JP7091755B2 - Data processing equipment, data processing methods, programs, positioning target equipment and peripheral equipment - Google Patents

Description

The present invention relates to a positioning system, particularly a positioning system that detects the position and orientation of a plurality of devices when the plurality of devices are arranged in the same space.

Generally, as an example of a positioning technique using radio, there is a technique using GPS (Global Positioning System), and it is possible to detect a position outdoors with an accuracy of several meters to several tens of meters. However, since the positioning accuracy is greatly affected by the disturbance indoors, the position cannot be detected well. As a technique for improving the positioning accuracy indoors, a technique using radio signal strength such as Wi-fi (registered trademark) or Bluetooth (registered trademark) has been proposed (see, for example, Patent Document 1). ..

In this technology, a base station (anchor) that transmits a wireless signal is fixed to an indoor desk or wall, the wireless signal strength from each anchor is acquired from the mobile terminal, and the wireless signal strength is obtained from the mobile terminal. Calculate the range of distance to each anchor. Then, in such a technique, the position of the mobile terminal can be narrowed down based on the distance range from the mobile terminal to each anchor.

Japanese Unexamined Patent Publication No. 2012-255673

However, when such a technique is applied to detect the position and orientation of a plurality of devices in the same indoor space, the following problems may occur.

-Since it is necessary to transmit a wireless signal from a fixed place where the position has been measured in advance, it takes time and effort to install and set the system.
-Since the radio signal strength fluctuates due to radio interference, etc., the position of the device cannot be detected correctly.
-It is not possible to detect the orientation of the device simply by acquiring the radio signal strength with the device.

Therefore, we solved the problem that it takes time to install and set the system and the problem that the position of the device cannot be detected correctly, and the time and effort required to detect the position of multiple devices in the same space is reduced and the detection accuracy is improved. It is hoped that the technology that can be used will be provided. Furthermore, it is possible to provide a technique that can solve the problem that the orientation of the device cannot be detected correctly, reduce the time and effort required to detect the orientation of a plurality of devices in the same space, and improve the detection accuracy. desired.

Further, according to another aspect of the present invention, the receiving direction of the acoustic transmission signal transmitted by the positioning target device in the peripheral device and the positioning of the acoustic response signal transmitted by the peripheral device that has received the acoustic transmission signal. The positioning target device calculated based on the reception direction in the target device and the round-trip time from the transmission of the acoustic transmission signal by the positioning target device to the reception of the acoustic response signal by the positioning target device. And an acquisition unit that acquires at least one of the distances of the peripheral devices, and a processing unit that calculates the position of the positioning target device based on the at least one of the peripheral devices and the position of the peripheral device. A data processing device is provided.

The processing unit may calculate the orientation of the positioning target device based on the reception direction of the acoustic response signal transmitted by each of the plurality of peripheral devices in the positioning target device and the position of each of the plurality of peripheral devices. good.

The processing unit may calculate the position of the positioning target device based on the reception direction of the acoustic response signal transmitted by each of the plurality of peripheral devices in the positioning target device and the position of each of the plurality of peripheral devices. good.

The processing unit may calculate the position of the positioning target device based on the reception direction of the acoustic transmission signal in each of the plurality of peripheral devices and the position of each of the plurality of peripheral devices.

The processing unit is calculated based on the round-trip time from the transmission of the acoustic transmission signal by the positioning target device to the reception of the acoustic response signal transmitted by the plurality of peripheral devices by the positioning target device. Further, based on the distance between the positioning target device and each of the plurality of peripheral devices and the position of each of the plurality of peripheral devices, the reception direction of the acoustic transmission signal in each of the plurality of peripheral devices is corrected and corrected. At least one of the position and orientation of the positioning target device may be corrected based on the later reception direction.

The processing unit is calculated based on the round-trip time from the transmission of the acoustic transmission signal by the positioning target device to the reception of the acoustic response signal transmitted by the plurality of peripheral devices by the positioning target device. Further, the position of the positioning target device may be calculated based on the distance between the positioning target device and each of the plurality of peripheral devices and the position of each of the plurality of peripheral devices.

The processing unit calculates based on the round-trip time from the transmission of the acoustic transmission signal by the positioning target device to the reception of the acoustic response signal transmitted by the first peripheral device by the positioning target device. The distance between the positioning target device and the first peripheral device, the distance corresponding to the reception time difference between the acoustic transmission signal and the acoustic response signal in the second peripheral device, and the first peripheral device. The position of the positioning target device may be calculated based on the positions of the device and the second peripheral device.

The processing unit directs the positioning target device based on the position of the positioning target device, the position of the peripheral device, and the reception direction of the acoustic response signal transmitted by the peripheral device in the positioning target device. May be calculated.

The processing unit may select the peripheral device based on the reception intensity or the reception time of each of the plurality of devices of the acoustic beacon signal transmitted by the positioning target device.

The processing unit may select the peripheral device when at least one event of vibration of the positioning target device, power-on, or time-out by a timer is detected.

The data processing device may include an output control unit that controls transmission of positioning instruction data for instructing transmission of the acoustic transmission signal to the positioning target device.

Further, according to another aspect of the present invention, the receiving direction of the acoustic transmission signal transmitted by the positioning target device in the peripheral device and the positioning of the acoustic response signal transmitted by the peripheral device that has received the acoustic transmission signal. The positioning target device calculated based on the reception direction in the target device and the round-trip time from the transmission of the acoustic transmission signal by the positioning target device to the reception of the acoustic response signal by the positioning target device. And to acquire at least one of the distances of the peripheral devices, and to calculate the position of the positioning target device based on the at least one of the peripheral devices and the position of the peripheral device. A data processing method is provided.

Further, according to another aspect of the present invention, the computer is subjected to the reception direction of the acoustic transmission signal transmitted by the positioning target device in the peripheral device and the acoustic response signal transmitted by the peripheral device that has received the acoustic transmission signal. Calculated based on the reception direction of the positioning target device and the round-trip time from the transmission of the acoustic transmission signal by the positioning target device to the reception of the acoustic response signal by the positioning target device. An acquisition unit that acquires at least one of the distances between the positioning target device and the peripheral device, and a processing unit that calculates the position of the positioning target device based on the at least one and the position of the peripheral device. And, a program for functioning as a data processing device is provided.

Further, according to another aspect of the present invention, the positioning target device receives the acoustic response signal transmitted by the acoustic transmission signal transmission unit that transmits the acoustic transmission signal and the peripheral device that has received the acoustic transmission signal. The receiving direction of the acoustic response signal to the data processing device that calculates the direction of the acoustic response signal receiving unit, the determining unit that determines the receiving direction of the acoustic response signal transmitted by the peripheral device, and the positioning target device. A positioning target device including a communication unit for transmitting a signal is provided.

The determination unit determines the reception direction based on the reception strength of the acoustic response signal transmitted by the peripheral device by the plurality of microphones or the reception time difference of the acoustic response signal between the plurality of microphones. You may.

