JPH10282204A - Location detecting equipment of moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable verifying the location of a moving body which freely moves indoors/outdoors by receiving electric waves transmitted from the moving body with three or more than three fixed stations, transmitting the identification number and electric field strength of the moving body and the identification numbers of the fixed stations to a control station, and computing the location of the moving body. SOLUTION: An area (e.g. an event site) 1 where moving bodies 2 such as children freely move is divided into small square areas 3, and a fixed station 4 is provided at each of the endpoints of the squares. Each fixed station 4 is connected to a control station 6 located out of the area 1 with a communication cable 5. Each fixed station 4 receives electric waves transmitted from the moving bodies 2, recognizes the specific identification number of each moving body 2 contained in the electric waves, measures the electric field strength of the electric waves, and transmits them together with the specific identification numbers of the control station 6. Here, the control station 6 estimates the location of the moving body 2 from the identification numbers of the fixed stations, the identification number and electric field strength of the moving body 2, and the function between electric field strength and distance and displays it.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device for a moving object moving in a predetermined area, and more particularly to a position detecting device used for detecting the position of a stray child at an event site or detecting the position of grazing cows at a ranch. It is about.

[0002]

2. Description of the Related Art Heretofore, the following methods have been known as position detecting equipment for a moving body. a. Method based on the object to be detected A sensor, such as a proximity switch or a photoelectric switch, is installed along the movement path of the moving object, such as a magnet or a mirror, at predetermined intervals, and detects the object to be detected on the moving object. The position along the moving path is recognized by counting the number of detected objects provided.

B. GPS method A GPS is installed on a mobile object to recognize its own position. c. Autonomous system A means for measuring the traveling distance and the traveling direction is provided, and the own position is calculated by integrating the traveling direction and the traveling distance.

D. Optical system A light beam scanned from a fixed station is detected by an optical sensor provided on a moving body, and the position of the moving body is measured.

E. Method based on radioactivity A mobile object is provided with an object that generates radioactivity, and its position is recognized based on the intensity of radioactivity measured outside.

F. Image method Takes a plane image of the area and detects the position of the moving object by image processing.

[0007]

However, in the above-mentioned equipment for detecting the position of a moving body, in the method using the detected object, the moving path is fixed, and it is not possible to cope with a moving body that moves randomly.

[0008] In addition, the GPS system has a problem that it cannot be used when the moving path of the moving object is in the shadow of a satellite such as indoors. Furthermore, in the autonomous system, there is a problem that some kind of position correction means must be provided because an accumulated error occurs.

Further, in the optical system, there is a problem that the measurement cannot be performed if the light enters a shadow even a little because of the linearity of the light beam. In the case of the method using radioactivity, a license is required for handling, and there was a problem in terms of safety.

[0010] Further, the method using images has a problem that it is difficult to find a moving object in a complicated background. Therefore, an object of the present invention is to provide a mobile object position detection facility using radio waves that can confirm the position of a mobile object that can move freely indoors / outdoors without requiring a detected object along a moving route. It is what it was.

[0011]

According to one aspect of the present invention, there is provided a detecting apparatus for detecting a position of a moving body moving within a predetermined area, the apparatus comprising: A transmitting means for randomly transmitting a radio wave including data for identifying each mobile body is provided in the mobile body, and three or more fixed stations are arranged at positions where radio waves transmitted from the mobile body can be received; Receiving means for receiving a radio wave transmitted by the mobile body, recognizing identification data of each mobile body included in the radio wave, and measuring the electric field strength of the radio wave, data for identifying the fixed station, and the receiving means Communication means for outputting fixed station data consisting of the identification data of the moving object recognized by and the electric field strength data of the measured radio wave, and when the fixed station data of three or more same moving objects is inputted from the communication means of each fixed station. ,this A management station for selecting three data having a high electric field strength from the data and calculating a position of the mobile unit from the electric field strength data of the three fixed station data and the data for identifying the fixed station is provided. It is.

According to the above configuration, a radio wave including data for identifying each mobile unit is transmitted from the mobile unit at random, and this radio wave is received by three or more fixed stations. Is recognized, the electric field strength of the radio wave is measured, and data for identifying a fixed station,
Fixed station data including the recognized identification data of the moving object and the measured electric field intensity data of the radio wave is formed and output to the management station. In the management station, when three or more fixed station data of the same mobile unit are inputted from each fixed station, three data having a strong electric field strength are selected from these data, and the electric field strength data of these three fixed station data are selected. The position of the mobile unit is calculated from the data identifying the fixed station, and the position of the mobile unit in the area is obtained.

