference is determined in advance by the second range determination unit. If it is determined that the range exceeds 2, the correlation value determined this time by the correlation determination unit is used to determine the position of the measuring device, and the second range determination unit determines the difference within the second range determined in advance. If it is determined that there is a measurement, the measurement obtained last time The position of the location, the current location of the measuring device.

  According to the present invention, it is less expensive than the conventional one, and the obtained position of the measuring device shows high accuracy.

It is the figure which showed the connection of the illumination system which concerns on Embodiment 1 of this invention. 2 is a block diagram of a control device, an illumination device, and a measurement device according to Embodiment 1. FIG. It is a figure which shows the content memorize | stored in the illumination position memory | storage part. (A) is a figure which shows change pattern information, (b) is a figure which shows the aspect of the change using 1st mode, (c) shows the aspect of the change using 2nd mode. It is a figure and (d) is a figure which shows a relational expression. (A) is a figure which shows the formula which calculates | requires a correlation value, (b) is a figure which shows the formula which calculates | requires the position of a measuring device. 3 is a flowchart showing a position estimation process according to the first embodiment. 2 is a block diagram of a control device, an illumination device, and a measurement device according to Embodiment 1. FIG. 10 is a flowchart showing a position estimation process according to the second embodiment. 10 is a flowchart showing correlation value determination processing according to the second embodiment.

(Embodiment 1)
Hereinafter, the illumination system 1 according to Embodiment 1 of the present invention will be described with reference to FIGS. As illustrated in FIG. 1, the illumination system 1 includes a control device 10, first to fourth illumination devices 20, and first to second measurement devices 30. The illumination system 1 can obtain (estimate) the position of each measurement device 30 based on the measurement value of the light intensity measured by the first to second measurement devices 30. This illumination system 1 is, for example, a system that adjusts the intensity of light emitted from each illumination device 20 so that the light intensity measured at the obtained position of each measurement device 30 becomes a target light intensity, or, for example, A system for controlling an air conditioner that performs temperature adjustment using the first and second measuring devices 30 including temperature sensors so that the temperature measured at the obtained position of each measuring device 30 becomes a target temperature. The present invention can be widely applied to systems that perform control in accordance with the obtained positions of the respective measuring devices 30.

  The control apparatus 10 is connected to the 1st-4th illuminating device 20 which irradiates visible light via a cable. The control device 10 controls the first to fourth lighting devices so that the luminous intensity of each visible light emitted from the first to fourth lighting devices 20 changes according to change pattern information provided for each of the first to fourth lighting devices 20. The fourth lighting device 20 is controlled. And the control apparatus 10 estimates the position of the 1st-2nd measurement apparatus 30 using the correlation value with each measurement value of the luminous intensity of the light irradiated according to change pattern information, and each change pattern information. ).

  In addition, the control apparatus 10 makes the form of the change by the time of each luminous intensity of the 1st-4th illuminating device 20 uncorrelated by change pattern information. Therefore, the control apparatus 10 can remove the influence of the light irradiated by the other lighting apparatuses 20 from the correlation value obtained corresponding to each lighting apparatus 20. Therefore, the control device 10 can reduce an error between the estimated position of the measuring device 30 and the actual position (the estimated position of the measuring device 30 indicates high accuracy).

  The first to fourth lighting devices 20 are arranged at different positions, for example, indoors. Each of the first to fourth lighting devices 20 has the same configuration. The first to fourth illumination devices 20 irradiate visible light in a change mode according to change pattern information under the control of the control device 10. The number of lighting devices 20 is not limited to four, and may be two or six, for example.

  The first to second measuring devices 30 measure the luminous intensity (lux) of visible light emitted from the first to fourth lighting devices 20 under the control of the control device 10. Each of the first to second measuring devices 30 has the same configuration. The first to second measuring devices 30 measure the light intensity of visible light that changes according to the change pattern information for a predetermined period (a period from the change start of the light intensity change to the end of the change), and wirelessly communicate information indicating the measured light intensity. Is transmitted to the control device 10.

  When receiving the information indicating the luminous intensity, the control device 10 receives a value indicating the degree of correlation between the information indicating the luminous intensity (the luminous intensity measured by the first and second measuring devices 30) and each of the change pattern information (hereinafter, “ (Referred to as “correlation values”), and the positions of the first to second measuring devices 30 are estimated based on the obtained correlation values. Note that the number of measuring devices 30 is not limited to two, and may be one or four, for example.

  The block diagram of the illumination system 1 provided with the control apparatus 10 mentioned above, the 1st-4th lighting apparatus 20, and the 1st-2nd measuring device 30 is as showing in FIG.

  The control device 10 is composed of, for example, a personal computer. The control device 10 includes a control unit 100, a storage unit 110, a wired communication unit 120, an input unit 130, a display unit 140, and a wireless communication unit 150.

  The control unit 100 controls the control device 10. The control unit 100 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory) (not shown).

  The CPU executes a program stored in the ROM (for example, a program that realizes processing shown in FIG. 6 described later).

  Further, when the CPU executes a program stored in the ROM, the control unit 100 realizes the functions of the luminous intensity control unit 101, the measured luminous intensity acquisition unit 102, and the first position estimation unit 103.

  The luminous intensity control unit 101 transmits a control command from the wired communication unit 120 to each of the first to fourth lighting devices 20. With this control command, the light intensity control unit 101 causes the first to fourth lighting devices 20 to change in accordance with the change pattern information so that the changes in the visible light emitted by each of the first to fourth lighting devices 20 are changed. Each of the lighting devices 20 is controlled.

  The measurement light intensity acquisition unit 102 transmits a transmission command to each of the first to second measurement devices 30 via the wireless communication unit 150. Each of the first to second measurement devices 30 that has received this transmission command receives the measured value of the luminous intensity of the visible light emitted from each of the first to fourth illumination devices 20 according to the change pattern information (hereinafter referred to as “luminosity”). (Referred to as “measured value”). In this way, by transmitting the transmission command, the measurement light intensity acquisition unit 102 acquires the light intensity measurement value from each of the first to second measurement devices 30 via the wireless communication unit 150. The measured luminous intensity acquisition unit 102 stores the received luminous intensity measurement values in the luminous intensity measurement value storage unit 111 in association with the names of the first to second measurement devices 30.

  The first position estimating unit 103 corresponds to each change pattern information, in other words, the correlation value between the light intensity measurement value stored in the light intensity measurement value storage unit 111 and each change pattern information. In response to And the 1st position estimation part 103 is the 1st-2nd measurement apparatus from each calculated | required correlation value and the position of each arrangement | positioning of the 1st-4th illuminating device 20 clarified beforehand. 30 positions are estimated (obtained).

  Here, change pattern information has shown the aspect of the change by the time of the luminous intensity which each of the 1st-4th illuminating device 20 irradiates. Therefore, the correlation value indicates a larger value as the change mode indicated by the photometric measurement value is similar to the change mode indicated by the change pattern information. In addition, the correlation value increases as the luminous intensity indicated by the luminous intensity measurement value approaches the luminous intensity indicated by the change pattern information, in other words, as the measurement apparatus 30 approximates to the illumination apparatus 20. Based on the correlation value changing in this way and the positions of the arrangements of the first to fourth illumination devices 20 that have been clarified in advance, the first position estimation unit 103 determines the first to second measurement devices 30. Estimate the position.

  The storage unit 110 is composed of, for example, a flash memory. The storage unit 110 includes a light intensity measurement value storage unit 111, an illumination position storage unit 112, and a change pattern information storage unit 113.

  The light intensity measurement value storage unit 111 stores the light intensity measurement values acquired from the first to second measurement apparatuses 30 in association with the names of the first to second measurement apparatuses 30.

  The illumination position storage unit 112 stores the positions of the arrangements of the first to fourth illumination devices 20 that have been clarified in advance. Specifically, as shown in FIG. 3, the illumination position storage unit 112 stores information indicating the positions of the respective arrangements of the first to fourth illumination devices 20 using x and y coordinates. Here, the x coordinate indicates the direction in which the first to fourth illumination devices 20 are arranged in a line (see FIG. 1), and the y coordinate indicates the direction from the back of the page of FIG. 1 to the front of the page.

  The change pattern information storage unit 113 shown in FIG. 2 stores change pattern information that makes the form of change of the light intensity of each of the first to fourth illumination devices 20 uncorrelated with the first to fourth illuminations. Store for each device 20. Specifically, the change pattern information stored in the change pattern information storage unit 113 is, for example, as shown in FIG.

  In the change pattern information storage unit 113, change pattern information a 1 and k is stored as an indication of a change in the luminous intensity of visible light emitted from the first illumination device 20, and the change pattern information is irradiated from the second illumination device 20. Change pattern information a <b> 2 and k are stored as indicating changes in the luminous intensity of visible light. Further, the change pattern information storage unit 113 stores change pattern information a31, k indicating the change in the luminous intensity of the visible light emitted from the third lighting device 20, and irradiation from the fourth lighting device 20 is performed. Change pattern information a4, k is stored as an indication of the change in luminous intensity of the visible light.

  There are two modes in the change pattern information a1, k to the change pattern information a4, k. The small letter k in the change pattern information indicates the mode number. Therefore, when the change pattern information is in the first mode, the change pattern information is indicated by change pattern information a1,1 to change pattern information a4,1, and when the change pattern information is in the second mode, the change pattern information is changed. It is indicated by pattern information a1,2 to change pattern information a4,2.