The positioning target device determines the distance between the positioning target device and the peripheral device based on the round-trip time from the transmission of the acoustic transmission signal to the reception of the acoustic response signal transmitted by the peripheral device. The communication unit may include a control unit for calculation, and may transmit the distance between the positioning target device and the peripheral device to the data processing device.

Further, according to another aspect of the present invention, when the peripheral device of the positioning target device is the acoustic transmission signal receiving unit that receives the acoustic transmission signal from the positioning target device and the acoustic transmission signal is received. The reception direction of the acoustic transmission signal is transmitted to the acoustic response signal transmission unit that transmits the acoustic response signal, the determination unit that determines the reception direction of the acoustic transmission signal, and the data processing device that calculates the position of the positioning target device. A peripheral device is provided that comprises a communication unit.

Further, according to another aspect of the present invention, the peripheral device of the positioning target device receives the acoustic transmission signal from the positioning target device and is transmitted by another peripheral device that has received the acoustic transmission signal. Calculates the positions of the acoustic transmission signal receiving unit that receives the acoustic response signal, the control unit that calculates the reception time difference between the acoustic transmission signal and the acoustic response signal, or the distance corresponding to the reception time difference, and the positioning target device. Provided is a peripheral device including a communication unit for transmitting the reception time difference or a distance corresponding to the reception time difference to the data processing device.

As described above, according to the present invention, there is provided a technique capable of reducing the time and effort required for detecting the positions of a plurality of devices in the same space and improving the detection accuracy.

It is a figure which shows the structural example of the positioning system which concerns on 1st Embodiment of this invention. It is a figure which shows the structural example of the demodulation part shown in FIG. It is a figure which shows the configuration example of the server shown in FIG. It is a figure which shows the internal arrangement drawing of each apparatus shown in FIG. It is a sequence diagram which shows the operation example of the positioning system which concerns on 1st Embodiment of this invention. It is a figure which shows the arrangement example of the apparatus which concerns on 1st Embodiment of this invention. It is a figure for demonstrating the operation example of the modulation part which concerns on 1st Embodiment of this invention. It is a figure for demonstrating the correction example of the positioning data which concerns on 1st Embodiment of this invention. It is a sequence diagram which shows the operation example of the positioning system which concerns on 2nd Embodiment of this invention. It is a figure which shows the arrangement example of the apparatus which concerns on the 2nd Embodiment of this invention. It is a figure which shows the hardware composition of the data processing apparatus which concerns on embodiment of this invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals, so that duplicate description will be omitted.

Further, in the present specification and the drawings, a plurality of components having substantially the same functional configuration may be distinguished by adding different numbers after the same reference numerals. However, if it is not necessary to distinguish each of a plurality of components having substantially the same functional configuration, only the same reference numerals are given. Further, similar components of different embodiments may be distinguished by adding different alphabets after the same reference numerals. However, if it is not necessary to distinguish each of the similar components of different embodiments, only the same reference numerals are given.

<1. First Embodiment>
First, the first embodiment of the present invention will be described.

[1-1. Positioning system configuration]
A configuration example of the positioning system according to the first embodiment of the present invention will be described.

FIG. 1 is a diagram showing a configuration example of a positioning system according to the first embodiment of the present invention. As shown in FIG. 1, the positioning system 1 according to the first embodiment of the present invention has a plurality of devices (device A, device B, ..., Device X) and a server 20. In the following, if each of the plurality of devices is not particularly distinguished, any device in the plurality of devices may be referred to as "device 10". Further, the server 20 can function as a data processing device. Each device 10 and the server 20 exchange communication data with each other by wire or wirelessly (for example, via a network) via their respective communication devices.

Each device 10 includes a microphone (hereinafter, also referred to as “microphone”) 110, an AD (Analogue-to-Digital) converter 120, a demodulation unit 130, a vibration sensor 140, a control unit 150, a modulation unit 160, a clock unit 170, and the like. It is equipped with a DA (Digital-to-Analogue) converter 180 and a speaker 190. The demodulation unit 130, the control unit 150, and the modulation unit 160 can be realized by executing a program by a processor (for example, a microprocessor or the like). Such a program may be recorded on a recording medium, read from the recording medium by a processor, and executed.

The microphone 110 outputs eight microphone signals to the AD converter 120. The number of microphone signals is not limited to eight. The AD converter 120 inputs eight microphone signals from the microphone 110 and digitally converts the eight microphone signals to generate eight acoustic input data and demolishes the eight acoustic input data. Output to.

The demodulation unit 130 inputs eight acoustic input data from the AD converter 120, demodulates the eight acoustic input data to generate demodulated data (hereinafter, also referred to as “demodulation data”), and demodulates the data. The data is output to the control unit 150. In addition, the demodulation unit 130 outputs direction data and reception intensity data to the control unit 150. The details of the demodulation unit 130 will be described later with reference to FIG.

The modulation unit 160 inputs the acoustic output data before modulation (hereinafter, also referred to as “modulation data”) from the control unit 150, modulates the modulation data to generate acoustic output data, and converts the acoustic output data into a DA converter. Output to 180. The DA converter 180 inputs acoustic output data from the modulator 160, converts the acoustic output data into analog to generate a speaker signal, and outputs the speaker signal to the speaker 190. The speaker 190 inputs a speaker signal from the DA converter 180 and transmits an acoustic signal (sound wave) based on the speaker signal.

The vibration sensor 140 senses vibration and outputs the data obtained by the sensing to the control unit 150 as sensing data. The control unit 150 inputs sensor data from the vibration sensor 140, clock data from the clock unit 170, demodulation data, direction data, and reception intensity data from the demodulation unit 130, and the modulation data is input to the modulation unit 160. Output. Further, the control unit 150 exchanges communication data with the server 20 via a communication device (not shown).

FIG. 2 is a diagram showing a configuration example of the demodulation unit 130 shown in FIG. As shown in FIG. 2, the demodulation unit 130 includes eight direction-specific demodulation units 131 and a determination unit 136. The direction-specific demodulation unit 131 inputs the corresponding acoustic input data from the AD converter 120, and outputs the demodulation candidate data and the reception intensity candidate data to the determination unit 136. Further, the direction-specific demodulation unit 131 includes a square unit 132, an LPF (Low-Pass Filter) 133, a determination unit 134, and an intensity detection unit 135.

The square unit 132 inputs the corresponding acoustic input data from the AD converter 120, calculates the square value of the acoustic input data, and outputs the calculated square value to the LPF 133. The LPF 133 inputs a square value, extracts a low frequency component value from the square value, and outputs the low frequency component value to the determination unit 134 and the intensity detection unit 135. The determination unit 134 inputs a low frequency component value from the LPF 133, outputs demodulation candidate data to the determination unit 136, and outputs signal 1 detection data to the intensity detection unit 135. The intensity detection unit 135 inputs the low frequency component value from the LPF 133, inputs the signal 1 detection data from the determination unit 134, and outputs the reception intensity candidate data to the determination unit 136.

