WO2016162899A1 - Système de détection de position et procédé de détection de position - Google Patents

Système de détection de position et procédé de détection de position Download PDF

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Publication number
WO2016162899A1
WO2016162899A1 PCT/JP2015/001929 JP2015001929W WO2016162899A1 WO 2016162899 A1 WO2016162899 A1 WO 2016162899A1 JP 2015001929 W JP2015001929 W JP 2015001929W WO 2016162899 A1 WO2016162899 A1 WO 2016162899A1
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WO
WIPO (PCT)
Prior art keywords
unmanned air
air vehicle
detection system
position detection
detection signal
Prior art date
Application number
PCT/JP2015/001929
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English (en)
Japanese (ja)
Inventor
覚 大浦
Original Assignee
株式会社ベイビッグ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社ベイビッグ filed Critical 株式会社ベイビッグ
Priority to JP2016538814A priority Critical patent/JP6111490B2/ja
Priority to PCT/JP2015/001929 priority patent/WO2016162899A1/fr
Publication of WO2016162899A1 publication Critical patent/WO2016162899A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location

Definitions

  • the present invention relates to a position detection system and a position detection method for detecting the position of a moving object.
  • the present invention provides a position detection system or a position detection method that can realize position detection with higher accuracy, or that can appropriately respond even when a moving object to be monitored is out of the wireless communication range of the system.
  • the purpose is to provide.
  • a position detection system is a position detection system for detecting the position of a moving body, and is held by the moving body and wirelessly transmits a detection signal.
  • a position detection system for detecting the position of a moving body, and is held by the moving body and wirelessly transmits a detection signal.
  • a place where no fixed receiver is installed can be searched by using an unmanned air vehicle.
  • the position detection system can realize position detection with higher accuracy.
  • the position detection system can appropriately cope with the case where the moving object to be monitored is out of the wireless communication range of the fixed receiver.
  • the unmanned air vehicle when the unmanned air vehicle flies on a predetermined route in the normal mode and receives the detection signal in the normal mode, the unmanned air vehicle may shift to a search mode for approaching the position of the transmitter. .
  • the unmanned air vehicle can move following the movement of the moving object.
  • the unmanned air vehicle further receives the detection signal while moving from the point where the detection signal was received in the normal mode, and further receives the detection signal.
  • the received radio wave intensity may be detected, and the aircraft may fly closer to the transmitter based on the received radio wave intensity.
  • the unmanned air vehicle can approach the moving object based on the received radio wave intensity. Further, the unmanned air vehicle can move following the movement of the moving object.
  • the unmanned air vehicle receives the detection signal while performing circular motion in the search mode, detects the received radio wave intensity of the received detection signal, and receives the received radio wave during the circular motion. You may fly so that it may approach the position of the said transmitter based on intensity.
  • the unmanned air vehicle can approach the moving object with easy control. Further, the unmanned air vehicle can move following the movement of the moving object.
  • the unmanned air vehicle continuously receives the plurality of detection signals in the search mode, detects the received radio wave intensity of each of the received plurality of detection signals, and detects a plurality of detected signals. You may fly so that the position of the said transmitter may be approached based on the change of the said received radio wave intensity.
  • the unmanned air vehicle can approach the moving object based on the received radio wave intensity. Further, the unmanned air vehicle can move following the movement of the moving object.
  • the unmanned air vehicle turns 90 degrees when the received radio wave intensity decreases in the detected plurality of received radio wave strengths, and after the flight after turning 90 degrees, When the received radio wave intensity decreases, the vehicle may turn 180 degrees.
  • the unmanned air vehicle can approach the moving object with easy control. Further, the unmanned air vehicle can move following the movement of the moving object.
  • the unmanned air vehicle may fly on a predetermined route in the normal mode and wait when receiving the detection signal in the normal mode.
  • the unmanned air vehicle can be prevented from leaving the transmitter.
  • the position detection system includes the unmanned air vehicle, and includes a plurality of unmanned air vehicles each receiving the detection signal, and each of the plurality of unmanned air vehicles is detected by another unmanned air vehicle.
  • the signal for use When the signal for use is received, it may move in the direction in which the other unmanned air vehicle is located.
  • the position detection system further includes a plurality of receivers that receive the detection signals, and the position detection system receives the detection signals by any of the unmanned air vehicle and the plurality of receivers. Based on the information, information for detecting the position of the transmitter may be generated.
  • a position detection method is a position detection method in a position detection system for detecting the position of a moving body, the position detection system including a transmitter held by the moving body,
  • the position detecting method includes: a step in which the transmitter wirelessly transmits a detection signal; a step in which the unmanned air vehicle receives the detection signal; and an unmanned air vehicle. Generating the information for detecting the position of the transmitter based on the position information of the unmanned air vehicle when the detection signal is received.
  • the said position detection method can implement
  • the position detection method can appropriately cope with the case where the moving object to be monitored is out of the wireless communication range of the fixed receiver.