  The change pattern information a1,1 to change pattern information a4,1 are composed of reference pattern information b1,1 to reference pattern b4,1 and offset values C1 to C4 for defining the luminous intensity of each lighting device 20. Yes. The reference pattern information b1,1 to the reference pattern information b4,1 are values obtained by Walsh functions. Therefore, the reference pattern information b1,1 to the reference pattern information b4,1 make the forms of changes of the light intensity of the first to fourth illumination devices 20 with time uncorrelated.

  For example, in the change pattern information a2,1 which is the change pattern information in the first mode of the second lighting device 20, the reference pattern information b2,1 is “1, -1,1, −1”, and the offset value is C2. Therefore, the 2nd lighting device 20 changes the luminous intensity of the visible light to irradiate with the aspect of luminous intensity and a change shown in FIG.4 (b). Specifically, the second lighting device 20 is centered on the offset value C2, the luminous intensity at which the offset value C2 + change amount D1 is at 0 to t1, and the offset value C2 to change amount D1 at t1 to t2. The luminous intensity of the visible light to be irradiated is changed with the luminous intensity at which the offset value C2 + change amount D1 is obtained at t2 to t3, and at the offset value C2 to change amount D1 at t3 to t4.

  Further, the change pattern information a1, 2 to change pattern information a4, 2 which are the second mode are the reference pattern information b1, 2 to reference pattern information b4, 2 and an offset value for defining the luminous intensity of each lighting device 20. It is comprised from C1-C4. The reference pattern information b1 and 2 to the reference pattern information b4 and 2 indicate how the luminosity of visible light emitted by each of the first to fourth illuminating devices 20 changes with time. Strengthening (does not overlap the timing to increase luminous intensity). Therefore, the reference pattern information b1, 2 to the reference pattern information b4, 2 make the aspect of change of the luminous intensity of the visible light irradiated by each of the first to fourth illumination devices 20 uncorrelated.

  For example, in the change pattern information a2, 2 that is the change pattern information of the second mode of the second lighting device 20, the reference pattern information b2, 2 is “0, 1, 0, 0”, and the offset value is C2. is there. Therefore, the 2nd lighting device 20 changes the luminous intensity of the visible light to irradiate in the aspect of luminous intensity and a change shown in FIG.4 (c). Specifically, the second lighting device 20 uses the offset value C2 as a reference, the luminous intensity at which the offset value C2 is from 0 to t1, and the luminous intensity at which the offset value C2 + change amount D2 is from t1 to t2. The light intensity of the visible light to be irradiated is changed with the light intensity at which the offset value C2 is at time t4.

  Here, the change pattern information a1,1 to change pattern information a4,1 which is the first mode and the change pattern information a1,2 to change pattern information a4,2 which are the second mode are expressed in the equation of FIG. It becomes the relationship shown. Note that bi and k in the equation indicate reference pattern information in the k-th mode of the i-th lighting device 20, and b j and k in the equation indicate reference pattern information in the k-th mode of the j-th lighting device 20. Show.

  That is, the change pattern information a1,1 (reference pattern information b1,1) to change pattern information a4,1 (reference pattern information b4,1) have the following relationship. That is, the change mode indicated by any one of the change pattern information (reference pattern information) is represented by a row vector of one row, and the change mode indicated by the other one excluding the one expressed by the row vector is one column. The result of multiplying the row vector and the column vector indicates zero. That is, the change pattern information a1,1 (reference pattern information b1,1) to the change pattern information a4,1 (reference pattern information b4,1) are orthogonal to each other.

  Similarly, change pattern information a1, 2 (reference pattern information b1, 2) to change pattern information a4, 2 (reference pattern information b4, 2) are also indicated by any one of the change pattern information (reference pattern information). When the mode of change is expressed by a row vector of one row and the mode of change indicated by one other than the one expressed by the row vector is expressed by a column vector of one column, the result of multiplying the row vector by the column vector Indicates zero. That is, the change pattern information a1 and 2 (reference pattern information b1 and 2) to the change pattern information a4 and 2 (reference pattern information b4 and 2) are orthogonal to each other.

What I, respectively and the correlation value with the intensity measurement values measured in the first to the second measuring device 30 of the changing pattern information, specifically, determined from the equation shown in FIG. 5 (a) Each correlation value rm, n obtained corresponding to each lighting device 20 can be obtained by removing the influence of the light irradiated by other lighting devices 20.

  In other words, each correlation value rm, n does not include the influence due to the change in luminous intensity of the lighting device 20 that does not show the same change mode as the change pattern information (reference pattern information) used when obtaining the correlation value. Can be. That is, each correlation value rm, n can include only the influence due to the change in luminous intensity of the lighting device 20 that shows the same change mode as the change pattern information (reference pattern information) used when obtaining the correlation value. .

  For example, the correlation value r1,1 does not include the influence due to the change in luminous intensity of the second to fourth illumination devices 20 that do not show the same change mode as the change pattern information a1,1 and the change pattern information a1,2. The change pattern information a1,1 and the change pattern information a1,2 can include only the influence due to the change in luminous intensity of the first lighting device 20 showing the same change mode. In this way, the change pattern information a1,1 to change pattern information a4,1 and the change pattern information a1,2 to change pattern information a4,2 are orthogonal to each other. Even if it is changed at, it is possible to extract only the influence due to the change in the luminous intensity of the illumination device 20 showing the same change mode as the change pattern information used when obtaining the correlation value, by the correlation value rm, n.

  Here, the correlation value rm, n indicates the correlation between the light intensity measurement value of the m-th measurement device 30 and the reference pattern (change pattern) used in the n-th illumination device 20. Bn, k represents a reference pattern in the k-th mode of the n-th illumination device 20, and Em, k represents a light intensity measurement value in the k-th mode acquired from the m-th measurement device 30.

  Thus, for example, when the first measuring device 30 is located near the second lighting device 20 and further closer to the first lighting device 20 than the third lighting device 20 (see FIG. 1). ), The correlation value has a relationship of correlation value r1,2> correlation value r1,1> correlation value r1,3> correlation value r1,4.

  Further, for example, when the second measuring device 30 is located immediately below the fourth lighting device 20 (see FIG. 1), the correlation value is correlation value r2,4> correlation value r2,3> correlation value r2,2 > The relationship shows the correlation value r2,1.

  Substituting the correlation values rm, n described above and the positions of the first to fourth illumination devices 20 stored in the illumination position storage unit 112 into the weighted average expression shown in FIG. Thus, the first position estimating unit 103 estimates the position Xm of the m-th measuring device 30. Specifically, the first position estimation unit 103 obtains the position Xm as follows. That is, the first position estimating unit 103 substitutes the correlation value rm, n for a predetermined monotonically increasing function that indicates an increase when the correlation value rm, n increases and decreases when the correlation value rm, n decreases. The multiplication value of the substitution value and the position Pn (see FIG. 3) of the arrangement of the first to fourth lighting devices 20 stored in the lighting position storage unit 112 is obtained for each lighting device 20. Further, the first position estimating unit 103 adds all the multiplication values obtained for each lighting device 20 and obtains the sum (the sum of the numerators of the formula shown in FIG. 5B). Thereafter, the first position estimating unit 103 estimates (determines) the position Xm of the m-th measuring device 30 by dividing the sum by the previously obtained substitution value.

  Here, the monotonically increasing function f (rm, n) shown by the weighted average expression in FIG. 5B can be defined based on the directivity of the visible light of the lighting device 20, for example. For example, when the luminous intensity is inversely proportional to the square of the distance between the lighting device 20 and the measuring device 30, the monotonically increasing function can be defined as √ (correlation value rm, n). Moreover, Pn shown by the formula of FIG.5 (b) shows the installation position (coordinate) of the nth illuminating device 20. FIG.

  Thus, for example, when the first measuring device 30 is located near the second lighting device 20 and further closer to the first lighting device 20 than the third lighting device 20 (see FIG. 1). ), Since the correlation value has the relationship of correlation value r1,2> correlation value r1,1> correlation value r1,3> correlation value r1,4, the first position estimation unit 103 obtains the first The position X1 of the measuring device 30 is a position (coordinates) that is close to the position (coordinates) where the second illumination device 20 is disposed. Therefore, the first position estimation unit 103 estimates that the first measurement device 30 is located near the second lighting device 20.

  Further, for example, when the second measuring device 30 is located immediately below the fourth lighting device 20 (see FIG. 1), the correlation value is correlation value r2,4> correlation value r2,3> correlation value r2,2 > Because of the relationship indicating the correlation value r2,1, the position X2 of the second measuring device 30 obtained by the first position estimating unit 103 is the position (coordinates) where the fourth lighting device 20 is disposed. Close position (coordinates). Therefore, the first position estimating unit 103 estimates that the second measuring device 30 is located near the fourth lighting device 20.

  As described above, the first position estimation unit 103 obtains the position Xm of the m-th measurement device 30 based on the correlation value rm, n. Here, the correlation value rm, n obtained corresponding to each lighting device 20 is obtained by removing the influence of the light irradiated by the other lighting devices 20 as described above. Therefore, the first position estimation unit 103 can reduce an error between the position Xm of the m-th measurement device 30 and the actual position (the estimated position Xm of the m-th measurement device 30 shows high accuracy).

  The wired communication unit 120 illustrated in FIG. 2 is a communication interface. The wired communication unit 120 is connected to each wired communication unit 210 of the first to fourth lighting devices 20 via a cable. The wired communication unit 120 transmits a control command to the wired communication units 210 of the first to fourth lighting devices 20.

  The input unit 130 is, for example, a keyboard. The input unit 130 is used, for example, to input the arrangement positions of the first to fourth illumination devices 20 stored in the illumination position storage unit 112 and change pattern information stored in the change pattern information storage unit 113. .

  The display unit 140 is, for example, a liquid crystal display. The display unit 140 displays, for example, the estimated positions of the first and second measurement devices 30.