FIG. 3 is a diagram showing a configuration example of the server 20 shown in FIG. As shown in FIG. 3, the server 20 includes a control unit 210 and a storage unit 220. The control unit 210 may be realized by executing a program by a processor. Such a program may be recorded in a storage unit 220 (recording medium), read from the storage unit 220 by a processor, and executed. The control unit 210 includes an acquisition unit 211, a processing unit 212, and an output control unit 213. Details of these functions will be described later. Further, the storage unit 220 may be realized by a storage device. The server 20 includes a communication device (not shown) for transmitting and receiving communication data to and from each device 10.

FIG. 4 is a diagram showing an internal layout of each device 10 shown in FIG. Each device 10 has a cylindrical shape, and eight microphones are arranged at substantially equal intervals along the circumference of the upper surface portion. In FIG. 4, the code “110-1” is attached only to one My on behalf of the eight microphones. A speaker 190 is arranged at the lower part of the device, and a reflector 195 is arranged at the lower part of the speaker 190. The reflector 195 can propagate the acoustic signal (sound wave) output from the speaker 190 over 360 degrees in the horizontal direction.

A board assembly 115 is arranged between the microphone 110 (for example, microphone 110-1) and the speaker 190, and an AD converter 120 and a processor (demodulation unit 130, control unit 150) are arranged inside the board assembly 115. And a modulation unit 160), a DA converter 180, a vibration sensor 140, and a clock unit 170 are mounted.

The configuration example of the positioning system 1 according to the first embodiment of the present invention has been described above.

[1-2. Positioning system operation]
FIG. 5 is a sequence diagram showing an operation example of the positioning system 1 according to the first embodiment of the present invention. FIG. 6 is a diagram showing an arrangement example of the device according to the first embodiment of the present invention. FIG. 7 is a diagram for explaining an operation example of the modulation unit 160 according to the first embodiment of the present invention. FIG. 8 is a diagram for explaining a correction example of positioning data according to the first embodiment of the present invention. Hereinafter, an operation example of the positioning system 1 according to the first embodiment of the present invention will be described with reference to the sequence diagram shown in FIG. 4 and other diagrams as appropriate.

In the following, an operation example of the positioning system 1 in the case of performing positioning of the device A will be described (that is, an example in which the device A functions as a positioning target device will be described). At this time, a case where each of the device B and the device C is detected as a peripheral device of the positioning target device will be described. However, positioning of devices other than device A may also be performed. Although the description of the positioning of the devices other than the device A is omitted, the positioning of the devices other than the device A can be performed in the same manner as the positioning of the device A. The operation of the positioning system 1 according to the first embodiment of the present invention can be roughly divided into four steps.

(1-2-1. Generation of positioning trigger (S1))
First, when the user moves the device A, the vibration is detected by the vibration sensor 140 of the device A. In such a case, the sensor data detected by the vibration sensor 140 of the device A is notified to the control unit 150 of the device A as a positioning trigger (S1). Alternatively, when the power of the device A is turned on when the user newly installs the device A, the power on is detected by the control unit 150 of the device A as a positioning trigger. Alternatively, the control unit 150 measures the time based on the clock data input from the clock unit 170 so that the positioning of the device A is performed periodically, and periodically (for example, every 10 minutes) sets a positioning trigger. To detect. It should be noted that the periodic positioning trigger detection may be performed by the server 20 instead of the device A.

(1-2-2. Detection of peripheral devices of device A (S2 to S5))
When a positioning trigger is generated in S1 and the control unit 150 of the device A detects the positioning trigger, the server 20 is notified of data (trigger notification data) indicating that the positioning trigger has been detected (S2). Subsequently, the acquisition unit 211 of the server 20 acquires the trigger notification data, and the processing unit 212 has an executing positioning that is not completed until S13 if the acoustic signal is currently propagating in the same space. (In some cases, etc.), wait until the propagation is complete to avoid interference. The output control unit 213 sends the data for instructing the detection of the peripheral device (peripheral device detection instruction data) to the device A when the acoustic signal is not currently propagating in the same space or after waiting until the propagation is completed. Controls the transmission of (S3).

When the device A receives the peripheral device detection instruction data from the server 20, the control unit 150 of the device A outputs the modulation data (101111) to the modulation unit 160. The modulation unit 160 digitally amplitude-modulates the modulation data and outputs the acoustic output data. The DA converter 180 converts the acoustic output data into analog to generate a speaker signal, and outputs the speaker signal to the speaker 190. The speaker 190 propagates an acoustic beacon signal corresponding to the speaker signal into the space (S4).

Here, the operation of the modulation unit 160 will be described with reference to FIG. In the present embodiment, the upper 3 bits (101) of the modulation data are used as the header portion, and the lower 3 bits (for example, "111" in the case of an acoustic beacon signal, "000" in the case of an acoustic transmission signal described later, and acoustic. In the case of a response signal, "001", "010", etc.) is used as the payload unit. A known technique may be applied as the modulation method, but in the present embodiment, the digital amplitude modulation method by OK (on-off keying) is used, and the modulation data of 0.5 milliseconds per bit is converted to 20 kHz. The acoustic output data is obtained by multiplying the carrier data.

That is, assuming that the time is t, the modulation data is m (t), the carrier frequency is F _c (= 20000), and the carrier wave amplitude is _Ac , the acoustic output data S (t) is given by the following equation (1). It is expressed as.

When the device A propagates the acoustic beacon signal into the space and there are a plurality of devices other than the device A in the space, and each of the device B, the device C, and the device D receives the acoustic beacon, the device B, the device C, Each of the devices D measures the reception intensity of the acoustic beacon signal, and transmits the reception intensity data indicating the reception intensity to the server 20 (S5). The server 20 can grasp the existence of the device group (peripheral device group) in the vicinity of the device A based on the reception intensity data received from each of the device B, the device C, and the device D. For example, in the following, it is mainly assumed that the device B and the device C are peripheral devices of the device A.

Here, an example of the measurement operation of the reception intensity by the demodulation unit 130 of the apparatus B will be described with reference to FIG. Although an example of the operation of measuring the reception strength by the device B will be described here, the measurement of the reception strength by the device C and the device D may be performed in the same manner as the measurement of the reception strength by the device B.

The eight acoustic input data corresponding to the eight microphone signals acquired by the eight microphones of the device B are input to the corresponding direction-specific demodulation unit 131 of the demodulation unit 130, respectively. In the direction-specific demodulation unit 131, the square unit 132 squares the acoustic input data. Assuming that the attenuation rate of the acoustic beacon signal of the device A acquired by the microphone i (i = 0, 1, ..., 7) of the device B is R _i , the square value _Pi (t) is given by the equation (1). ) Is expressed by the following equation (2).

