JP6662493B2 - Positioning system - Google Patents

Description

  The present invention relates to a positioning system.

  2. Description of the Related Art Conventionally, a system that detects a current position of a mobile terminal based on a detection result of an acceleration sensor or the like mounted on the mobile terminal has been known. As such a system, for example, there is one described in Patent Document 1 below.

JP 2016-27328 A

  In such a system as described above, due to accumulation of sensor errors, detection accuracy decreases over time. For example, in the system described in Patent Literature 1, the detection position is corrected based on the intensity of the radio wave received by the mobile terminal from the base station. However, the location where the radio wave intensity is maximum is not always constant. For this reason, the detection position may not be corrected correctly.

  The present invention has been made to solve the above problems. An object of the present invention is to provide a positioning system that can suppress a decrease in detection accuracy of a position detection device.

A positioning system according to the present invention is provided in an entrance / exit management device, and a collating unit for collating an ID read by a reader corresponding to a door; A door control unit that controls a door corresponding to the reader that has read the ID, and a position that is provided in the movable position detection device and that detects the current position of the position detection device based on the detection result of the movement detection unit. A detection unit, and a correction unit that corrects a detection result of the position detection unit of the position detection device corresponding to the ID based on the timing at which the ID is read by the reader and correction information indicating the position of the door corresponding to the reader. When provided with, provided on the entering exit management apparatus comprises a command unit that transmits information to the position detecting device, the correcting unit is provided in the position detecting device, the command Based on the information transmitted from, and corrects the detection result of the position detecting section of the position detecting device.

  In the present invention, the correction unit detects the detection result by the position detection unit of the position detection device corresponding to the ID based on the timing at which the reader reads the ID and the correction information indicating the position of the door corresponding to the reader. to correct. For this reason, according to the present invention, it is possible to suppress a decrease in the detection accuracy of the position detection device.

FIG. 3 is a first plan view illustrating an example of a security area according to the first embodiment. FIG. 2 is a functional block diagram of a positioning system according to Embodiment 1. FIG. 3 is a second plan view illustrating an example of the security area according to the first embodiment. 5 is a flowchart illustrating an operation example of the positioning system according to the first embodiment. FIG. 2 is a hardware configuration diagram of the access control device.

  The positioning system will be described in detail with reference to the accompanying drawings. In each drawing, the same or corresponding parts are denoted by the same reference characters. Duplicate descriptions will be simplified or omitted as appropriate.

Embodiment 1 FIG.
FIG. 1 is a first plan view showing an example of the security area according to the first embodiment. The security area is an area subject to entry / exit management.

  As shown in FIG. 1, a door 1 leading to a security area is provided in a building. For example, the inside of a specific room is set as inside the security area. For example, a passage in a building or outside is set as outside the security area. Outside the security area, a reader 2 corresponding to the door 1 is provided. The leader 2 is provided on, for example, a wall surface near the corresponding door 1.

  As shown in FIG. 1, an entrance / exit management device 3 is provided in the building. The access control device 3 is electrically connected to the plurality of readers 2. The entry / exit management device 3 is electrically connected to, for example, an electric lock of the door 1 or an opening / closing mechanism. The entry / exit management device 3 manages entry / exit of a user to / from the security area. The entry / exit management device 3 manages, for example, entry / exit of an autonomous mobile body to / from a security area. The autonomous mobile body is, for example, a robot that can move autonomously.

  FIG. 2 is a functional block diagram of the positioning system according to the first embodiment.

  As shown in FIG. 2, the positioning system includes an entry / exit management device 3 and a movable position detection device 4. A plurality of position detection devices 4 may exist. The position detecting device 4 may be portable or autonomously movable. The position detection device 4 is, for example, a mobile terminal such as a smartphone carried by the user. The position detection device 4 is, for example, an autonomous mobile body that moves in a building.

  The position detection device 4 has a wireless communication function. The position detection device 4 performs, for example, wireless communication with the entry / exit management device 3. Communication between the position detection device 4 and the entry / exit management device 3 is performed via, for example, a wireless LAN in a building.

  The position detecting device 4 may perform wireless communication with another position detecting device 4, for example. The position detecting device 4 may communicate with another position detecting device 4 via, for example, a wireless LAN in a building. For example, the position detection device 4 may directly communicate with another position detection device 4 existing within a certain distance without going through a wireless LAN or the like.

  As shown in FIG. 2, the entry / exit management device 3 includes a storage unit 5, a collation unit 6, a door control unit 7, a command unit 8, and a reliability determination unit 9. The position detection device 4 includes a movement detection unit 10, a storage unit 11, a position detection unit 12, a correction unit 13, and a communication unit 14.