  The wireless communication unit 150 is a wireless communication interface. The wireless communication unit 150 transmits a control command and a transmission command to the wireless communication units 320 of the first to second measurement devices 30 by wireless communication. Further, the wireless communication unit 150 receives the light intensity measurement value transmitted in response to the transmission command from each of the first to second measurement devices 30.

  The illumination device 20 is configured to be capable of adjusting the luminous intensity of visible light to be irradiated. The lighting device 20 includes a control unit 200, a wired communication unit 210, and a light source unit 220.

  The control unit 200 controls the lighting device 20. The control unit 200 includes a CPU, a ROM, and a RAM (not shown).

  The CPU executes the program stored in the ROM, and is irradiated from the light source unit 220 according to the control command transmitted from the control device 10, in other words, according to the change pattern information stored in the change pattern information storage unit 113. The visible light intensity is changed for a predetermined period (period until t4 shown in FIGS. 4B and 4C).

  The wired communication unit 210 is a communication interface. The wired communication unit 210 receives a control command transmitted from the wired communication unit 120 of the control device 10.

  The light source unit 220 is, for example, a fluorescent lamp or an LED (Light Emitting Diode) light.

  The measuring device 30 is composed of a wireless device, for example. The measurement device 30 includes a control unit 300, a light intensity sensor unit 310, and a wireless communication unit 320.

  The control unit 300 controls the measuring device 30. The control unit 300 includes a CPU, a ROM, and a RAM (not shown).

  The CPU executes the program stored in the ROM, and when the wireless communication unit 320 receives a control command from the control device 10, the CPU measures the light intensity of the visible light that changes according to the change pattern information. To start. Further, when the CPU measures the luminous intensity of the visible light of each lighting device 20 for a predetermined period (period until t4 shown in FIGS. 4B and 4C), the CPU 10 measures the luminous intensity measurement value by wireless communication. Send to.

  The light intensity sensor unit 310 is a photoresistor or a photodiode. The light intensity sensor unit 310 measures the light intensity of visible light emitted from the first to fourth illumination devices 20.

  The wireless communication unit 320 is a wireless communication interface. The wireless communication unit 320 receives the control command and the transmission command transmitted from the wireless communication unit 150 of the control device 10. Further, the wireless communication unit 320 transmits the light intensity measurement value to the wireless communication unit 150 of the control device 10 in response to the received transmission command.

  When the execution of position estimation of each measuring device 30 is instructed by the user via the input unit 130 in a state where the power of each lighting device 20, each measuring device 30, and the control device 10 is turned on, The control device 10 starts the position estimation process shown in FIG.

  In the position estimation process, first, the control unit 100 (luminous intensity control unit 101) transmits a control command to the first to fourth illumination devices 20 and the first to second measurement devices 30 (step S1). When receiving this control command, the first to fourth lighting devices 20 change the luminous intensity of the visible light emitted from the light source unit 220 according to the control command as described above, in other words, according to the change pattern information, for a predetermined period (see FIG. 4 (b) and (c) (period until t4). At this time, the 1st-4th illuminating device 20 changes the luminous intensity of visible light according to the change pattern information a1,1 of 1st mode-1-change pattern information a4, 1 (refer Fig.4 (a)). Moreover, the 1st-2nd measuring device 30 will start the measurement of the luminous intensity of the visible light irradiated from the 1st-4th illuminating device 20, if a control command is received.

  When a predetermined period elapses after step S <b> 1 is executed, the control unit 100 (measurement light intensity acquisition unit 102) transmits a transmission command to the first to second measurement devices 30, and the first to second measurement devices 30. The photometric measurement value is acquired from the photometric value, and the acquired photometric measurement value is stored in the photometric measurement value storage unit 111 in association with the information indicating the first pattern and the names of the first and second measurement devices 30 (step S2). ). Note that the control unit 100 (measured light intensity acquisition unit 102) determines which mode the change pattern information is in by a counter provided in a RAM (not shown). Specifically, it is determined whether the acquired light intensity measurement value is in the first mode or the second mode by counting up the counter by one according to the number of executions of step S2.

  After execution of step S2, the control unit 100 (first position estimation unit 103) determines whether or not the light intensity measurement values have been acquired for all modes of the change pattern information (step S3). If the control unit 100 (the first position estimation unit 103) determines that it has not been acquired (step S3: No), the process returns to step S1. Returning to step S1, the control unit 100 (first position estimation unit 103) outputs a control command for changing the luminous intensity of visible light in accordance with the change pattern information a1, 2 to change pattern information a4, 2 in the second mode. 1 to the fourth lighting device 20.

  On the other hand, if the control unit 100 (first position estimation unit 103) determines that the light intensity measurement values have been acquired for all the modes of the change pattern information (step S3: Yes), it executes step S4.

  If it is determined Yes in step S3, all of the light intensity measurement values Em, k (see FIG. 5A) necessary for obtaining the correlation value rm, n are stored in the light intensity measurement value storage unit 111. Has been. Here, the light intensity measurement value Em, k is a light intensity measurement value in the k-th mode acquired from the m-th measurement device 30 as described above. Therefore, when it is determined Yes in step S3, the light intensity measurement values Em, k stored in the light intensity measurement value storage unit 111 become E1,1, E2,1, E1,2 and E2,2.

  When the light intensity measurement values Em, k in all modes are stored in the light intensity measurement value storage unit 111 (step S3: Yes), the control unit 100 (first position estimation unit 103) is as follows in step S4: Thus, the correlation value rm, n is obtained. Specifically, the control unit 100 (first position estimation unit 103) substitutes the light intensity measurement values Em, k into an equation (see FIG. 5A) for obtaining the correlation values rm, n. Further, the control unit 100 (first position estimation unit 103) obtains the reference pattern information bn, k from the change pattern information storage unit 113, and obtains the correlation value rm, n (see FIG. 5A). Assign to. Thus, the control unit 100 (first position estimation unit 103) obtains the correlation value rm, k.

  Here, the reference pattern information bn, k is the reference pattern information in the k-th mode of the n-th lighting device 20 as described above. Therefore, the reference pattern information bn, k acquired from the change pattern information storage unit 113 by the control unit 100 (first position estimation unit 103) is b1,1, b2,1, b3,1, b4,1, b1, 2, b2, 2, b3, 2 and b4, 2.

  Further, the correlation value rm, n is a correlation between the light intensity measurement value of the m-th measurement device 30 and the reference pattern used in the n-th illumination device 20 as described above. Therefore, for example, when obtaining the correlation values r1 and 2, the control unit 100 (first position estimation unit 103) multiplies the reference pattern information b2,1 by the luminous intensity measurement values 1,1 and the reference pattern information b2,2. Correlation values r1 and 2 are obtained by obtaining the sum of multiplication of the measured light intensity values 1 and 2. Further, for example, when obtaining the correlation value r2,1, the control unit 100 (first position estimation unit 103) multiplies the reference pattern information b1,1 by the photometric measurement value 2,1 and the reference pattern information b1,2. The correlation value r2,1 is obtained by calculating the sum of the multiplication of the measured value and the photometric value 2,2. In this way, the control unit 100 (first position estimation unit 103) uses the correlation values rm, n as r1,1, r1,2, r1,3, r1,4, r2,1, r2,2, Find r2,3 and r2,4.

  In this way, the correlation value rm, n obtained by the control unit 100 (first position estimation unit 103) is, for example, that the first measuring device 30 is located near the second lighting device 20, and further In the case of being positioned closer to the first lighting device 20 than the third lighting device 20 (see FIG. 1), correlation values r1,2> correlation values r1,1> correlation values r1,3> correlation values r1,4 It becomes the relationship which shows.

  The correlation value rm, n obtained by the control unit 100 (first position estimation unit 103) is, for example, when the second measuring device 30 is located directly below the fourth lighting device 20 (see FIG. 1). , Correlation value r2,4> correlation value r2,3> correlation value r2,2> correlation value r2,1.

  After execution of step S4, the control unit 100 (first position estimation unit 103) estimates the position of the m-th measurement device 30 in step S5 as follows. Specifically, the control unit 100 (first position estimation unit 103) substitutes the correlation value rm, n obtained in step S4 for a predetermined monotonically increasing function f (rm, n) (FIG. 5 ( b)), a multiplication value of the substitution value and the position Pn (see FIG. 3) of the arrangement of the first to fourth illumination devices 20 stored in the illumination position storage unit 112 is obtained for each illumination device 20. In addition, the control unit 100 (first position estimation unit 103) adds all the multiplication values obtained for each lighting device 20, and obtains the total (the sum of the numerators of the formula shown in FIG. 5B). Thereafter, the control unit 100 (first position estimation unit 103) estimates (determines) the position Xm of the m-th measurement device 30 by dividing the total by the previously obtained substitution value.

  The position X1 of the first measuring device 30 obtained by the control unit 100 (first position estimating unit 103) is, for example, that the first measuring device 30 is located near the second lighting device 20, and further, When located closer to the first lighting device 20 than the third lighting device 20 (see FIG. 1), the correlation value is correlation value r1,2> correlation value r1,1> correlation value r1,3> correlation value. Since r1 and 4 are related, a position (coordinates) close to the position (coordinates) where the second lighting device 20 is arranged is shown. Thereby, the control unit 100 (first position estimation unit 103) estimates that the first measurement device 30 is located near the second illumination device 20. And the control part 100 (1st position estimation part 103) displays the information which shows that the 1st measuring device 30 is located near the position where the 2nd lighting apparatus 20 is arrange | positioned, for example. To display.