Next, when the LPF 133 extracts only the low frequency component from the square value, the low frequency component value _Qi (t) represented by the following equation (3) is obtained.

Next, the determination unit 134 compares the low frequency component value Q _i (t) with the threshold value, and determines whether the low frequency component value Q _i (t) is “0” or “1”. Thereby, the demodulation candidate data that matches the modulation data m (t) is detected. Further, when the value "1" is detected from the demodulation candidate data, the determination unit 134 outputs the signal 1 detection data indicating that the value "1" is detected to the intensity detection unit 135. The intensity detection unit 135 outputs the low frequency component value when the demodulation candidate data shows the value “1” to the determination unit 136 as the reception intensity candidate data. The reception strength candidate data Qi _agrees with the following equation (4) based on the equation (3).

Next, the determination unit 136 determines the case where the reception intensity candidate data shows the largest value based on the eight demodulation candidate data and the eight reception intensity candidate data input from the eight direction-specific demodulation units 131. The i is detected, the i is used as direction data, the demodulation candidate data corresponding to the i is used as demodulation data, and the reception strength candidate data corresponding to the i is output to the control unit 150 as reception strength data. When the demodulated data matches the modulation data (101111) of the acoustic beacon signal, the control unit 150 determines that the acoustic beacon signal has been received, and notifies the server 20 of the reception intensity data.

Note that FIG. 5 shows an example in which the acoustic beacon signal of the device A is received by three devices (device B, device C, and device D), but which device is the acoustic beacon signal of the device A. It is also assumed that the signal is not received. In such a case, the server 20 may determine that there is no other device in the vicinity of the device A and abandon the positioning of the device A. Further, when the acoustic beacon signal of the device A is received by the two devices, the two devices may be detected as peripheral devices. When the acoustic beacon signal of the device A is received by one device, the positioning accuracy is lower than when there are two or more peripheral devices, but the one device may be detected as a peripheral device. ..

(1-2-3. Positioning of device A (S6 to S13))
When the server 20 receives the reception strength data from each of the device B, the device C, and the device D, the reception strength data is acquired by the acquisition unit 211, and the processing unit 212 receives the reception strength data from each of the device B, the device C, and the device D. The peripheral device of the device A is determined based on the received reception strength data. Here, it is assumed that the processing unit 212 determines two devices (device B and device C) as peripheral devices in descending order of reception intensity. However, the processing unit 212 may determine three or more devices as peripheral devices in descending order of reception intensity. Alternatively, the processing unit 212 may determine a plurality of devices having a reception intensity larger than the threshold value as peripheral devices.

Subsequently, the output control unit 213 controls the transmission of data (role instruction data) for instructing the role of the positioning operation of the apparatus A to each apparatus (S6). There are two types of roles: the role of the positioning target device and the role of the peripheral device. That is, the output control unit 213 controls the transmission of the roll instruction data indicating the positioning target device to the device A to which the peripheral device detection instruction data is transmitted. On the other hand, the output control unit 213 controls the transmission of the roll instruction data indicating the peripheral device to the devices B and C determined as the peripheral device. The device A receives roll instruction data indicating the positioning target device. Further, the device B and the device C receive the roll instruction data indicating the peripheral device.

Subsequently, the server 20 transmits positioning instruction data to the device A when a desired timing (for example, a timing at which interference of acoustic signals can be avoided) arrives (S7). By transmitting the positioning instruction data separated from the roll instruction data in this way, it is possible to adjust the timing of the positioning start and avoid interference of acoustic signals. The timing at which the interference of the acoustic signal can be avoided is not limited, but as an example, when a predetermined time has elapsed since the reception strength data is no longer received by the server 20 (that is, when the reception of the acoustic beacon signal is completed). May be.

When the device A receives the positioning instruction data from the server 20, it transmits an acoustic transmission signal (modulation data 101000) in the space by the speaker 190 according to the roll instruction data indicating the positioning target device (S8), and corresponds to the device A. After the delay time, the acoustic response signals (modulation data 101001 of the device B and modulation data 101010 of the device C) transmitted from each of the peripheral device groups (device B, device C) are received by the microphone 110 (S9, S11). ). If the acoustic response signals from the device B and the device C are transmitted after the corresponding delay times so that the reception by the device A does not cause interference, the device A is the sound from the device B and the device C. It is possible to receive the response signal correctly.

The control unit 150 measures the round-trip time from the transmission of the acoustic transmission signal to the reception of the acoustic response signal from the device B, and converts the round-trip time into the distance d (AB). Further, the control unit 150 measures the round-trip time from the transmission of the acoustic transmission signal to the reception of the acoustic response signal from the device C, and converts the round-trip time into the distance d (AC). Further, the determination unit 136 detects the reception direction θ _AB of the acoustic response signal from the device B. Further, the determination unit 136 detects the reception direction θ _AC of the acoustic response signal from the device C. The receiving direction of the acoustic response signal may be detected by the same method as the detection of the receiving direction of the acoustic beacon signal described in S5. The device A notifies the server 20 of the distances d (AB), d (AC), the reception directions θ _AB , and θ _AC of the acoustic response signal by the control unit 150 (S13).

The device B receives the acoustic transmission signal (modulation data 101000) by the microphone 110 according to the roll instruction data indicating the peripheral device, and after the delay time corresponding to the device B, receives the acoustic response signal (modulation data 101001 of the device B). , Transmitted by speaker 190. Further, the apparatus B detects the reception direction θ _BA of the acoustic transmission signal by the determination unit 136. The receiving direction of the acoustic transmission signal may be detected by the same method as the detection of the receiving direction of the acoustic beacon signal described in S5. The device B notifies the server 20 of the direction data indicating the reception direction θ _BA of the acoustic transmission signal by the control unit 150 (S10).

The device C receives the acoustic transmission signal (modulation data 101000) by the microphone 110 according to the roll instruction data indicating the peripheral device, and after the delay time corresponding to the device C, receives the acoustic response signal (modulation data 101010 of the device C). , Transmitted by speaker 190. Further, the device C detects the reception direction θ _CA of the acoustic transmission signal by the determination unit 136. The receiving direction of the acoustic transmission signal may be detected by the same method as the detection of the receiving direction of the acoustic beacon signal described in S5. The device C notifies the server 20 of the direction data indicating the reception direction θ _CA of the acoustic transmission signal by the control unit 150 (S12).

Here, an example of arrangement of each device (device A, device B, device C, device D) and positioning data (d (AB), d (AC), θ _AB , θ _AC , θ _BA , θ _CA ) is shown in the figure. It is shown in 6. In FIG. 6, assuming that each device (a circle with a hatched pattern) has a direction, a black circle is added to the direction of the front of each device. Further, as a reference, examples of other devices E and F used for positioning the device B are also shown. As shown in FIG. 6, the distance between the devices and the orientation of each device can be determined.