  The reader 2 reads an ID from the position detection device 4 or the identification body 15 by wireless communication, for example. The identification body 15 is, for example, a tag or card carried by the user. The ID is, for example, information for identifying a user or an autonomous mobile object. The ID read by the reader 2 is transmitted to the entry / exit management device 3. The reader 2 may read the ID by, for example, a contact-type reading method. The reader 2 may have a function of transmitting information to the position detection device 4, for example.

  The storage unit 5 stores, for example, a collation ID in advance. The collation unit 6 collates the ID read by the reader 2 with the collation ID stored in the storage unit 5. The door control unit 7 controls the door 1 corresponding to the reader 2 that has read the ID, based on the result of ID collation performed by the collation unit 6. The control of the door 1 indicates, for example, at least one of locking and unlocking the electric lock of the door 1 and opening and closing the door 1.

  For example, when the ID read by the reader 2 matches the collation ID, the door control unit 7 unlocks or opens the door 1 corresponding to the reader 2. For example, when the ID read by the reader 2 does not match the collation ID, the door control unit 7 does not unlock or open the door 1 corresponding to the reader 2.

  The movement detection unit 10 detects that the position detection device 4 is moving. As the movement detection unit 10, for example, at least one of an acceleration sensor, an angular velocity sensor, a magnetic sensor, a barometric pressure sensor, and the like is used.

  The storage unit 11 stores, for example, map information in advance. The map information is, for example, information indicating an arrangement of rooms and passages of a building in which a security area is set.

  The position detection unit 12 detects the current position of the position detection device 4 in the building based on the detection result by the movement detection unit 10 and the map information.

  The position detection unit 12 calculates the moving speed of the position detection device 4 from the output of the acceleration sensor, for example. The position detecting unit 12 calculates the attitude and the moving direction of the position detecting device 4 from the output of the angular velocity sensor or the magnetic sensor, for example. The position detection unit 12 calculates, for example, the altitude at which the position detection device 4 is located or the floor number of the building from the output of the atmospheric pressure sensor.

  The correction unit 13 corrects the detection result by the position detection unit 12. The correction unit 13 performs correction based on, for example, the timing at which the reader 2 reads the ID and the correction information indicating the position of the door 1 corresponding to the reader 2.

  Note that the correction unit 13 may perform the correction based on, for example, the timing of the collation by the collation unit 6 or the timing of the control by the door control unit 7, instead of the timing of the ID reading.

  The correction information includes, for example, information indicating the horizontal position of the door 1. The correction unit 13 corrects the horizontal position detected by the position detection unit 12 based on, for example, the horizontal position of the door 1 indicated by the correction information.

  The correction information includes, for example, information indicating the direction of the door 1. The direction of the door 1 included in the correction information is, for example, the direction in a state where the door 1 is closed. The correction unit 13 corrects the movement direction detected by the position detection unit 12 in a direction perpendicular to the door 1 based on, for example, the direction of the door 1 indicated by the correction information. The direction perpendicular to the door 1 is, for example, a direction indicated by a double arrow in FIG.

  The correction information includes, for example, information indicating the floor where the door 1 is located. The correction unit 13 sets, for example, the floor on which the door 1 indicated by the correction information exists as the current floor of the position detection device 4.

  Thus, the position detection device 4 has, for example, a function of detecting its own current position and a function of correcting the detected current position of itself.

  The command unit 8 transmits information to the position detection device 4. The correction unit 13 of the position detection device 4 corrects the detection result by the position detection unit 12 of the position detection device 4 based on, for example, information transmitted from the command unit 8.

  The command unit 8 transmits the correction information to the position detection device 4 corresponding to the ID when the reader 2 reads the ID, for example. The correction information is stored in the storage unit 5 in advance, for example. The position detecting device 4 corresponding to the ID includes, for example, the position detecting device 4 from which the ID is read by the reader 2 or the position detecting device 4 associated with the identification body 15 from which the ID is read by the reader 2. Point. The correction unit 13 performs correction based on the correction information transmitted from the command unit 8, for example.

  For example, when the ID is read from the identification body 15 by the reader 2, the command unit 8 transmits the correction information to the position detecting device 4 corresponding to the ID by wireless communication without passing through the reader 2. You may.

  For example, when the reader 2 reads the ID from the position detecting device 4, the command unit 8 may transmit the correction information to the position detecting device 4 via the reader 2.