[0013] The invention according to claim 2 provides the above-mentioned claim 1.
In the described invention, the area is divided into a plurality of rectangular small areas, and a fixed station is arranged at an end point of a side forming each small area, and the transmitting means of the moving body includes: The radio wave is transmitted with an electric field strength reaching at least three or more fixed stations in this small area.

According to the above configuration, even when the error in the electric field strength is large, the position of the moving body can be obtained at least in small area units. The invention according to claim 3 is the invention according to claim 1 or 2, wherein the transmitting means of the moving body is driven by a battery.

According to the above configuration, the moving body can be easily carried and can be reduced in size. Further, the invention according to claim 4 is a detection equipment for detecting the position of a moving object moving in a predetermined area, wherein the fixed station randomly transmits a radio wave including identification data, and the radio wave transmits through the area. It is located at a position that reaches the moving mobile from three or more fixed stations,
The mobile unit receives radio waves transmitted by the three or more fixed stations, recognizes identification data of each fixed station included in the radio waves,
A receiving means for measuring the electric field strength of the radio wave, and three data having a strong electric field strength are selected from the electric field strengths of the radio waves of the three or more fixed stations measured by the receiving means, and the electric fields of the three fixed stations are selected. Control means for calculating the position of the moving object from the intensity data and the data for identifying the fixed station is provided.

According to the above configuration, radio waves containing data for identifying each fixed station are transmitted from each fixed station at random, and the mobile unit receives radio waves of three or more fixed stations, and receives the radio waves of each fixed station included in the radio wave. The identification data is recognized, the electric field strength of the radio wave is measured, and three data having the strong electric field strength are selected from the electric field strengths of the radio waves of the three or more fixed stations,
The position of the mobile unit is calculated from the field strength data of the three fixed station data and the data identifying the fixed station, and the position of the mobile unit in the area is obtained.

According to the fifth aspect of the present invention, there is provided the fourth aspect of the present invention.
The invention according to the aspect, wherein the area is divided into a plurality of rectangular small areas, and the fixed stations are arranged at end points of sides forming each of the small areas. It is characterized in that a signal is transmitted so that a radio wave reaches a moving object moving in an area.

With the above configuration, even when the error in the electric field strength is large, the position of the moving body can be obtained at least in small area units.

[0019]

Embodiments of the present invention will be described below with reference to the drawings. (Embodiment 1) FIG. 1 is a plan view of an area provided with facilities for detecting the position of a moving body according to Embodiment 1 of the present invention.

In FIG. 1, reference numeral 1 denotes an area (for example, an event venue) in which a moving object (for example, a child) 2 moves. This area 1 is equally divided into small rectangular areas 3. A fixed station 4 is provided at each of the rectangular end points forming the small area 3. Area 1
In addition, a management station 6 connected to each fixed station 4 via a communication cable 5 is provided.

The mobile unit 2 is provided with a mobile station shown in FIG. The mobile station includes an antenna 10, a mobile station number memory 11 for setting a unique identification number of the mobile station, a random timer 12 for outputting a timing signal at random, and a mobile station number according to the timing signal of the random timer 12. A control circuit 13 for outputting data comprising an identification number unique to the mobile station set in the memory 11, and data output from the control circuit 13 being transmitted by the antenna 10 at an intensity reaching each of the four fixed stations 4 in the small area 3. It comprises a transmitting circuit 14 for transmitting, a mobile station number memory 11, a random timer 12, a control circuit 13, and a battery 15 for supplying power to the transmitting circuit 14.

According to the configuration of the mobile station, a radio wave including an identification number unique to the mobile station is randomly transmitted with an intensity reaching three or more fixed stations 4 in the small area 3. Each of the above fixed stations 4
As shown in FIG. 2, an antenna 20, a fixed station number memory 21 for setting a unique identification number of the fixed station 4,
The receiving circuit 22 receives the radio waves of the mobile unit 2 captured by the radio wave 20, recognizes the identification number of each mobile unit 2 included in the radio waves, and measures the electric field strength of the radio waves and the fixed station number memory 21. A control circuit 23 for forming fixed station data from the identification number unique to the fixed station, the identification number of the mobile unit 2 recognized by the receiving circuit 22, and the measured electric field intensity data of the radio wave; and the fixed station formed by the control circuit 23. A communication circuit 24 for transmitting data to the management station 6 via the communication cable 5; a fixed station number memory 21; a reception circuit 22; a control circuit 23;
And a power supply circuit 25 for supplying power to the power supply 24.