Specifically, in the present embodiment, it is mainly assumed that the processing unit 212 calculates the position of the device A using the receiving direction of the acoustic transmission signal. More specifically, in the present embodiment, the processing unit 212 sets the reception directions θ _BA and θ _CA of the acoustic transmission signals in the devices B and C, respectively, and the positions of the devices B and C, which are known in advance, respectively. Based on this, it is mainly assumed that the position of the device A is calculated. However, the position of the device A may be calculated in any way.

For example, the processing unit 212 may calculate the position of the device A using the receiving direction of the acoustic response signal. More specifically, the processing unit 212 has the reception directions θ _AB and θ _AC in the device A of the acoustic response signal transmitted by the device B and the device C, and the positions of the devices B and C that are known in advance. The position of the device A may be calculated based on the above.

The processing unit 212 may calculate the position of the device A by using the distance between the device A and each of the device B and the device C. More specifically, the processing unit 212 is based on the distances d (AB) and d (AC) between the device A and the devices B and C, respectively, and the positions of the devices B and the device C that are known in advance. , The position of the device A may be calculated.

Further, the method for calculating the orientation of the device A is not limited. For example, the processing unit 212 may calculate the direction of the device A using the reception direction of the acoustic response signal. In the present embodiment, the processing unit 212 is based on the reception directions θ _AB and θ _AC in the device A of the acoustic response signal transmitted by the device B and the device C, and the positions of the device B and the device C that are known in advance. Therefore, it is mainly assumed that the orientation of the device A is calculated. However, the processing unit 212 may calculate the direction of the device A by another method using the receiving direction of the acoustic response signal.

For example, when the processing unit 212 calculates the position of the device A, the processing unit 212 may calculate the direction of the device A by using the calculated position of the device A as well. That is, the processing unit 212 directs the device A based on the position of the device A and at least one of the reception directions θ _AB and θ _AC in the device A of the acoustic response signal transmitted by the device B and the device C. May be calculated.

Further, the server 20 can also correct the positioning data. The positioning data may be corrected in any case. For example, the correction is effective when the detection accuracy in the receiving direction does not improve so much because the number of microphones is small. The processing unit 212 sets the apparatus B and the apparatus C based on the distances d (AB) and d (AC) between the apparatus A and the apparatus B and the apparatus C, respectively, and the positions of the apparatus B and the apparatus C which are known in advance. The reception directions θ _BA and θ _CA of the acoustic transmission signal in each of C may be corrected, and at least one of the position and orientation of the device A may be corrected based on the corrected reception direction.

With reference to FIG. 8, the positions of device B and device C are shown. The processing unit 212 sets the arc region arc1 having a radius d (AB) with respect to the position of the device B, and sets the arc region arc2 having a radius d (AC) with respect to the position of the device C. Then, the processing unit 212 regards the intersection of the arc region arc1 and the arc region arc2 as the device A, and corrects the reception directions θ _BA and θ _CA of the acoustic transmission signals in the devices B and C, respectively, in accordance with the device A. do. Then, the processing unit 212 corrects at least one of the position and orientation of the device A based on the corrected reception direction.

(1-2-4. Notification of end of positioning of device A (S14))
When the positioning of the device A is completed, the server 20 notifies the external system that uses the positioning result of the device A of the positioning result of the device A. For example, it is assumed that there is an external system in which cameras of each of a plurality of devices are mounted, these are arranged in an office space, and a camera image captured by the cameras mounted on the plurality of devices is viewed. In such a case, the external system can automatically select a device (camera) suitable for capturing an arbitrary position in the office space based on the positioning result of the device A.

The operation example of the positioning system 1 according to the first embodiment of the present invention has been described above.

[1-3. effect]
According to the first embodiment of the present invention, the devices arranged in the same space each have a function of detecting the reception direction of the acoustic signal. Then, in the peripheral device detection steps (S2 to S5), the positioning target device transmits an acoustic beacon signal, the peripheral device receives the acoustic beacon signal, and the server 20 is based on the reception intensity of the acoustic beacon signal in the peripheral device. Therefore, the peripheral device group used for the positioning step (S6 to S13) is determined.

Next, in the positioning steps (S6 to S13), based on the instruction from the server 20, the positioning target device transmits an acoustic transmission signal, and after the determined peripheral device receives the acoustic transmission signal, the time is adjusted. The acoustic response signal is transmitted, and the positioning target device receives the acoustic response signal. Subsequently, the server 20 collects information on the distance between the devices and the orientation of each device from each device, and determines the position and orientation of the positioning target device based on the distance between the devices and the orientation of each device.

According to this embodiment, since it is not necessary to transmit from a fixed position accompanied by measurement of the position in advance for positioning of the device group, the installation and setting of the system becomes easy. Further, in the positioning step, the position of the device is detected based on the transmission time of the acoustic signal, not the strength of the radio signal which is likely to fluctuate. Further, if the time is adjusted so that the acoustic signals do not interfere with each other, the position detection accuracy is further improved. Further, if the device group is configured to have a function of detecting the receiving direction of the acoustic signal, it is possible to detect the direction of each device.

As described above, according to the present embodiment, the problem that it takes time to install and set the system and the problem that the position of the device cannot be detected correctly are solved, and the time required to detect the position of a plurality of devices in the same space. Techniques can be provided that can reduce the problem and improve the detection accuracy. Further, according to the present embodiment, it is possible to solve the problem that the orientation of the device cannot be detected correctly, reduce the time and effort required to detect the orientation of a plurality of devices in the same space, and improve the detection accuracy. Techniques can be provided.

The first embodiment of the present invention has been described above.

<2. Second embodiment>
Subsequently, a second embodiment of the present invention will be described.

[2-1. Positioning system configuration]
The configuration of the positioning system according to the second embodiment of the present invention is the same as the configuration of the positioning system according to the first embodiment of the present invention. The description of the configuration of the positioning system according to the second embodiment of the present invention will be omitted.

[2-2. Positioning system operation]
FIG. 9 is a sequence diagram showing an operation example of the positioning system 1 according to the second embodiment of the present invention. FIG. 10 is a diagram showing an arrangement example of the device according to the second embodiment of the present invention. Hereinafter, an operation example of the positioning system 1 according to the second embodiment of the present invention will be described with reference to the sequence diagram shown in FIG. 9 and other diagrams as appropriate. The operation of the positioning system 1 according to the second embodiment of the present invention can be roughly divided into four steps.

(2-2-1. Generation of positioning trigger (S1))
Since this step is the same as that of the first embodiment, the description of this step is omitted.

(2-2-2. Detection of peripheral devices of device A (S2 to S5))
Since this step is the same as that of the first embodiment, the description of this step is omitted.