  For example, when the reader 2 reads an ID, the command unit 8 may transmit not the correction information but the information specifying the reader 2 to the position detection device 4 corresponding to the ID. In this case, the storage unit 11 stores information specifying the reader 2 and correction information indicating the position of the door 1 corresponding to the reader 2 in association with each other. In this case, the correction unit 13 performs correction based on the correction information stored in the storage unit 11 in association with the information specifying the reader 2 transmitted from the command unit 8. In this case, the entry / exit management device 3 does not need to store the correction information.

  The correction unit 13 of the position detection device 4 may perform the correction based on a radio wave transmitted from the beacon 16 shown in FIG. 2, for example, as described below.

  The beacon 16 is installed near the door 1 in a building, for example. The beacon 16 does not transmit a radio wave when the door 1 is closed, for example. The beacon 16 transmits a radio wave including correction information corresponding to the position of the door 1, for example, in conjunction with the opening / closing operation of the door 1. For example, when the position detecting device 4 receives a radio wave transmitted from the beacon 16, the correcting unit 13 of the position detecting device 4 performs correction based on the correction information included in the radio wave.

  FIG. 3 is a second plan view illustrating an example of the security area according to the first embodiment. The beacon 16 transmits a radio wave only to a minimum range that overlaps with the closed door 1 in plan view, for example, as shown in FIG.

  For example, the correction unit 13 of the position detection device 4 may perform correction based on radio waves transmitted from another position detection device 4 as described below.

  The communication unit 14 of each position detection device 4 constantly or periodically transmits the positioning information to the entry / exit management device 3. The positioning information is, for example, information indicating a detection result by the position detection unit 12 and a timing at which the correction by the correction unit 13 is performed. The positioning information received by the entry / exit management device 3 is stored in the storage unit 5 for each position detection device 4, for example. The reliability determination unit 9 determines the reliability of the current position of each position detection device 4 based on the positioning information.

  The reliability determination unit 9 determines reliability based on, for example, the elapsed time from the last correction timing indicated by the positioning information. The reliability determination unit 9 determines, for example, that the shorter the elapsed time from the last correction timing indicated by the positioning information, the higher the reliability of the current position of the position detection device 4 that has transmitted the positioning information. The reliability determination unit 9 determines, for example, that the longer the elapsed time from the last correction timing indicated by the positioning information is, the lower the reliability of the current position of the position detection device 4 that has transmitted the positioning information is.

  The command unit 8 transmits a beacon command to at least one of the other position detecting devices 4 having high reliability of the current position when the position detecting device 4 having low reliability of the current position exists. As the transmission destination of the beacon command, for example, another position detection device 4 existing within a certain distance from the position detection device 4 having low reliability of the current position is selected. The communication unit 14 of the position detection device 4 that has received the beacon command transmits a radio wave including information indicating the current position of the position detection device 4. The correction unit 13 of the position detection device 4 having low reliability of the current position performs correction based on, for example, position information included in the radio wave and the intensity of the radio wave. That is, the position detecting device 4 that has received the beacon command plays a role as a beacon.

  FIG. 4 is a flowchart illustrating an operation example of the positioning system according to the first embodiment. FIG. 4 shows a case where the position detection device 4 plays a role as a beacon.

  The plurality of position detection devices 4 detect respective current positions (step S101). The entry / exit management device 3 receives the respective pieces of positioning information from the plurality of position detection devices 4 (Step S102). The entry / exit management device 3 updates the positioning information stored in the storage unit 5 (Step S103).

  The entry / exit management device 3 determines whether there is a position detection device 4 with low reliability of the current position (Step S104). If it is determined in step S104 that there is no position detection device 4 with low reliability of the current position, the process of step S101 is performed.

  If it is determined in step S104 that there is a position detection device 4 with low reliability of the current position, the entry / exit management device 3 transmits a beacon command to the position detection device 4 with high reliability of the current position ( Step S105). The position detecting device that has received the beacon command transmits a radio wave (step S106). The position detection device 4 with low reliability of the current position performs the correction based on the radio wave (Step S107). After step S107, the process of step S101 is performed.

  In the first embodiment, the position detection unit 12 is provided in the movable position detection device 4, and detects the current position of the position detection device 4 based on the detection result of the movement detection unit 10. Based on the timing at which the ID is read by the reader 2 and the correction information indicating the position of the door 1 corresponding to the reader 2, the correction unit 13 uses the position detection unit 12 of the position detection device 4 corresponding to the ID. Correct the detection result. That is, the correction unit 13 corrects the detection result based on the position of the door 1 in the building. For this reason, a decrease in the detection accuracy of the position detection device 4 can be suppressed.

  In the first embodiment, the correction unit 13 corrects the horizontal position detected by the position detection unit 12, for example, based on the horizontal position of the door 1 indicated by the correction information. For this reason, the deviation of the horizontal position included in the detection result of the position detection device 4 can be corrected.