  Further, the position X2 of the second measuring device 30 obtained by the control unit 100 (first position estimating unit 103) is, for example, when the second measuring device 30 is located immediately below the fourth lighting device 20 ( Since the correlation value is such that correlation value r2,4> correlation value r2,3> correlation value r2,2> correlation value r2,1, the fourth lighting device 20 is arranged. Indicates a position (coordinate) close to the position (coordinate). Thereby, the control unit 100 (first position estimation unit 103) estimates that the second measurement device 30 is located near the fourth illumination device 20. And the control part 100 (1st position estimation part 103) displays the information which shows that the 2nd measuring device 30 is located near the position where the 4th illuminating device 20 is arrange | positioned, for example. To display.

  As described above, the control device 10 according to the first embodiment can determine the position Xm of the m-th measurement device 30 based on the correlation value rm, n. Here, the change pattern information a1,1 to change pattern information a4,1 and the change pattern information a1,2 to change pattern information a4,2 used when obtaining the correlation value rm, n indicate orthogonality. Therefore, each correlation value rm, n (each correlation value rm obtained corresponding to each lighting device 20) between each of the change pattern information and the light intensity measurement value measured by the first to second measuring devices 30. , N) can be obtained by removing the influence of the light irradiated by the other lighting device 20.

  Specifically, each correlation value rm, n includes an influence due to a change in luminous intensity of the lighting device 20 that does not exhibit the same change mode as the change pattern information (reference pattern information) used when obtaining the correlation value. It can be something that does not exist. That is, each correlation value rm, n can include only the influence due to the change in luminous intensity of the lighting device 20 that shows the same change mode as the change pattern information (reference pattern information) used when obtaining the correlation value. . Therefore, the control device 10 according to the first embodiment can reduce an error between the actual position and the position Xm of the m-th measuring device 30 obtained based on the correlation value rm, n (the estimated m-th measuring device 30). The position Xm indicates high accuracy).

  In addition, the control device 10 according to the first embodiment determines the position Xm of the m-th measurement device 30 as the correlation value between each of the change pattern information and the luminous intensity measurement value measured by the first to second measurement devices 30. rm, n (respective correlation values rm, n obtained corresponding to the respective lighting devices 20). Therefore, the 1st-4th illuminating device 20 should just change the luminous intensity of the visible light to irradiate based on change pattern information. Therefore, the control device 10 can obtain the position Xm of the m-th measuring device 30 using the existing lighting device 20 without preparing a special lighting device. Moreover, the 1st-2nd measuring device 30 can be comprised only by providing the light intensity sensor part 310, for example in a radio | wireless machine. From these things, the illumination system 1 (the control apparatus 10 and the measuring apparatus 30) can be comprised at low cost.

(Embodiment 2)
Next, the control apparatus 11 which concerns on Embodiment 2 of this invention is demonstrated with reference to FIGS. The control device 11 is obtained by changing a part of the configuration and processing of the control device 10 of the first embodiment. Therefore, for the control device 11, the same configurations and the same processes as those of the control device 10 of the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  When there is a possibility that an obstacle such as a person temporarily exists between the illumination device 20 and the measurement device 30 during the measurement of the luminous intensity by the measurement device 30, the control device 11 calculates the calculated correlation value rm, n. The position of the first to second measuring devices 30 is not used (not determined).

  When there is a possibility that an obstacle such as a person temporarily exists between the illumination device 20 and the measurement device 30 during the measurement of the light intensity by the measurement device 30, the light intensity measured by the measurement device 30 is determined by the obstacle. Temporarily lower than if not present. For this reason, if the position of the 1st-2nd measuring device 30 is estimated using correlation value rm, n calculated | required at this time, the position of the 1st-2nd measuring device 30 will be estimated incorrectly. Because.

  The control device 11 changes the first position estimation unit 103 of the control device 10 of the first embodiment to the second position estimation unit 104, and further stores a correlation value for the control device 10 of the first embodiment. The part 114 is added.

  Similar to the first position estimation unit 103, the second position estimation unit 104 obtains a correlation value rm, n between the light intensity measurement value stored in the light intensity measurement value storage unit 111 and each of the change pattern information. The positions of the first to second measuring devices 30 are estimated from the correlation values rm, n and the positions of the first to fourth lighting devices 20 stored in the illumination position storage unit 112.

  However, the second position estimation unit 104 temporarily uses a difference between the correlation value rm, n obtained this time and the correlation value rm, n obtained last time between the illumination device 20 and the measurement device 30 such as a person. If there is a possibility that an obstacle exists, the position of the first and second measuring devices 30 is not estimated using the correlation value rm, n obtained this time.

  The second position estimation unit 104 identifies whether there is a possibility that an obstacle such as a person temporarily exists between the illumination device 20 and the measurement device 30 as follows. This identification is performed for each of the first measuring device 30 and the second measuring device 30.

  First, when the second position estimation unit 104 obtains the correlation value rm, n, the second position estimation unit 104 searches for the change pattern information indicating the maximum correlation value among the correlation values r1 and n included in the correlation value rm, n obtained this time. To do. Next, the second position estimation unit 104 determines that the searched change pattern information (for example, the change pattern information a2 and k corresponding to the correlation values r1 and 2) has the largest correlation even if the correlation value rm, n obtained last time. (For example, whether or not the correlation values r1 and r2 obtained using the change pattern information a2 and k were the maximum in the previous time). With this determination, the second position estimation unit 104 determines whether or not the maximum correlation value r1, n has changed, that is, the first measuring device 30 increases as the nearest lighting device 20 changes. Identifies whether it has moved or not.

  Then, the second position estimation unit 104 determines that the change pattern information indicating the maximum (for example, the change pattern information a2, k corresponding to the correlation values r1, 2) is the correlation value rm, n obtained last time. If it is determined that the maximum correlation is shown, that is, if it is determined that the first measuring device 30 has not moved greatly, the maximum correlation values r1, n (for example, the current correlation values r1, 2) obtained this time It is determined whether or not the absolute value of the difference from the previously obtained maximum correlation value r1, n (for example, the previous correlation value r1,2) is equal to or less than a predetermined threshold th1.

  And if the 2nd position estimation part 104 determines with the absolute value of a difference exceeding threshold value th1, the 1st measuring device 30 has not moved so much that the lighting device 20 which exists nearest is changed. Nevertheless, since the difference between the correlation value r1, n obtained this time and the correlation value r1, n obtained last time is large, the illumination device 20 and the first measurement device are measured when the first measurement device 30 measures the luminous intensity. It is identified that there may be an obstacle such as a person temporarily between 30 and 30.

  Note that when the second position estimation unit 104 determines that the absolute value of the difference is equal to or less than the threshold th1, the second measurement unit 104 reflects that the first measurement device 30 does not move as much as the nearest illumination device 20 changes. Thus, since the difference between the correlation value r1, n obtained this time and the correlation value r1, n obtained last time is small, an obstacle exists between the illumination device 20 and the first measurement device 30 when measuring the luminous intensity. Identify that there is no possibility.

  On the other hand, the second position estimation unit 104 indicates that the change pattern information indicating the maximum (for example, the change pattern information a2, k corresponding to the correlation values r1, 2) is the largest in the correlation values rm, n obtained last time. If it is determined that the correlation is not shown, that is, if it is identified that the first measuring device 30 has moved more greatly as the nearest illumination device 20 changes, the change pattern information (for example, correlation value r1) showing the maximum this time. , 2, whether or not the absolute value of the difference between the previous correlation value r1, n of the change pattern information a2, k) and the correlation value r1, n indicating the current maximum is equal to or smaller than a predetermined threshold th2. Determine.

  Then, when the second position estimation unit 104 determines that the absolute value of the difference is equal to or less than the threshold th2, the second measurement is performed in spite of the fact that the first measurement device 30 moves more greatly as the nearest illumination device 20 changes. Since the difference between the previous correlation value r1, n of the change pattern information indicating the maximum and the correlation value r1, n indicating the maximum at this time is small, the lighting device 20 It is identified that there is a possibility that an obstacle such as a person temporarily exists between the first measurement apparatus 30 and the like.

  Note that when the second position estimation unit 104 determines that the absolute value of the difference exceeds the threshold th2, it reflects that the first measurement device 30 has moved more greatly as the nearest illumination device 20 changes. Since the difference between the previous correlation value r1, n of the change pattern information indicating the current maximum and the correlation value r1, n indicating the current maximum is large, the illumination device 20 and the first measurement device 30 are different. In the meantime, it is identified that there is no possibility that an obstacle was present when measuring the light intensity.

  When the above determination is completed, the second position estimation unit 104 performs the same determination on the correlation values r2 and n included in the correlation values rm and n obtained this time (for the second measuring device 30). However, the position of the first measuring device 30 is first estimated before the same determination is performed on the correlation values r2 and n.

  Specifically, the second position estimation unit 104 temporarily has an obstacle such as a person between the illumination device 20 and the first measurement device 30 when the first measurement device 30 measures the light intensity. If it is identified that there is a possibility of the failure, the previously estimated position is estimated as the current position of the first measurement device 30. In this way, the second position estimation unit 104 determines the correlation value r1 obtained when there is a possibility that an obstacle such as a person temporarily exists between the illumination device 20 and the first measurement device 30. , N are not used for estimating the position of the first measuring device 30. Therefore, the second position estimation unit 104 does not erroneously estimate the position of the first measurement device 30.

  On the other hand, when the second position estimation unit 104 identifies that there is no possibility that an obstacle exists between the illumination device 20 and the first measurement device 30 during the measurement of the luminous intensity, the first position estimation unit 104 of the first embodiment. Similarly to the position estimation unit 103 of the first measurement device 30, the correlation values r 1, n obtained this time and the positions of the first to fourth illumination devices 20 stored in the illumination position storage unit 112 are used. Estimate the position.