With the configuration of the fixed station 4, a radio wave including an identification number unique to the mobile station, which is randomly transmitted, is received.
The identification number of each mobile unit 2 included in this radio wave is recognized,
The electric field strength of the radio wave is measured, and fixed station data including the identification number unique to the fixed station, the recognized identification number of the mobile unit 2 and the measured electric field strength data of the radio wave are formed, and transmitted to the management station 6. .

As shown in FIG. 2, the management station 6 is fixed via a keyboard 31 for performing various settings, a display unit (for example, a CRT) 32 for displaying the position of each mobile unit 2, and a communication cable 5. A communication circuit 33 for receiving the fixed station data from the station 4, a timer 34, and a computer for estimating the position of the mobile unit 2 based on the fixed data received by the communication circuit 33 based on the timing signal of the timer 34. The control arithmetic circuit 35 (details will be described later) and these keyboards
31, display unit 32, communication circuit 33, timer 34, control operation circuit 35
And a power supply circuit 36 for supplying power to the power supply.

According to the configuration of the management station 6, the fixed station data transmitted from each fixed station 4 is received by the communication circuit 33 and input to the control operation circuit 35. The control operation circuit 35 receives the fixed station data. When the fixed station data is updated for each fixed station-specific identification number and mobile unit-specific identification number, and a timing signal is input from the timer 34, the position of each mobile unit 2 is estimated (details will be described later). Is displayed on the display unit 32. The keyboard 31 is used to make various settings for the control operation circuit 35.

A method for estimating the position of the moving body 2 by the control arithmetic circuit 35 of the management device 5 will be described. First, for each small area 3, fixed station data of each of the four fixed stations 4 forming the small area 3 is searched to confirm whether the same mobile unit 2 is detected by three or more fixed stations 4. , When it detects it,
It recognizes that the moving body 2 is present in the small area 3.

Next, by comparing the electric field strength data of the radio waves of the fixed station data of each of the three or more fixed stations 4, three fixed station data having strong field strength data are selected. The electric field intensity data of the radio wave is converted into a distance based on a previously known relationship between the electric field intensity and the distance, and the position of the moving body 2 is estimated by triangulation as shown in FIG.

However, since the relationship between the electric field strength data of the radio wave and the distance is poor in accuracy, a range E shown by oblique lines may occur as shown in FIG. When the occurrence of the range E is confirmed, the position of the center of gravity of the range E is calculated, the position is estimated as the position of the moving body 2, and the area of the range E is further confirmed. Is output as an exponent (displayed on the display unit 32).

With the above estimation, the position of each mobile unit 2 existing in the small area 3 can be estimated. Further, since the radio waves including the identification number unique to the mobile station transmitted from the mobile station of the mobile unit 2 are transmitted at random, the ratio of interference of the radio waves of each mobile unit 2 is extremely small. Even if the moving body 2 exists, its position can be estimated. Further, if the position of each mobile unit 2 is stored in the management station 6, it is possible to grasp the movement status of each mobile unit 2.

The mobile station of the mobile unit 2 is driven by the battery 15, so that it can be carried and can be miniaturized. Can monitor the location of
The occurrence of lost children can be prevented.

Further, since radio waves are used, it can be used in a crowded state. Even if it is necessary to obtain certification at the time of manufacturing the device, there is no restriction on the user. (Embodiment 2) The same components as those in Embodiment 1 are denoted by the same reference numerals, and description thereof is omitted.

FIG. 4 is a plan view of the moving object position detecting equipment according to Embodiment 2 of the present invention. In FIG. 4, reference numeral 41 denotes an area in which a moving body 42 moves, and this area 42 is equally divided into small rectangular areas 43. This small area
A fixed station 44 is provided at each end point of the square forming 43. A management station 46 is provided outside the area 41.

As shown in FIG. 5, each fixed station 44 includes an antenna 50, a fixed station number memory 51 for setting a unique identification number of the fixed station 44, and a random timer 52 for randomly outputting a timing signal. A control circuit 53 for outputting data consisting of an identification number unique to the fixed station set in the fixed station number memory 51 in accordance with the timing signal of the random timer 52.
And a transmission circuit 54 for transmitting data output from the control circuit 53 by the antenna 50 at an intensity reaching each mobile object 42 located in the small area 43, a fixed station number memory 51, a random timer 52, and a control circuit. 53, and a power supply circuit 55 for supplying power to the transmission circuit 54.