(2-2-3. Positioning of device A (S6 to S19))
When the server 20 receives the reception strength data from each of the device B, the device C, and the device D, the reception strength data is acquired by the acquisition unit 211, and the processing unit 212 receives the reception strength data from each of the device B, the device C, and the device D. The peripheral device of the device A is determined based on the received reception strength data. Here, the processing unit 212 determines two devices (device B and device C) as peripheral devices in descending order of reception intensity, and determines one of them (here, device C) as a response device (peripheral device). On the other hand (here, device B) is determined as a hearing device (peripheral device). However, the processing unit 212 may determine three or more devices as peripheral devices in descending order of reception intensity. Alternatively, the processing unit 212 may determine a plurality of devices having a reception intensity larger than the threshold value as peripheral devices.

Subsequently, the output control unit 213 controls the transmission of data (role instruction data) for instructing the role of the positioning operation of the apparatus A to each apparatus (S6). There are two types of roles: the role of the positioning target device, the role of the response device, and the role of the hearing device. That is, the output control unit 213 controls the transmission of the roll instruction data indicating the positioning target device to the device A to which the peripheral device detection instruction data is transmitted. On the other hand, the output control unit 213 controls the transmission of the roll instruction data indicating the response device to the device C determined as the response device, and the roll indicating the hearing device to the device B determined as the hearing device. Controls the transmission of instruction data.

The device A receives roll instruction data indicating the positioning target device. Further, the device B receives the roll instruction data indicating the hearing device, and the device C receives the roll instruction data indicating the response device.

Subsequently, the server 20 transmits positioning instruction data to the device A when a desired timing (for example, a timing at which interference of acoustic signals can be avoided) arrives (S7). By transmitting the positioning instruction data separated from the roll instruction data in this way, it is possible to adjust the timing of the positioning start and avoid interference of acoustic signals. The timing at which the interference of the acoustic signal can be avoided is not limited, but as an example, when a predetermined time has elapsed since the reception strength data is no longer received by the server 20 (that is, when the reception of the acoustic beacon signal is completed). May be.

When the device A receives the positioning instruction data from the server 20, the device A transmits an acoustic transmission signal (modulation data 101000) in the space by the speaker 190 according to the roll instruction data indicating the positioning target device (S8), and corresponds to the device A. After the delay time, the acoustic response signal (modulation data 101001 of the device C) transmitted from the response device group (here, only the device C) is received by the microphone 110 (S16).

The control unit 150 measures the round-trip time from the transmission of the acoustic transmission signal to the reception of the acoustic response signal from the device C, and converts the round-trip time into the distance d (AC). Further, the determination unit 136 detects the reception direction θ _AC of the acoustic response signal from the device C. The receiving direction of the acoustic response signal may be detected by the same method as the detection of the receiving direction of the acoustic beacon signal described in S5. The device A notifies the server 20 of the distance d (AC) and the reception direction θ _AC of the acoustic response signal by the control unit 150 (S19).

The device C receives the acoustic transmission signal (modulation data 101000) by the microphone 110 according to the roll instruction data indicating the response device, and after the delay time corresponding to the device C, the acoustic response signal (modulation data 101001) is transmitted to the speaker 190. Send by. Further, the device C detects the reception direction θ _CA of the acoustic transmission signal by the determination unit 136. The receiving direction of the acoustic transmission signal may be detected by the same method as the detection of the receiving direction of the acoustic beacon signal described in S5. The device C notifies the server 20 of the direction data indicating the reception direction θ _CA of the acoustic transmission signal by the control unit 150 (S17).

The device B receives the acoustic transmission signal (modulation data 101000) by the microphone 110 according to the roll instruction data indicating the hearing device, and detects the reception direction θ _BA of the acoustic transmission signal by the determination unit 136. The receiving direction of the acoustic transmission signal may be detected by the same method as the detection of the receiving direction of the acoustic beacon signal described in S5. The device B notifies the server 20 of the direction data indicating the reception direction θ _BA of the acoustic transmission signal by the control unit 150 (S18).

Further, the device B receives the acoustic response signal (modulation data 101001) transmitted from the device C by the microphone 110. The device B determines the difference Δ between the reception time of the acoustic transmission signal (modulation data 101000) transmitted from the device A and the reception time of the acoustic response signal (modulation data 101001) transmitted from the device C by the control unit 150. measure. Then, the device B converts the difference Δ into the distance d (AC) + d (BC) −d (AB) by the control unit 150, and converts the distance d (AC) + d (BC) −d (AB) into the server 20. (S18).

Here, each device (device A, device B, device C) and positioning data (d (AB), d (AC), Δ = d (AC) + d (BC) −d (AB), θ _AB , θ _BC , Θ _BA , θ _CA , θ _AC ) are shown in FIG. In FIG. 10, assuming that each device (a circle with a hatched pattern) has a direction, a black circle is added to the direction of the front of each device. As shown in FIG. 10, the distance between the devices and the orientation of each device can be determined.

Specifically, in the present embodiment, the processing unit 212 has a distance d (AC) corresponding to the distance d (AC) between the apparatus A and the apparatus C and the reception time difference Δ between the acoustic transmission signal and the acoustic response signal in the apparatus B. It is assumed that the position of the device A is calculated based on AC) + d (BC) -d (AB) and the positions of the devices C and the device B that are known in advance. This makes it possible to calculate the position of the device A even if d (AB) and θ _AB are not directly measured. Further, the processing unit 212 can calculate the direction of the device A based on the position of the device A and the reception direction θ _AC of the acoustic response signal. Further, as in the first embodiment, the positioning data can be corrected in the second embodiment as well.

(2-2-4. Notification of end of positioning of device A (S14))
Since this step is the same as that of the first embodiment, the description of this step is omitted.

The operation example of the positioning system 1 according to the second embodiment of the present invention has been described above.

[2-3. effect]
According to the second embodiment of the present invention, the devices arranged in the same space each have a function of detecting the reception direction of the acoustic signal. Then, in the peripheral device detection steps (S2 to S5), the positioning target device transmits an acoustic beacon signal, the peripheral device receives the acoustic beacon signal, and the server 20 is based on the reception intensity of the acoustic beacon signal in the peripheral device. Therefore, the peripheral device group (response device and hearing device) used for the positioning step (S6 to S19) is determined.

Next, in the positioning steps (S6 to S19), the positioning target device transmits an acoustic transmission signal based on the instruction from the server 20, and the determined response device receives the acoustic transmission signal and then adjusts the time. The acoustic response signal is transmitted, and the positioning target device receives the acoustic response signal. In addition, the hearing device receives the acoustic transmission signal and the acoustic response signal. Subsequently, the server 20 collects information on the distance between the devices and the orientation of each device from each device, and determines the position and orientation of the positioning target device based on the distance between the devices and the orientation of each device.

In the first embodiment, the acoustic signal is transmitted three times (one acoustic transmission signal and two acoustic response signals) in the positioning step, but in the second embodiment, the acoustic signal is transmitted twice (1). Only one acoustic transmission signal and one acoustic response signal) need to be generated. Therefore, according to the second embodiment, the possibility of interference of acoustic signals in the same space can be reduced, and positioning equivalent to the positioning according to the first embodiment can be realized by acoustic communication in a shorter time. ..