  In this way, when the estimation of the position of the first measurement device 30 is completed, the second position estimation unit 104 performs the above-described determination and second for the correlation values r2 and n (for the second measurement device 30). The position of the measuring device 30 is estimated.

  Note that the correlation value rm, n obtained last time used in the second position estimation unit 104 described above is stored in the correlation value storage unit 114. The correlation value storage unit 114 stores the correlation value rm, n obtained by the second position estimation unit 104. The second position estimation unit 104 stores the obtained correlation value rm, n in the correlation value storage unit 114 every time the correlation value rm, n is obtained.

  When execution of estimation of the position of each measuring device 30 is instructed by the user via the input unit 130 in a state where the power of each lighting device 20, each measuring device 30, and the control device 11 is turned on, The control device 11 starts the position estimation process shown in FIG.

  The position estimation process executed by the control device 11 is a part of the position estimation process (see FIG. 6) executed by the control device 10 of the first embodiment. Therefore, in the position estimation process shown in FIG. 8, the same processes as the position estimation process shown in FIG.

  In the position estimation process executed by the control device 11, the control unit 100 executes steps S1 and S2, and then performs the determination in step S3. If the control unit 100 determines Yes in step S3, the control unit 100 proceeds to step S4.

  In step S4, the control unit 100 (second position estimation unit 104) obtains a correlation value rm, n and stores the obtained correlation value rm, n in the correlation value storage unit 114 (step S4). And the control part 100 (2nd position estimation part 104) performs the determination process of a correlation value (step S11).

  The correlation value determination process is as shown in FIG. In the correlation value determination process, first, the control unit 100 (second position estimation unit 104) executes Step S21. Specifically, the control unit 100 (second position estimation unit 104) maximizes the correlation value among the correlation values r1 and n included in the correlation value rm, n obtained this time in step S4 (see FIG. 8). Search the indicated change pattern information. Next, the control unit 100 (second position estimation unit 104) uses the searched change pattern information (for example, the change pattern information a2 and k corresponding to the correlation values r1 and 2) as the correlation value rm, The correlation stored in the correlation value storage unit 114 indicates whether or not the maximum correlation is shown even in the case of n (for example, whether or not the correlation values r1 and r2 obtained using the change pattern information a2 and k were the maximum in the previous time). The values r1 and n are searched and determined.

  The control unit 100 (second position estimation unit 104) determines that the change pattern information indicating the maximum (for example, the change pattern information a2, k corresponding to the correlation values r1, 2) is the correlation value rm, n obtained last time. However, if it is determined that the maximum correlation has been shown (step S21: Yes), it is determined that the first measuring device 30 has not moved much as the nearest illumination device 20 changes, and the process proceeds to step S22.

  In step S22, the control unit 100 (second position estimation unit 104) reads the maximum correlation values r1, n (for example, the previous correlation values r1, 2) obtained last time from the correlation value storage unit 114 and reads them. A threshold in which the absolute value of the difference between the previous correlation value r1, n and the maximum correlation value r1, n obtained this time in step S4 (see FIG. 8) (for example, the current correlation value r1,2) is predetermined. It is determined whether it is equal to or less than th1 (step S22).

  When the control unit 100 (second position estimation unit 104) determines that the absolute value of the difference exceeds the threshold th1 (No at Step S22), the first measurement is performed as the nearest lighting device 20 changes. Although the device 30 has not moved greatly, the difference between the maximum correlation value r1, n obtained this time and the maximum correlation value r1, n obtained last time is large, so that the illumination device 20 and the first measurement are measured. It is identified that there is a possibility that an obstacle such as a person temporarily exists between the apparatus 30 and the process proceeds to step S24.

  In step S24, the control unit 100 (second position estimation unit 104) determines that the measurement is NG, and stores information indicating that the measurement by the first measurement device 30 is NG in the RAM (not illustrated). ) (Step S24), and the correlation value determination process ends.

  On the other hand, when the control unit 100 (second position estimation unit 104) determines in step S22 that the absolute value of the difference is equal to or less than the threshold th1 (step S22: Yes), the control unit 100 (second position estimation unit 104) increases as the nearest lighting device 20 changes. Reflecting that the one measuring device 30 has not moved significantly, the difference between the maximum correlation value r1, n obtained this time and the maximum correlation value r1, n obtained last time is also small. It is identified that there is no possibility that an obstacle has existed between the first measurement device 30 and the light intensity measurement, that is, the measurement by the first measurement device 30 is normal. Then, the control unit 100 (second position estimation unit 104) ends the correlation value determination process.

  On the other hand, in step S21, the control unit 100 (second position estimation unit 104) previously obtained change pattern information indicating the maximum (for example, change pattern information a2, k corresponding to the correlation values r1, 2). If it is determined that the correlation value rm, n does not indicate the maximum correlation (step S21: No), it is determined that the first measurement device 30 is moved more greatly as the nearest illumination device 20 changes. The process proceeds to step S23.

  Then, the control unit 100 (second position estimation unit 104) determines the previous time of the change pattern information (for example, the change pattern information a2, k corresponding to the correlation values r1, 2) in which the correlation values r1, n are maximum. It is determined whether or not the absolute value of the difference between the correlation value r1, n and the correlation value r1, n indicating the current maximum is equal to or less than a predetermined threshold th2 (step S23).

  When the control unit 100 (second position estimation unit 104) determines that the absolute value of the difference is equal to or less than the threshold th2 (step S23: Yes), the first measurement device 30 changes as the nearest illumination device 20 changes. In spite of the large movement, the difference between the previous correlation value r1, n of the change pattern information indicating the maximum this time and the correlation value r1, n indicating the maximum this time is small. When measuring the luminous intensity, it is identified that there is a possibility that an obstacle such as a person temporarily exists between the illumination device 20 and the first measurement device 30, and the process proceeds to step S24.

  On the other hand, when the control unit 100 (second position estimation unit 104) determines that the absolute value of the difference exceeds the threshold th2 (step S23: No), the first lighting device 20 that changes closest is changed. Reflecting the large movement of the measuring device 30, the difference between the previous correlation value r1, n of the change pattern information indicating the maximum this time and the correlation value r1, n indicating the maximum this time is large. It is identified that there is no possibility that an obstacle exists between the device 20 and the first measuring device 30 when measuring the luminous intensity, that is, the measurement by the first measuring device 30 is normal. Then, the control unit 100 (second position estimation unit 104) ends the correlation value determination process.

  When the correlation value determination process ends, the control unit 100 (second position estimation unit 104) performs the determination in step S12 shown in FIG. That is, the control unit 100 (second position estimation unit 104) determines whether or not information indicating that the measurement by the first measurement device 30 is NG is stored in the RAM (not shown). Thus, it is determined whether or not the determination result by the determination process is NG (step S12).

  When the control unit 100 (second position estimation unit 104) determines that the determination result is NG (step S12: Yes), the lighting device 20 and the first measurement are performed when the first measurement device 30 measures the luminous intensity. It is identified that there is a possibility that an obstacle such as a person temporarily exists between the device 30 and the previously estimated position is estimated as the current position of the first measuring device 30 (step S13). In this way, the second position estimation unit 104 determines the correlation value r1 obtained when there is a possibility that an obstacle such as a person temporarily exists between the illumination device 20 and the first measurement device 30. , N are not used for estimating the position of the first measuring device 30. Therefore, the second position estimation unit 104 does not erroneously estimate the position of the first measurement device 30.

  On the other hand, when the control unit 100 (second position estimation unit 104) determines that the determination result is not NG, that is, the measurement has been normally performed (step S12: No), the illumination device 20 and the first measurement device 30 are determined. Between the first and fourth lighting devices 20 stored in the illumination position storage unit 112 and the correlation values r1 and n obtained this time. The position of the first measuring device 30 is estimated from the position of the arrangement (step S14).

  After execution of either step S13 or step S14, the control unit 100 (second position estimation unit 104) executes the determination of step S6. At this time, when the above-described processing (processing up to step S14) has been completed only for the correlation values r1 and n, it is determined No in step S6, and the control unit 100 (second position estimating unit 104) Return to step S11. Accordingly, the control unit 100 (second position estimation unit 104) performs correlation value determination processing (step S11) and position estimation (steps S12 to S12) for the correlation values r2 and n (second measurement device 30). S14) is performed.

  On the other hand, the control unit 100 (second position estimation unit 104) determines Yes in step S6 when the above-described processing (processing up to step S14) is completed for the correlation values r2 and n. In order to continuously estimate the positions of the first and second measuring devices 30, the process returns to step S1.

  As described above, when there is a possibility that an obstacle such as a person temporarily exists between the illumination device 20 and the measurement device 30, the control device 11 of the second embodiment uses the calculated correlation value rm, n. The position of the first to second measuring devices 30 is not used (not determined). Therefore, the control device 11 does not erroneously estimate the positions of the first to second measurement devices 30.

  Further, the control device 11 according to the second embodiment can obtain the position Xm of the m-th measurement device 30 based on the correlation value rm, n, similarly to the control device 10 according to the first embodiment. Here, the change pattern information a1,1 to change pattern information a4,1 and the change pattern information a1,2 to change pattern information a4,2 used when obtaining the correlation value rm, n indicate orthogonality. Therefore, each correlation value rm, n (each correlation value rm obtained corresponding to each lighting device 20) between each of the change pattern information and the light intensity measurement value measured by the first to second measuring devices 30. , N) can be obtained by removing the influence of the light irradiated by the other lighting device 20. Therefore, the control device 11 according to the second embodiment can reduce an error between the actual position and the position Xm of the m-th measurement device 30 obtained based on the correlation value rm, n (the estimated m-th measurement device 30). The position Xm indicates high accuracy).