  In the first embodiment, the correction unit 13 corrects the movement direction detected by the position detection unit 12 to a direction perpendicular to the door 1 based on, for example, the direction of the door 1 indicated by the correction information. For this reason, it is possible to correct the displacement in the moving direction included in the detection result of the position detection device 4.

  In the first embodiment, the correction unit 13 sets, for example, the floor where the door 1 indicated by the correction information exists as the current floor of the position detection device 4. Therefore, it is possible to prevent the current floor of the position detecting device 4 from being erroneously detected.

  In the first embodiment, the correction unit 13 is provided in, for example, the position detection device 4. The correction unit 13 corrects the detection result by the position detection unit 12 of the position detection device 4 based on the information transmitted from the command unit 8 of the entry / exit management device 3, for example. For this reason, the position detection device 4 can correct its own current position by cooperating with the entry / exit management device 3.

  In the first embodiment, for example, when the ID is read by the reader 2, the command unit 8 transmits the correction information to the position detection device 4 corresponding to the ID. For this reason, the position detection device 4 can correct its own current position by cooperating with the entry / exit management device 3.

  In the first embodiment, for example, when the reader 2 reads an ID from the identification body 15 that is not the position detecting device 4, the command unit 8 sends the position of the reader 2 to the position detecting device 4 corresponding to the ID. The correction information is transmitted by wireless communication that does not pass through. Therefore, even when the identification body 15 is used for entry / exit management, the position detection device 4 can correct its own current position.

  In the first embodiment, for example, when the ID is read from the position detecting device 4 by the reader 2, the command unit 8 transmits the correction information to the position detecting device 4 via the reader 2. . Therefore, even when wireless communication that does not involve the reader 2 cannot be used, the position detection device 4 can correct its current position.

  In the first embodiment, the storage unit 11 provided in the position detection device 4 stores, for example, information specifying the reader 2 and correction information indicating the position of the door 1 corresponding to the reader 2 in association with each other. . For example, when the reader 2 reads an ID, the command unit 8 transmits information for specifying the reader 2 to the position detection device 4 corresponding to the ID. The correction unit 13 performs correction based on the correction information stored in the storage unit 11 in association with the information specifying the reader 2 transmitted from the instruction unit 8, for example. Therefore, even if the entry / exit management device 3 does not store the correction information, the position detection device 4 can correct its own current position.

  In the first embodiment, for example, a beacon 16 that transmits a radio wave including correction information when the door 1 is opened and closed is provided near the door corresponding to the reader 2. The beacon 16 does not transmit a radio wave when the door 1 is closed, for example. The correction unit 13 performs correction based on, for example, correction information included in a radio wave transmitted from the beacon 16. Therefore, for example, the current position of the position detecting device 4 can be corrected more accurately than when a beacon that constantly transmits radio waves is installed in a passage. Further, for example, even when the position detecting device 4 passes through the door 1 without reading the ID by the reader 2, the position detecting device 4 can correct its own current position.

  In the first embodiment, the communication unit 14 provided in the position detection device 4 transmits, for example, positioning information to the entry / exit management device 3. The reliability determination unit 9 determines, for example, the reliability of the current position of the position detection device 4 based on the positioning information. For example, when there is a position detection device 4 whose reliability of the current position is determined to be low by the reliability determination unit 9, the command unit 8 determines whether another position detection device whose reliability of the current position is determined to be high is present. 4, a beacon command is transmitted. The communication unit 14 of the position detection device 4 that has received the beacon command transmits, for example, a radio wave including information indicating the current position of the position detection device 4. The correction unit 13 performs correction based on, for example, information included in a radio wave transmitted from another position detection device 4 and the intensity of the radio wave. Therefore, the position detection device 4 whose reliability of the current position is lowered can correct its own current position.

  In the first embodiment, the correction unit 13 may be provided in the entry / exit management device 3, for example, as described below.

  The communication unit 14 of each position detection device 4 constantly or periodically transmits the positioning information to the entry / exit management device 3. The positioning information in this case is, for example, information indicating a detection result by the position detection unit 12. The positioning information received by the entry / exit management device 3 is stored in the storage unit 5 for each position detection device 4, for example. For example, when the ID is read by the reader 2, the correction unit 13 of the entry / exit management device 3 uses the correction information stored in the storage unit 5 in advance and uses the position detection device 4 corresponding to the ID. And corrects the detection result indicated by the positioning information transmitted from. For this reason, for example, in a system for detecting a movement history of a visitor or an autonomous mobile body, a decrease in detection accuracy can be suppressed. In this case, there is no need for the position detection device 4 to store the map information.