According to the first embodiment, as in the first embodiment, it is not necessary to transmit from a fixed position accompanied by measurement of the position in advance for positioning of the device group, so that the system can be easily installed and set. .. Further, in the positioning step, the position of the device is detected based on the transmission time of the acoustic signal, not the strength of the radio signal which is likely to fluctuate. Further, if the time is adjusted so that the acoustic signals do not interfere with each other, the position detection accuracy is further improved. Further, if the device group is configured to have a function of detecting the receiving direction of the acoustic signal, it is possible to detect the direction of each device.

As described above, according to the present embodiment, the problem that it takes time to install and set the system and the problem that the position of the device cannot be detected correctly are solved, and the time required to detect the position of a plurality of devices in the same space. Techniques can be provided that can reduce the problem and improve the detection accuracy. Further, according to the present embodiment, it is possible to solve the problem that the orientation of the device cannot be detected correctly, reduce the time and effort required to detect the orientation of a plurality of devices in the same space, and improve the detection accuracy. Techniques can be provided.

The second embodiment of the present invention has been described above.

<3. Hardware configuration example>
Subsequently, a hardware configuration example of the data processing device according to the present embodiment will be described. FIG. 11 is a diagram showing a hardware configuration of the data processing device according to the present embodiment.

As shown in FIG. 11, the data processing device includes a CPU (Central Processing Unit) 901, a ROM (Read Only Memory) 902, a RAM (Random Access Memory) 903, a host bus 904, a bridge 905, and an external bus. It includes a 906, an interface 907, an input device 908, an output device 909, a storage device 910, and a communication device 911.

The CPU 901 functions as an arithmetic processing device and a control device, and controls the overall operation in the data processing device according to various programs. Further, the CPU 901 may be a microprocessor. The ROM 902 stores programs, calculation parameters, and the like used by the CPU 901. The RAM 903 temporarily stores a program used in the execution of the CPU 901, parameters that appropriately change in the execution, and the like. These are connected to each other by a host bus 904 composed of a CPU bus or the like.

The host bus 904 is connected to an external bus 906 such as a PCI (Peripheral Component Interconnect / Interface) bus via a bridge 905. It is not always necessary to separately configure the host bus 904, the bridge 905, and the external bus 906, and these functions may be implemented in one bus.

The input device 908 includes input means for the user to input information such as a mouse, keyboard, touch panel, buttons, microphones, switches and levers, and an input control circuit that generates an input signal based on the input by the user and outputs the input signal to the CPU 901. It is composed of etc. By operating the input device 908, the user who operates the data processing device can input various data to the data processing device and instruct the processing operation.

The output device 909 includes, for example, a CRT (Cathode Ray Tube) display device, a liquid crystal display (LCD) device, an OLED (Organic Light Emitting Diode) device, a display device such as a lamp, and an audio output device such as a speaker.

The storage device 910 is a device for storing data. The storage device 910 may include a storage medium, a recording device for recording data on the storage medium, a reading device for reading data from the storage medium, a deletion device for deleting data recorded on the storage medium, and the like. The storage device 910 is composed of, for example, an HDD (Hard Disk Drive). The storage device 910 drives a hard disk and stores programs and various data executed by the CPU 901.

The communication device 911 is a communication interface composed of, for example, a communication device for connecting to a network. Further, the communication device 911 may support either wireless communication or wired communication.

The hardware configuration example of the data processing apparatus according to this embodiment has been described above.

<4. Summary>
As described above, in the data processing device according to the present embodiment, the reception direction of the acoustic transmission signal transmitted by the positioning target device in the peripheral device and the acoustic response signal transmitted by the peripheral device that has received the acoustic transmission signal. Positioning target device and peripheral devices calculated based on the reception direction of the positioning target device and the round-trip time from the transmission of the acoustic transmission signal by the positioning target device to the reception of the acoustic response signal by the positioning target device. The acquisition unit 211 for acquiring at least one of the distances from the above, and the processing unit 212 for calculating the position of the positioning target device based on at least one of the distances and the position of the peripheral device.

According to this configuration, the problem that it takes time to install and set the system and the problem that the position of the device cannot be detected correctly can be solved, and the time required to detect the position of multiple devices in the same space can be reduced. It is possible to improve the detection accuracy.

<5. Modification example>
Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to these examples. It is clear that a person having ordinary knowledge in the field of the art to which the present invention belongs can come up with various modifications or modifications within the scope of the technical idea described in the claims. , These are also naturally understood to belong to the technical scope of the present invention.

For example, in the first embodiment and the second embodiment, the case where digital amplitude modulation and OK (on-off keying) are used as the modulation method of the acoustic signal has been described, but other known modulation methods may also be used. good. Further, in the first embodiment and the second embodiment, a method of setting the frequency of the carrier wave to 20 kHz, setting the modulation data to 6 bits, and switching every 0.5 milliseconds has been described, but these are also appropriately changed. good. Further, as the demodulation method, another method may be used as long as it corresponds to the modulation method to be adopted.

In the first embodiment and the second embodiment, an example in which eight microphones are mounted on the device has been described. However, the number of microphones is not limited to this, and may be increased or decreased as appropriate.

In the first embodiment and the second embodiment, a case where the reception direction of the acoustic signal in the device is detected based on the reception intensity of the plurality of microphones mounted on the device has been described. However, the reception direction may be detected by another method, and even if the reception direction of the acoustic signal is detected based on the reception time difference (reception delay difference) of the acoustic signals by the multiple microphones mounted on the device. good. That is, when the same demodulation candidate data is obtained in a predetermined time zone by a plurality of direction-specific demodulation units 131, the reception direction is determined according to the combination of the reception time differences (reception delay differences). May be good.

In the first embodiment, the case where positioning data is obtained by using two peripheral devices (device B and device C) for the positioning target device (device A) has been described, but the number of peripheral devices is not limited to two. .. Similarly, in the second embodiment, a case where positioning data is obtained by using one response device and one hearing device for the positioning target device (device A) has been described, but each of the response device and the hearing device has been described. The number is also not limited to these.

In the first embodiment and the second embodiment, it is assumed that the positions of the peripheral devices (device B and device C) are known in advance. However, it is assumed that the positions of the peripheral devices (device B and device C) are not fixed. In such a case, for example, the server 20 may instruct the device C to emit a beacon based on some trigger. Then, if the same operation as the operation shown in FIG. 5 (however, the operation in which the device A and the device C are exchanged) is executed, the relative positional relationship and the orientation relationship between the device B and the device C become d. It can be determined based on (BC), θ _BC , θ _CB . After that, if the relative positional relationship and orientation relationship between the devices B and C are applied to the operation according to the first embodiment, the position and orientation of the device A can be calculated.