  Further, as in the control device 10 of the first embodiment, the control device 11 of the second embodiment determines the position Xm of the m-th measurement device 30 using each of the change pattern information and the first to second measurement devices 30. It calculates | requires based on each correlation value rm, n (each correlation value rm, n calculated | required corresponding to each illuminating device 20) with the measured luminous intensity measurement value. Therefore, the 1st-4th illuminating device 20 should just change the luminous intensity of the visible light to irradiate based on change pattern information. Therefore, the control device 11 can obtain the position Xm of the m-th measuring device 30 using the existing lighting device 20 without preparing a special lighting device. Moreover, the 1st-2nd measuring device 30 can be comprised only by providing the light intensity sensor part 310, for example in a radio | wireless machine. From these things, the illumination system which consists of the control apparatus 11, the 1st-4th illuminating device 20, and the 1st-2nd measuring device 30 can be comprised at low cost.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to said embodiment, A various deformation | transformation and application are possible.

  For example, the control devices 10 and 11 according to the above-described embodiments control the luminous intensity of visible light emitted from the first to fourth lighting devices 20 according to predetermined change pattern information. This change pattern information is composed of reference pattern information indicating orthogonality and an offset value, but is not limited to this. That is, the change pattern information may be configured as a pseudo-noise code sequence that is configured by reference pattern information indicating orthogonality and an offset value, and is a random code sequence repeated at a constant period. . This change pattern information can be generated by multiplying the change pattern information composed of the reference pattern information indicating orthogonality and the offset value by a pseudo noise code string.

  In this way, the change pattern information is configured as a pseudo-noise code sequence that is configured by reference pattern information indicating orthogonality and an offset value, and is a random code sequence that is repeated at a constant period. Thus, it is possible to eliminate the influence due to the change in the luminous intensity of the lighting device 20 that does not show the same change mode as the change pattern information (reference pattern information) used for obtaining the correlation value. The influence by the change of the light (the influence by the light change other than the lighting device 20) can be reduced. Thereby, the error between the obtained position of the measuring device 30 and the actual position can be further reduced.

  Further, the change amount D1 of the change pattern information is set so that the degree of change in the luminous intensity of the illumination device 20 that changes according to the change pattern information is several percent (for example, 1% to 9%) of the current luminous intensity of the illumination device 20. Or D2 (see FIGS. 4B and 4C) may be set. A change in luminous intensity of several percent can be detected by, for example, the luminous intensity sensor unit 310 such as a photoresistor or a photodiode, but cannot be sensed by humans. Therefore, the control devices 10 and 11 use the lighting device 20 by setting the change amounts D1 and D2 of the change pattern information so that the degree of change in luminous intensity is several percent of the current luminous intensity of the lighting device 20. The position of the measuring device 30 can be estimated without causing discomfort to the user who is doing.

  Further, after setting the amount of change D1 and D2 so that the degree of change in luminous intensity is several percent of the current luminous intensity of the lighting device 20, the change pattern information is further composed of reference pattern information and offset values. It may be configured as a pseudo-noise code sequence that is a random code sequence that is repeated at a constant cycle. In this case, the change in luminous intensity of the lighting device 20 can be dispersed. Therefore, the control devices 10 and 11 can estimate the position of the measurement device 30 without giving a sense of discomfort to the user who uses the lighting device 20.

  In addition, when the first to fourth illumination devices 20 of the above-described embodiments receive the control command transmitted from the control device 10 or the control device 11, the light source according to the control command, in other words, according to the change pattern information. A period in which the luminous intensity of the first to fourth lighting devices 20 is maintained while the luminous intensity of visible light emitted from the unit 220 is changed for a predetermined period (period until t4 shown in FIGS. 4B and 4C). For example, each period from 0:00 to t1, t1 to t2, t2 to t3, and t3 to t4 may be relatively long, for example, about 0.1 seconds to 1 second. Thereby, even when the light source part 220 with a large time constant is used for the first to fourth lighting devices 20, it is possible to stabilize changes in luminous intensity in the first to fourth lighting devices 20. it can.

  In addition, the 1st-4th illuminating device 20 may repeat the change of the luminous intensity in the predetermined period of the visible light to irradiate 3 times, for example. In this case, you may comprise the 1st-2nd measuring device 30 so that a luminous intensity may be measured, for example at the time of the luminous intensity change of the 2nd time or the 3rd time. By comprising in this way, the measurement of the luminous intensity in the 1st-2nd measuring device 30 can be made accurate and stable.

  Moreover, although the control apparatuses 10 and 11 of each embodiment mentioned above used the reference pattern information which shows orthogonality, ie, the thing without the correlation which satisfy | fills the formula shown in FIG.4 (d) for change pattern information, It is not limited to. That is, not only the reference pattern information having no correlation but also the reference pattern information having a sufficiently low correlation, in other words, the reference pattern information capable of producing a significant difference between the correlation values rm, n may be used as the change pattern information. . Such reference pattern information is also included in the non-correlated change pattern information.

  Moreover, the control apparatuses 10 and 11 of each embodiment mentioned above perform the change of luminous intensity to the 1st-4th lighting apparatus 20 by transmitting a control command directly to the 1st-4th lighting apparatus 20. FIG. However, it is not limited to this. That is, when there is a controller capable of adjusting the luminous intensity of visible light emitted from the first to fourth lighting devices 20 in advance, a control command is transmitted to the controller, so that You may perform the change of the luminous intensity of the 1st-4th illuminating device 20. FIG. With this configuration, even when the first to fourth lighting devices 20 and the controller are already introduced, the present invention can be implemented only by adding the control devices 10 and 11 and the measuring device 30.

  Moreover, although the control apparatuses 10 and 11 of each embodiment mentioned above estimated the position of the 1st-2nd measuring device 30 by calculating | requiring a weighted average by the type | formula shown in FIG.5 (b), It is not limited. That is, in order to reduce the processing load of position estimation, the control devices 10 and 11 search the maximum correlation value rm, n among the correlation values rm, n for the m-th measurement device 30, and the change pattern thus searched for. It is estimated that the m-th measurement device 30 is located at the position of the illumination device 20 (for example, the position of the second illumination device 20) whose luminous intensity has been changed according to the information (for example, the change pattern information a2, k). May be. For example, for the first measuring device 30, the control devices 10 and 11 search for the maximum correlation value r1 and n among the correlation values r1 and n, and if this is the correlation value r1 and 2, for example, the change pattern It is estimated that the first measuring device 30 is present at the position of the second lighting device 20 whose luminous intensity is changed according to the information a2 and k. Further, for example, for the second measuring device 30, if the control devices 10 and 11 search for the maximum correlation value r2 and n among the correlation values r2 and n and this is the correlation value r2 and 4, for example, It is estimated that the second measuring device 30 exists at the position of the fourth lighting device 20 where the luminous intensity is changed according to the change pattern information a4, k.

  In addition, a predetermined threshold is provided for the correlation value rm, n, and the control devices 10 and 11 determine whether or not the obtained correlation value rm, n is equal to or greater than the predetermined threshold. When there are a plurality of correlation values rm, n, the position of the measuring device 30 may be estimated from the positions of the plurality of illumination devices 20 corresponding to the correlation values rm, n. For example, for the first measuring device 30, the control devices 10 and 11 have correlation values r1,1, correlation values r1,2 and correlation values r1, n that are greater than or equal to a predetermined threshold among the correlation values r1, n. If it is 3, it is estimated that the first measuring device 30 is located between the first lighting device 20 and the third lighting device 20. For example, for the second measuring device 30, the control devices 10 and 11 have correlation values r2 and 3 and correlation values r2 and 4 that are equal to or greater than a predetermined threshold among the correlation values r2 and n. In this case, it is estimated that the second measuring device 30 is located between the third lighting device 20 and the fourth lighting device 20. When there is one correlation value rm, n that is equal to or greater than a predetermined threshold, the control devices 10 and 11 have the measuring device 30 positioned at the position of the illumination device 20 corresponding to the one correlation value rm, n. I guess.

  In addition, for the m-th measuring device 30, the correlation value rm, n is searched for the maximum correlation value rm, n, and the correlation value such that the difference from the maximum correlation value rm, n is within a predetermined range. When rm, n exists, the position of the measuring device 30 is estimated from the positions of the plurality of illumination devices 20 corresponding to the maximum correlation value rm, n and the correlation value rm, n that was within the predetermined range. Also good. For example, for the first measuring device 30, the control devices 10 and 11 have the maximum correlation values r1 and r2 among the correlation values r1 and n, and the correlation values r1 and r3 are within a predetermined range. It is estimated that the first measuring device 30 is located between the first lighting device 20 and the third lighting device 20. Further, for example, for the second measuring device 30, the control devices 10 and 11 indicate that the correlation values r2 and 3 are the largest among the correlation values r2 and n, and the correlation values r2 and 4 are within a predetermined range. In this case, it is estimated that the second measuring device 30 is located between the third lighting device 20 and the fourth lighting device 20. In addition, when there is no correlation value rm, n that falls within a predetermined range, the control devices 10 and 11 indicate that the measurement device 30 is positioned at the position of the illumination device 20 corresponding to the maximum correlation value rm, n. presume.