According to the configuration of the fixed station 44, radio waves including an identification number unique to the fixed station are transmitted at a strength that reaches each mobile unit 42 located in the small area 43 at random, and thus exist in the small area 43. Radio waves are transmitted from the four fixed stations 44 forming the small area 43 to the mobile object 42.

Each mobile unit 42 is provided with a mobile station as shown in FIG. This mobile station has an antenna 60,
Mobile station number memory 61 for setting a unique identification number of the mobile station
And, receive the radio wave of the fixed station 44 caught by the antenna 60, recognize the identification number of each fixed station 44 included in the radio wave,
A receiving circuit 62 for measuring the electric field strength of the radio wave, a display unit 63 including a liquid crystal display, a timer 64, and a timer 64
A control arithmetic circuit 65 (to be described in detail later) comprising a computer for estimating the position of the moving body 42 based on the fixed data received by the receiving circuit 62 according to the timing signal, and displaying the estimated position on the display 63. , Mobile station unique identification number set in mobile station number memory 61 and control arithmetic circuit
A control circuit 67 that forms mobile station data from the estimated position of the mobile object 42 recognized by 65, a transmission circuit 68 that transmits the mobile station data formed by the control circuit 67 to the management station 46 by the antenna 60, It comprises a mobile station number memory 61, a receiving circuit 62, a timer 64, a control operation circuit 65, a control circuit 67, and a battery 69 for supplying power to the transmitting circuit 68.

Mobile unit by control operation circuit 65 of the mobile station
The position estimation method of No. 42 will be described. First, when a timing signal is input from the timer 64, it is determined from the stored fixed data which small area 43 exists (whether there is fixed station data of three or more fixed stations 64 forming the small area 3). If you check this small area 43, this small area 43
It recognizes that there is a moving object 42 in.

Next, by comparing the electric field strength data of the radio data of the fixed station data of each of the three or more fixed stations 44, three fixed station data having strong field strength data are selected, and the three fixed station data having large field strength data are selected. The fixed station recognizes the electric field strength data of the radio wave from the relationship between the known electric field strength and the distance set in advance.
Converted to the distance from 44, as shown in FIG.
The position of the moving body 42 is estimated by triangulation and displayed on the display unit 63.

However, since the relationship between the electric field intensity data of the radio wave and the distance is poor in accuracy, a range E shown by oblique lines may occur as shown in FIG. When the occurrence of the range E is confirmed, the position of the center of gravity of the range E is calculated, the position is estimated as the position of the moving body 42, and the area of the range E is further confirmed. Is displayed on the display unit 63 as an index.

With the above estimation, the position of each moving object 42 existing in the small area 43 can be estimated, and the own estimated position can be displayed on the display unit 63. With the configuration of this mobile station,
Radio waves including identification numbers unique to fixed stations transmitted at random are received, the identification numbers of the respective fixed stations 44 included in the radio waves are recognized, the electric field strength of the radio waves is measured, and the identification numbers of these fixed stations 44 are determined. The position of the mobile unit 42 is estimated from the electric field intensity data of the measured radio wave, and the mobile station data is formed from the identification number unique to the mobile station and the estimated position of the mobile unit 42.
Sent to 66.

As shown in FIG. 5, the management station 46 includes an antenna 70, a keyboard 71 for performing various settings, a display unit (for example, a CRT) 72 for displaying the position of the moving body 42, and an antenna 70. A receiving circuit 73 for receiving the mobile station data from the mobile unit 42, and a mobile station unique identification number of the mobile station data received by the receiving circuit 73, and displaying the estimated position of the mobile unit 42 on the display unit. A control circuit 74 for outputting to the 72, a keyboard 71, a display unit 72, a receiving circuit 73, and a control circuit 74.
And a power supply circuit 75 for supplying power to the power supply.

According to the configuration of the management station 46, the mobile station data transmitted from each mobile unit 42 is received by the receiving circuit 73 and input to the control circuit 74. When the control circuit 74 inputs the mobile station data, The mobile station 42 recognizes the identification number unique to the mobile station in the mobile station data and displays the estimated position of the mobile 42 on the display unit 72
Output to the display unit 72.

As described above, the position of each moving object 42 existing in the small area 43 can be estimated. In addition, since the radio waves including the identification number unique to the fixed station transmitted from the fixed station 44 are transmitted at random, the ratio of the radio waves of each fixed station 44 interfering with each other is extremely small. Can accurately estimate its position. Further, if the position of each mobile unit 42 is stored in the management station 46, the movement status of each mobile unit 42 can be grasped.