  FIG. 5 is a hardware configuration diagram of the entry / exit management device.

  Each function of the storage unit 5, the collation unit 6, the door control unit 7, the command unit 8, and the reliability determination unit 9 in the access control device 3 is realized by a processing circuit. The processing circuit may be dedicated hardware 50. The processing circuit may include a processor 51 and a memory 52. A part of the processing circuit is formed as dedicated hardware 50, and may further include a processor 51 and a memory 52. FIG. 5 shows an example in which the processing circuit is partially formed as dedicated hardware 50 and includes a processor 51 and a memory 52.

  If at least a portion of the processing circuit is at least one dedicated hardware 50, the processing circuit may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. Combinations apply.

  When the processing circuit includes at least one processor 51 and at least one memory 52, each function of the entry / exit management device 3 is realized by software, firmware, or a combination of software and firmware. Software and firmware are described as programs and stored in the memory 52. The processor 51 realizes the function of each unit by reading and executing the program stored in the memory 52. The processor 51 is also called a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. The memory 52 corresponds to, for example, a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, and an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD.

  As described above, the processing circuit can realize each function of the entry / exit management device 3 by hardware, software, firmware, or a combination thereof. Each function of the position detection device 4 is also realized by a processing circuit similar to the processing circuit shown in FIG.

  As described above, the present invention can be used for a positioning system using a movable position detection device.

Reference Signs List 1 door 2 reader 3 access control device 4 position detection device 5 storage unit 6 collation unit 7 door control unit 8 command unit 9 reliability determination unit 10 movement detection unit 11 storage unit 12 position detection unit 13 correction unit 14 communication unit 15 identification Body 16 Beacon 50 Dedicated hardware 51 Processor 52 Memory

Claims (7)

A collation unit provided in the entrance / exit management device and collating an ID read by a reader corresponding to the door;
A door control unit that is provided in the entrance / exit management device and controls a door corresponding to a reader that has read the ID based on a result of ID comparison performed by the comparison unit;
A position detection unit provided in the movable position detection device, for detecting a current position of the position detection device based on a detection result of the movement detection unit;
A correction unit that corrects the detection result of the position detection unit of the position detection device corresponding to the ID based on the timing at which the ID is read by the reader and the correction information indicating the position of the door corresponding to the reader;
Equipped with a,
A command unit that is provided in the entrance / exit management device and transmits information to the position detection device,
The positioning system is provided in a position detection device, and corrects a detection result by the position detection unit of the position detection device based on information transmitted from the command unit . The command unit transmits the correction information to the position detection device corresponding to the ID when the ID is read by the reader,
The positioning system according to claim 1 , wherein the correction unit performs correction based on the correction information transmitted from the command unit. The command unit, when an ID is read from an identification body that is not a position detecting device by a reader, transmits the correction information to a position detecting device corresponding to the ID by wireless communication without using the reader. Item 3. The positioning system according to Item 2 . The instruction unit, when the reading of the ID from the position detecting device has been performed by the reader, the positioning system according to claim 2 or 3 sends to the position detecting device, the correction information through the reader. A storage unit is provided in the position detection device, and includes a storage unit that stores information for identifying the reader and the correction information indicating the position of the door corresponding to the reader in association with each other,
The command unit, when an ID is read by a reader, transmits information specifying the reader to a position detection device corresponding to the ID,
The positioning system according to claim 1 , wherein the correction unit performs correction based on the correction information stored in the storage unit in association with information specifying a reader transmitted from the command unit. Near the door corresponding to the leader, a beacon that transmits a radio wave including the correction information when opening and closing the door is provided,
The positioning system according to any one of claims 1 to 5 , wherein the correction unit performs correction based on the correction information included in a radio wave transmitted from a beacon. It is provided in a position detection device, and transmits to the entry / exit management device positioning information indicating a detection result of the position detection device of the position detection device and a timing at which correction by the correction unit of the position detection device is performed. A communication unit;
Provided in the entry and exit management device, a reliability determination unit that determines the reliability of the current position of the position detection device based on the positioning information,
With
The command unit, when there is a position detection device determined that the reliability of the current position is low by the reliability determination unit, the other position detection device that is determined that the reliability of the current position is high Send a beacon command,
The communication unit of the position detecting device that has received the beacon command transmits a radio wave including information indicating the current position of the position detecting device,
The positioning system according to any one of claims 1 to 6 , wherein the correction unit performs the correction based on information included in a radio wave transmitted from another position detection device and the intensity of the radio wave.

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