  Moreover, the control apparatuses 10 and 11 of each embodiment mentioned above transmit a control command from the wired communication part 120 to each wired communication part 210 of the 1st-4th lighting apparatus 20, and are 1st-1st. Each of the first to fourth illumination devices 20 is controlled so that the aspect of change in visible light emitted by each of the fourth illumination devices 20 changes according to the change pattern information, but is not limited thereto. It is not a thing. That is, the control devices 10 and 11 transmit a dimming signal such as a voltage signal or a PWM (Pulse Width Modulation) signal to each of the wired communication units 210 instead of the control command, so that the first to fourth illuminations are transmitted. You may perform control which changes the visible light which each of the apparatus 20 irradiates.

  Moreover, the control apparatus 10 of Embodiment 1 mentioned above changes the luminous intensity of the 1st-4th illuminating device 20 by the position estimation process (refer FIG. 6) first in the change mode of a 1st mode, and this time Are obtained from the first to second measuring devices 30, and then the luminous intensity of the first to fourth illuminating devices 20 is changed in the change mode of the second mode. Although it was the structure acquired from the 1st-2nd measuring device 30 (refer step S1-step S3), it is not restricted to this. That is, the determination in step S3 may be changed between step S1 and step S2. In other words, the light intensity of the first to fourth lighting devices 20 is changed in both the first mode and the second mode, and the light intensity measurement values at this time are acquired from the first to second measurement devices 30. Thus, the acquisition of the light intensity measurement value may be completed in one time.

  Further, the control device 10 according to the first embodiment described above uses the photometric measurement values acquired from the first to second measurement devices 30 in step S2 of the position estimation process (see FIG. 6), and the correlation value rm, Although n was calculated | required, it is not restricted to this. That is, the control device 10 stores the light intensity measurement value in the storage unit 110 every time the light intensity measurement value is acquired from the first to second measurement devices 30. And when calculating | requiring correlation value rm, n, the control apparatus 10 calculates | requires the average value of the luminous intensity measurement value memorize | stored until now, and may calculate | require correlation value rm, n using the average value. Further, every time the correlation value rm, n is obtained, the control device 10 stores the correlation value rm, n in the storage unit 110, and when newly obtaining the correlation value rm, n, the correlation value stored so far is stored. An average value of rm, n may be obtained, and the average value may be a newly obtained correlation value rm, n.

  Further, the control device 11 according to the second embodiment described above includes the correlation value rm, n obtained this time and the correlation value rm, n obtained last time in steps S22 and S23 of the correlation value determination process (see FIG. 9). Although the absolute value of the difference is obtained, the present invention is not limited to this. That is, the control device 11 stores the correlation value rm, n in the storage unit 110 every time the correlation value rm, n is obtained. In step S22 and step S23, the control device 11 obtains the absolute value of the difference from the correlation value rm, n obtained this time, the average value of the correlation values rm, n stored so far, and the amount obtained this time. The weighted average value of the correlation values rm, n for several times including the above may be obtained, and the determination in step S22 and step S23 may be performed from the absolute value of the difference between the obtained average value and the correlation value rm, n obtained this time. .

  Moreover, if it determines with the control apparatus 11 of Embodiment 2 having specified the position of all the measuring apparatuses 30 by step S6 of a position estimation process (refer FIG. 8) (step S6: Yes), it will be 1st-2nd. In order to continuously estimate the position of the measuring device 30, the process returns to step S <b> 1, but is not limited thereto. That is, when the estimation of the position of the first to second measurement devices 30 is not performed continuously, the control device 11 may be configured to end the position estimation processing when determining Yes in step S6.

  Moreover, although the control apparatus 11 of Embodiment 2 calculated | required the absolute value of the difference in step S22 and step S23 of the determination process (refer FIG. 9) of a correlation value, it is not restricted to this. That is, in step S22 and step S23, a difference may be simply obtained, and the determination may be made based on whether or not the difference is within a threshold range.

  In the embodiment, the program for controlling the control devices 10 and 11 is a computer such as a flexible disk, a CD-ROM (Compact Disc Read-Only Memory), a DVD (Digital Versatile Disc), and an MO (Magneto-Optical Disc). May be stored in a readable recording medium and distributed, and the program may be installed in a computer or the like to constitute a control device that executes the processes shown in FIGS. 6, 8, and 9.

  Further, the above-described program may be stored in a disk device or the like of a predetermined server device on a communication network such as the Internet, and may be downloaded, for example, superimposed on a carrier wave.

  In addition, when the processing shown in FIGS. 6, 8, and 9 is realized by sharing each OS (Operating System), or when the processing shown in FIG. Only the part may be stored and distributed in a medium, or may be downloaded.

  Various embodiments and modifications can be made to the present invention without departing from the broad spirit and scope of the present invention. Further, the above-described embodiment is for explaining the present invention, and does not limit the scope of the present invention. In other words, the scope of the present invention is indicated by the scope of claims, not the embodiment described above. Various modifications within the scope of the claims and within the scope of the equivalent invention are considered to be within the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Illumination system 10 Control apparatus 20 Illumination apparatus 30 Measuring apparatus 100,200,300 Control part 101 Light intensity control part 102 Measurement light intensity acquisition part 103 1st position estimation part 104 2nd position estimation part 110 Storage part 111 Light intensity measurement value memory | storage Unit 112 illumination position storage unit 113 change pattern information storage unit 120, 210 wired communication unit 130 input unit 140 display unit 150, 320 wireless communication unit 220 light source unit 310 light intensity sensor unit

Claims (7)