1 Positioning system 20 Server 10 Equipment 110 Microphone 115 Board assembly 120 AD converter 130 Demodulation unit 131 Directional demodulation unit 132 Squared unit 133 LPF
134 Judgment unit 135 Intensity detection unit 136 Determination unit 140 Vibration sensor 150 Control unit 160 Modulation unit 170 Clock unit 180 DA converter 190 Speaker 195 Reflector 210 Control unit 211 Acquisition unit 212 Processing unit 213 Output control unit 220 Storage unit

Claims (17)

An acquisition unit that acquires the reception direction of the acoustic response signal transmitted by each of the plurality of peripheral devices that have received the acoustic transmission signal transmitted by the positioning target device in the positioning target device, and
A processing unit that calculates the direction of the positioning target device based on the reception direction and the position of each of the plurality of peripheral devices.
A data processing device. An acquisition unit that acquires the reception direction of the acoustic response signal transmitted by each of the plurality of peripheral devices that have received the acoustic transmission signal transmitted by the positioning target device, and the positioning target device.
A processing unit that calculates the position of the positioning target device based on the reception direction and the position of each of the plurality of peripheral devices.
A data processing device. The reception direction of each of the plurality of peripheral devices of the acoustic transmission signal transmitted by the positioning target device, and the peripheral device that received the acoustic transmission signal after the acoustic transmission signal is transmitted by the positioning target device. An acquisition unit that acquires the distance between the positioning target device and each of the plurality of peripheral devices, which is calculated based on the round-trip time until the acoustic response signal is received by the positioning target device.
The reception direction is corrected based on the distance and the position of each of the plurality of peripheral devices, and at least one of the position and orientation of the positioning target device is corrected based on the corrected reception direction. Processing unit and
A data processing device. An acquisition unit that acquires the reception direction of the acoustic response signal transmitted by the peripheral device that has received the acoustic transmission signal transmitted by the positioning target device in the positioning target device, and
A processing unit that calculates the direction of the positioning target device based on the position of the positioning target device, the position of the peripheral device, and the reception direction.
A data processing device. Acquiring the reception direction of the acoustic response signal transmitted by each of the plurality of peripheral devices that received the acoustic transmission signal transmitted by the positioning target device in the positioning target device, and
To calculate the orientation of the positioning target device based on the reception direction and the position of each of the plurality of peripheral devices.
A data processing method. Acquiring the reception direction of the acoustic response signal transmitted by each of the plurality of peripheral devices that received the acoustic transmission signal transmitted by the positioning target device in the positioning target device, and
To calculate the position of the positioning target device based on the reception direction and the position of each of the plurality of peripheral devices.
A data processing method. The reception direction of each of the plurality of peripheral devices of the acoustic transmission signal transmitted by the positioning target device, and the peripheral device that received the acoustic transmission signal after the acoustic transmission signal is transmitted by the positioning target device. Acquiring the distance between the positioning target device and each of the plurality of peripheral devices calculated based on the round-trip time until the acoustic response signal is received by the positioning target device, and
The reception direction is corrected based on the distance and the position of each of the plurality of peripheral devices, and at least one of the position and orientation of the positioning target device is corrected based on the corrected reception direction. That and
A data processing method. Acquiring the reception direction of the acoustic response signal transmitted by the peripheral device that received the acoustic transmission signal transmitted by the positioning target device in the positioning target device, and
To calculate the orientation of the positioning target device based on the position of the positioning target device, the position of the peripheral device, and the reception direction.
A data processing method. Computer,
An acquisition unit that acquires the reception direction of the acoustic response signal transmitted by each of the plurality of peripheral devices that have received the acoustic transmission signal transmitted by the positioning target device in the positioning target device, and
A processing unit that calculates the direction of the positioning target device based on the reception direction and the position of each of the plurality of peripheral devices.
A program for functioning as a data processing device. Computer,
An acquisition unit that acquires the reception direction of the acoustic response signal transmitted by each of the plurality of peripheral devices that have received the acoustic transmission signal transmitted by the positioning target device, and the positioning target device.
A processing unit that calculates the position of the positioning target device based on the reception direction and the position of each of the plurality of peripheral devices.
A program for functioning as a data processing device. Computer,
The reception direction of each of the plurality of peripheral devices of the acoustic transmission signal transmitted by the positioning target device, and the peripheral device that received the acoustic transmission signal after the acoustic transmission signal is transmitted by the positioning target device. An acquisition unit that acquires the distance between the positioning target device and each of the plurality of peripheral devices, which is calculated based on the round-trip time until the acoustic response signal is received by the positioning target device.
The reception direction is corrected based on the distance and the position of each of the plurality of peripheral devices, and at least one of the position and orientation of the positioning target device is corrected based on the corrected reception direction. Processing unit and
A program for functioning as a data processing device. Computer,
An acquisition unit that acquires the reception direction of the acoustic response signal transmitted by the peripheral device that has received the acoustic transmission signal transmitted by the positioning target device in the positioning target device, and
A processing unit that calculates the direction of the positioning target device based on the position of the positioning target device, the position of the peripheral device, and the reception direction.
A program for functioning as a data processing device. It is a positioning target device,
An acoustic transmission signal transmitter that transmits an acoustic transmission signal,
An acoustic response signal receiving unit that receives an acoustic response signal transmitted by a peripheral device that has received the acoustic transmission signal, and an acoustic response signal receiving unit.
A determination unit that determines the reception direction of the acoustic response signal transmitted by the peripheral device, and
A communication unit that transmits the reception direction of the acoustic response signal to the data processing device that calculates the direction of the positioning target device, and
A positioning target device. The determination unit determines the reception direction based on the reception strength of the acoustic response signal transmitted by the peripheral device by the plurality of microphones or the reception time difference of the acoustic response signal between the plurality of microphones. do,
The positioning target device according to claim 13 . The positioning target device determines the distance between the positioning target device and the peripheral device based on the round-trip time from the transmission of the acoustic transmission signal to the reception of the acoustic response signal transmitted by the peripheral device. Equipped with a control unit to calculate
The communication unit transmits the distance between the positioning target device and the peripheral device to the data processing device.
The positioning target device according to claim 13 . Peripheral device of the positioning target device
An acoustic transmission signal receiving unit that receives an acoustic transmission signal from the positioning target device, and
When the acoustic transmission signal is received, the acoustic response signal transmission unit that transmits the acoustic response signal and
A determination unit that determines the reception direction of the acoustic transmission signal, and
A communication unit that transmits the reception direction of the acoustic transmission signal to the data processing device that calculates the position of the positioning target device, and
Peripheral device. Peripheral device of the positioning target device
An acoustic transmission signal receiving unit that receives an acoustic transmission signal from the positioning target device and also receives an acoustic response signal transmitted by another peripheral device that has received the acoustic transmission signal.
A control unit that calculates the reception time difference between the acoustic transmission signal and the acoustic response signal or the distance corresponding to the reception time difference.
A communication unit that transmits the reception time difference or the distance corresponding to the reception time difference to the data processing device that calculates the position of the positioning target device.
Peripheral device.

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