The mobile station of the mobile unit 42 is driven by the battery 45, so that the mobile station can be carried and can be reduced in size. You can always check your position.

Further, since radio waves are used, the apparatus can be used in a crowded state. Even if it is necessary to obtain certification at the time of manufacturing the device, there is no restriction on the user. In the first and second embodiments, the fixed station 44 is arranged at the end point of the rectangular small area. However, as shown in FIG. 6, a triangular small area is formed and the fixed station 44 is fixed to the end point of the triangle. It is also possible to arrange the stations 44 (a total of three fixed stations 44).

In the first and second embodiments, four fixed stations 4 and 44 are provided in a small area. However, three or more fixed stations may be provided, and more fixed stations may be provided. By providing a large number of fixed stations in this way, data hindered by the environment can be deleted, and the reliability of surveying can be improved.

[0046]

As described above, according to the present invention, even when the accuracy of the electric field strength of the radio wave is poor, the position of the moving body can be obtained with high accuracy. Further, by dividing the area into small areas and arranging fixed stations at the corners of each small area, it is possible to determine the position of the mobile at least in small area units.

[Brief description of the drawings]

FIG. 1 is a plan view of an area provided with mobile object position detection equipment according to Embodiment 1 of the present invention.

FIG. 2 is a configuration diagram of a position detection facility of the moving body.

FIG. 3 is an explanatory diagram of a facility for detecting the position of the moving body.

FIG. 4 is a plan view of an area provided with mobile object position detection equipment according to Embodiment 2 of the present invention.

FIG. 5 is a configuration diagram of a facility for detecting the position of the moving body.

FIG. 6 is a plan view of a moving object position detection equipment according to another embodiment of the present invention.

[Explanation of symbols]

 1,41 Area 2,42 Mobile 3,43 Small area 4,44 Fixed station 5 Communication cable 6,46 Management station 10,20,50,60,70 Antenna 11,61 Mobile station number memory 12,52 Random timer 13 , 53 control circuit 14, 54 transmission circuit 15, 69 battery 21, 51 fixed station number memory 22, 62, 73 reception circuit 23, 53, 67, 74 control circuit 24, 33 communication circuit 25, 36, 55, 75 power supply circuit 31, 71 Keyboard 32, 72 Display 34, 64 Timer 35, 65 Control operation circuit 63 Display 68 Transmitter

Claims (5)

[Claims] 1. A detection facility for detecting a position of a moving body moving within a predetermined area, wherein said moving body includes transmitting means for randomly transmitting a radio wave including data for identifying each moving body, At least three fixed stations are arranged at positions where radio waves transmitted from a mobile body can be received, radio waves transmitted by the mobile body are received at each fixed station, and identification data of each mobile body included in the radio waves is recognized. Receiving means for measuring the electric field strength of the radio wave; and communication for outputting fixed station data comprising data for identifying the fixed station, identification data of the mobile object recognized by the receiving means, and measured electric field strength data of the radio wave. Means, when three or more fixed station data of the same moving object are inputted from the communication means of each fixed station, three data having a strong electric field strength are selected from among these data, and the data of these three fixed station data are selected. A position detecting equipment for a mobile unit, comprising a management station for calculating the position of the mobile unit from the electric field strength data and the data for identifying the fixed station. 2. The area is divided into a plurality of rectangular small areas, and a fixed station is arranged at an end point of a side forming each of the small areas. 2. The mobile object position detection equipment according to claim 1, wherein the radio wave is transmitted with an electric field intensity reaching three or more fixed stations in a small area. 3. The facility for detecting the position of a moving body according to claim 1, wherein the transmitting means of the moving body is driven by a battery. 4. A detection facility for detecting the position of a moving body moving within a predetermined area, comprising: a fixed station for randomly transmitting a radio wave including identification data; The mobile station receives radio waves transmitted from the three or more fixed stations, recognizes the identification data of each fixed station included in the radio waves, and recognizes the electric field of the radio waves. Receiving means for measuring the strength; and selecting three data having a strong electric field strength from among the electric field strengths of the radio waves of three or more fixed stations measured by the receiving means, and fixing the electric field strength data of these three fixed stations to the fixed data. A position detecting device for a moving object, comprising control means for calculating the position of the moving object from data identifying a station. 5. The area is divided into a plurality of rectangular small areas, and the fixed stations are arranged at end points of sides forming each of the small areas. The position detecting equipment for a moving body according to claim 4, wherein the radio wave is transmitted at an electric field intensity reaching the moving moving body.