A pattern information storage unit that stores, for each of the lighting devices, pattern information that is not correlated with each other, indicating a mode of change in light intensity of light irradiated by a plurality of lighting devices arranged at different positions, and
A control unit that controls each of the illumination devices such that a change mode of light emitted by each of the illumination devices becomes a change according to pattern information stored in the pattern information storage unit;
An acquisition unit that acquires a measurement value of the luminous intensity of light emitted from each of the plurality of illumination devices at the same timing from the measurement device that measures the luminous intensity;
A correlation determining unit that determines a correlation value indicating a degree of correlation between the measurement value of the luminous intensity acquired by the acquiring unit and each of the pattern information stored in the pattern information storage unit;
A position estimation unit for determining the position of the measurement device based on each correlation value determined by the correlation determination unit and each predetermined position of the illumination device;
Whether or not the pattern information in which the correlation value indicates the maximum among the correlations determined by the correlation determination unit indicates the maximum correlation value among the correlation values previously determined by the correlation determination unit A maximum determination unit for determining
When it is determined by the maximum determination unit that the pattern information indicates the maximum correlation value among the correlation values determined last time, the correlation value indicating the maximum value determined this time and the maximum value determined last time are calculated. A first range determination unit that determines whether a difference from the indicated correlation value is within a predetermined first range;
If it is determined by the maximum determination unit that the pattern information indicating the maximum correlation value does not indicate the maximum correlation value among the correlation values previously determined by the correlation determination unit, the current correlation A second range determination unit that determines whether a difference between a previous correlation value of the pattern information having a maximum value and a correlation value having a maximum value determined this time is within a predetermined second range; ,
Equipped with a,
The position estimation unit
Among the correlation values determined by the correlation determination unit, the position of the illuminating device that has changed the luminous intensity according to the pattern information that showed the maximum correlation value, is the position of the measuring device,
When the first range determination unit determines that the difference is within a predetermined first range, the correlation value determined this time by the correlation determination unit is used to determine the position of the measurement device,
When it is determined by the first range determination unit that the difference exceeds a predetermined first range, the position of the measurement device obtained last time is set as the current position of the measurement device,
If the second range determination unit determines that the difference exceeds a predetermined second range, the correlation value determined this time by the correlation determination unit is used to determine the position of the measurement device,
When the second range determination unit determines that the difference is within a predetermined second range, the position of the measurement device obtained last time is set as the current position of the measurement device.
Control apparatus. A pattern information storage unit that stores, for each of the lighting devices, pattern information that is not correlated with each other, indicating a mode of change in light intensity of light irradiated by a plurality of lighting devices arranged at different positions, and
A control unit that controls each of the illumination devices such that a change mode of light emitted by each of the illumination devices becomes a change according to pattern information stored in the pattern information storage unit;
An acquisition unit that acquires a measurement value of the luminous intensity of light emitted from each of the plurality of illumination devices at the same timing from the measurement device that measures the luminous intensity;
A correlation determining unit that determines a correlation value indicating a degree of correlation between the measurement value of the luminous intensity acquired by the acquiring unit and each of the pattern information stored in the pattern information storage unit;
A position estimation unit for determining the position of the measurement device based on each correlation value determined by the correlation determination unit and each predetermined position of the illumination device;
Whether or not the pattern information in which the correlation value indicates the maximum among the correlations determined by the correlation determination unit indicates the maximum correlation value among the correlation values previously determined by the correlation determination unit A maximum determination unit for determining
When it is determined by the maximum determination unit that the pattern information indicates the maximum correlation value among the correlation values determined last time, the correlation value indicating the maximum value determined this time and the maximum value determined last time are calculated. A first range determination unit that determines whether a difference from the indicated correlation value is within a predetermined first range;
If it is determined by the maximum determination unit that the pattern information indicating the maximum correlation value does not indicate the maximum correlation value among the correlation values previously determined by the correlation determination unit, the current correlation A second range determination unit that determines whether a difference between a previous correlation value of the pattern information having a maximum value and a correlation value having a maximum value determined this time is within a predetermined second range; ,
With
The position estimation unit
A weighted average of each correlation value determined by the correlation determination unit and information indicating each position of the lighting device whose light intensity is changed according to each of the pattern information is obtained, and a position indicated by the obtained weighted average is obtained. , The position of the measuring device,
When the first range determination unit determines that the difference is within a predetermined first range, the correlation value determined this time by the correlation determination unit is used to determine the position of the measurement device,
When it is determined by the first range determination unit that the difference exceeds a predetermined first range, the position of the measurement device obtained last time is set as the current position of the measurement device,
If the second range determination unit determines that the difference exceeds a predetermined second range, the correlation value determined this time by the correlation determination unit is used to determine the position of the measurement device,
When the second range determination unit determines that the difference is within a predetermined second range, the position of the measurement device obtained last time is set as the current position of the measurement device.
Control device. The pattern information stored in the pattern information storage unit represents a change mode indicated by any one of the pattern information as a row vector, except for the one represented by the row vector. When the change mode indicated by one pattern information is represented by a column vector of one column, the result of multiplying the row vector and the column vector is orthogonal indicating zero,
The control device according to claim 1 or 2 . A control method for a control device, comprising:
The control device is configured to change the light according to the pattern information having no correlation with each other indicating the change in the light intensity of the light emitted by the plurality of illumination devices arranged at different positions. A control step for controlling each of the lighting devices;
An acquisition step in which the control device acquires a measurement value of light intensity of light emitted from each of the plurality of illumination devices at the same timing from a measurement device that measures the light intensity;
A correlation determining step in which the control device determines a correlation value indicating a degree of correlation between the measured value of the luminous intensity acquired by the acquiring step and each of the pattern information;
A position estimating step for obtaining a position of the measuring device based on each correlation value determined in the correlation determining step and a predetermined position of the illumination device;
The control device, wherein the pattern information indicating the maximum correlation value among the correlations determined in the correlation determination step is the maximum correlation value among the correlation values previously determined in the correlation determination step. A maximum determination step for determining whether or not
When it is determined by the maximum determination step that the pattern information indicates the maximum correlation value among the previously determined correlation values, the control device determines the correlation value indicating the maximum determined this time and the previous time A first range determination step for determining whether a difference from the determined correlation value indicating the maximum is within a predetermined first range;
In the maximum determination step, the control device determines that the pattern information indicating the maximum correlation value does not indicate the maximum correlation value among the correlation values previously determined in the correlation determination step. In this case, it is determined whether the difference between the previous correlation value of the pattern information in which the current correlation value is maximum and the correlation value in which the maximum value is determined this time is within a predetermined second range. Two range determination step;
Equipped with a,
The position estimating step includes:
The position of the illuminating device in which the luminous intensity is changed according to the pattern information in which the correlation value is maximum among the correlation values determined by the correlation determining step is set as the position of the measuring device,
When the difference is determined to be within a first range determined in advance by the first range determination step, the correlation value determined this time by the correlation determination step is used to determine the position of the measurement device;
When it is determined in the first range determination step that the difference exceeds a predetermined first range, the position of the measurement device obtained last time is set as the current position of the measurement device,
When it is determined by the second range determination step that the difference exceeds a predetermined second range, the correlation value determined this time by the correlation determination step is used to determine the position of the measurement device,
When it is determined in the second range determination step that the difference is within a predetermined second range, the position of the measurement device obtained last time is set as the current position of the measurement device;
Control method. A control method for a control device, comprising:
The control device is configured to change the light according to the pattern information having no correlation with each other indicating the change in the light intensity of the light emitted by the plurality of illumination devices arranged at different positions. A control step for controlling each of the lighting devices;
An acquisition step in which the control device acquires a measurement value of light intensity of light emitted from each of the plurality of illumination devices at the same timing from a measurement device that measures the light intensity;
A correlation determining step in which the control device determines a correlation value indicating a degree of correlation between the measured value of the luminous intensity acquired by the acquiring step and each of the pattern information;
A position estimating step for obtaining a position of the measuring device based on each correlation value determined in the correlation determining step and a predetermined position of the illumination device;
The control device, wherein the pattern information indicating the maximum correlation value among the correlations determined in the correlation determination step is the maximum correlation value among the correlation values previously determined in the correlation determination step. A maximum determination step for determining whether or not
When it is determined by the maximum determination step that the pattern information indicates the maximum correlation value among the previously determined correlation values, the control device determines the correlation value indicating the maximum determined this time and the previous time A first range determination step for determining whether a difference from the determined correlation value indicating the maximum is within a predetermined first range;
In the maximum determination step, the control device determines that the pattern information indicating the maximum correlation value does not indicate the maximum correlation value among the correlation values previously determined in the correlation determination step. In this case, it is determined whether the difference between the previous correlation value of the pattern information in which the current correlation value is maximum and the correlation value in which the maximum value is determined this time is within a predetermined second range. Two range determination step;
With
The position estimating step includes:
A weighted average of each correlation value determined in the correlation determination step and information indicating each position of the lighting device whose light intensity is changed according to each of the pattern information is obtained, and a position indicated by the calculated weighted average is obtained. , The position of the measuring device,
When the difference is determined to be within a first range determined in advance by the first range determination step, the correlation value determined this time by the correlation determination step is used to determine the position of the measurement device;
When it is determined in the first range determination step that the difference exceeds a predetermined first range, the position of the measurement device obtained last time is set as the current position of the measurement device,
When it is determined by the second range determination step that the difference exceeds a predetermined second range, the correlation value determined this time by the correlation determination step is used to determine the position of the measurement device,
When it is determined in the second range determination step that the difference is within a predetermined second range, the position of the measurement device obtained last time is set as the current position of the measurement device;
Control method. To the computer that controls the control device,
Each of the illuminating devices is configured to change the light according to pattern information having no correlation to each other indicating the change in the intensity of light emitted by a plurality of illuminating devices arranged at different positions. Control function to control,
An acquisition function for acquiring a measurement value of the luminous intensity of light irradiated at the same timing from each of the plurality of illumination apparatuses, from the measurement apparatus that measures the luminous intensity,
A correlation determination function for determining a correlation value indicating a degree of correlation between the measurement value of the luminous intensity acquired by the acquisition function and each of the pattern information;
A position estimation function for determining the position of the measurement device based on each correlation value determined by the correlation determination function and a predetermined position of the illumination device;
Whether or not the pattern information in which the correlation value indicates the maximum among the correlations determined by the correlation determination function indicates the maximum correlation value among the correlation values previously determined by the correlation determination function Maximum judgment function for judging
If it is determined by the maximum determination function that the pattern information indicates the maximum correlation value among the correlation values determined last time, the correlation value indicating the maximum value determined this time and the maximum value determined last time are A first range determination function for determining whether a difference from the indicated correlation value is within a predetermined first range;
If it is determined by the maximum determination function that the pattern information indicating the maximum correlation value does not indicate the maximum correlation value among the correlation values previously determined by the correlation determination function, the current correlation A second range determination function for determining whether the difference between the previous correlation value of the pattern information indicating the maximum value and the correlation value indicating the maximum value determined this time is within a predetermined second range;
Realized ,
In the position estimation function,
Among the correlation values determined by the correlation determination function, the position of the illuminating device that has changed the luminous intensity according to the pattern information that showed the maximum correlation value, is the position of the measurement device,
If the first range determination function determines that the difference is within a predetermined first range, the correlation value determined this time by the correlation determination function is used to determine the position of the measurement device;
If it is determined by the first range determination function that the difference exceeds a predetermined first range, the position of the measurement device obtained last time is set as the current position of the measurement device;
When the second range determination function determines that the difference exceeds a predetermined second range, the correlation value determined this time by the correlation determination function is used to determine the position of the measurement device,
When it is determined by the second range determination function that the difference is within a predetermined second range, the position of the measurement device obtained last time is set as the current position of the measurement device.
Program. To the computer that controls the control device,
Each of the illuminating devices is configured to change the light according to pattern information having no correlation to each other indicating the change in the intensity of light emitted by a plurality of illuminating devices arranged at different positions. Control function to control,
An acquisition function for acquiring a measurement value of the luminous intensity of light irradiated at the same timing from each of the plurality of illumination apparatuses, from the measurement apparatus that measures the luminous intensity,
A correlation determination function for determining a correlation value indicating a degree of correlation between the measurement value of the luminous intensity acquired by the acquisition function and each of the pattern information;
A position estimation function for determining the position of the measurement device based on each correlation value determined by the correlation determination function and a predetermined position of the illumination device;
Whether or not the pattern information in which the correlation value indicates the maximum among the correlations determined by the correlation determination function indicates the maximum correlation value among the correlation values previously determined by the correlation determination function Maximum judgment function for judging
If it is determined by the maximum determination function that the pattern information indicates the maximum correlation value among the correlation values determined last time, the correlation value indicating the maximum value determined this time and the maximum value determined last time are A first range determination function for determining whether a difference from the indicated correlation value is within a predetermined first range;
If it is determined by the maximum determination function that the pattern information indicating the maximum correlation value does not indicate the maximum correlation value among the correlation values previously determined by the correlation determination function, the current correlation A second range determination function for determining whether the difference between the previous correlation value of the pattern information indicating the maximum value and the correlation value indicating the maximum value determined this time is within a predetermined second range;
Realized,
In the position estimation function,
A weighted average of each correlation value determined by the correlation determination function and information indicating each position of the lighting device whose light intensity is changed according to each of the pattern information is obtained, and a position indicated by the obtained weighted average is obtained. And the position of the measuring device,
If the first range determination function determines that the difference is within a predetermined first range, the correlation value determined this time by the correlation determination function is used to determine the position of the measurement device;
If it is determined by the first range determination function that the difference exceeds a predetermined first range, the position of the measurement device obtained last time is set as the current position of the measurement device;
When the second range determination function determines that the difference exceeds a predetermined second range, the correlation value determined this time by the correlation determination function is used to determine the position of the measurement device,
When it is determined by the second range determination function that the difference is within a predetermined second range, the position of the measurement device obtained last time is set as the current position of the measurement device.
program.

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