  • the present invention can provide a position detection system or a position detection method that can realize position detection with higher accuracy, or can perform an appropriate response even when a mobile object to be monitored is out of the wireless communication range of the system. .
  • FIG. 1 is a diagram illustrating a configuration of a position detection system according to an embodiment.
  • FIG. 2 is a block diagram of a receiver according to the embodiment.
  • FIG. 3 is a block diagram of the unmanned aerial vehicle according to the embodiment.
  • FIG. 4 is a diagram illustrating an appearance of the unmanned air vehicle according to the embodiment.
  • FIG. 5 is a block diagram of the management apparatus according to the embodiment.
  • FIG. 6 is a diagram illustrating a state in which a detection signal is wirelessly transmitted by the transmitter according to the embodiment.
  • FIG. 7 is a diagram illustrating a configuration of a detection signal according to the embodiment.
  • FIG. 8 is a diagram illustrating a configuration of a notification signal according to the embodiment.
  • FIG. 1 is a diagram illustrating a configuration of a position detection system according to an embodiment.
  • FIG. 2 is a block diagram of a receiver according to the embodiment.
  • FIG. 3 is a block diagram of the unmanned aerial vehicle according to the embodiment.
  • FIG. 9 is a diagram illustrating a configuration of a detection signal according to the embodiment.
  • FIG. 10 is a flowchart of the operation of the unmanned air vehicle according to the embodiment.
  • FIG. 11 is a diagram illustrating the operation in the normal mode of the unmanned air vehicle according to the embodiment.
  • FIG. 12 is a diagram illustrating an operation when the unmanned air vehicle according to the embodiment shifts from the normal mode to the search mode.
  • FIG. 13 is a flowchart of a first operation example of the unmanned air vehicle search mode according to the embodiment.
  • FIG. 14 is a diagram illustrating an example of an operation of the first operation example of the unmanned air vehicle search mode according to the embodiment.
  • FIG. 15 is a flowchart of a second operation example of the unmanned air vehicle search mode according to the embodiment.
  • FIG. 16 is a diagram illustrating an example of the operation of the second operation example of the search mode for the unmanned air vehicle according to the embodiment.
  • FIG. 17 is a diagram illustrating an example of an operation of the third operation example of the search mode for the unmanned air vehicle according to the embodiment.
  • FIG. 18 is a flowchart of the operation of the unmanned air vehicle when a plurality of unmanned air vehicles are used according to the embodiment.
  • FIG. 19 is a diagram illustrating the operation of the unmanned aerial vehicle when a plurality of unmanned aerial vehicles are used according to the embodiment.
  • the position detection system includes an unmanned air vehicle that receives a detection signal transmitted from a transmitter.
  • the said position detection system can implement
  • FIG. 1 is a diagram showing a configuration of a position detection system 100 according to the present embodiment.
  • a position detection system 100 shown in FIG. 1 is a system for detecting the position of a moving body, and includes a management device 102, a plurality of receivers 103 (103A to 103E), a transmitter 104, and an unmanned air vehicle 105.
  • the position detection system 100 is used in a monitoring system (child monitoring system or habit monitoring system) for detecting the position of a monitoring target person such as an elderly person or a child.
  • the position detection system 100 is used in a school road, around a housing complex, a nursing home or a nursing facility.
  • this position detection system 100 may be used for detecting the position of a visitor in a facility such as an amusement park or a theme park. Further, the position detection system 100 may be used for searching for a lost person or a missing person.
  • the transmitter 104 is held (carried or worn) by a moving body (for example, an elderly person) who is a monitoring target.
  • a moving body for example, an elderly person
  • the transmitter 104 is a bracelet type (watch type) worn on the arm of the monitoring subject, a necklace type hanging on the neck of the monitoring subject, or the like.
  • the transmitter 104 may be a name tag type or the like.
  • the moving object to be monitored is not limited to a person, but may be an animal or a movable machine.
  • a transmitter 104 may be included.
  • the transmitter 104 periodically transmits a detection signal 151 by radio.
  • the radio signal used in this radio transmission is, for example, a radio signal conforming to IEEE 802.15.4, for example, a 2.4 GHz band, a 920 MHz band, or a 950 MHz band radio signal. That is, the wireless signal used in the position detection system 100 is a wireless signal having a relatively narrow wireless communication range (for example, about 200 to 300 m). Note that other wireless signals such as Bluetooth (registered trademark) may be used. Further, the transmitter 104 may transmit any of the above-described types of radio signals, or may transmit a plurality of types of radio signals simultaneously or in a time division manner.
  • the transmitter 104 has a built-in power source such as a battery, and can be operated only by power supply from the inside (or internally generated power) without receiving power from the outside.
  • a built-in power source such as a battery
  • the plurality of receivers 103 are arranged at predetermined intervals in the monitoring target area and receive detection signals 151 periodically transmitted from the transmitter 104.
  • the region to be monitored is, for example, a nursing home or nursing facility and its surrounding region.
  • the area to be monitored may be a school road or a park. It should be noted that at least a part of the plurality of receivers 103 may be carried by a supervisor (for example, facility staff) or the like.
  • the receiver 103 When receiving the detection signal 151, the receiver 103 notifies the management apparatus 102 that the detection signal 151 has been detected. Specifically, the receiver 103 transmits a notification signal 153 indicating that the detection signal 151 has been detected to the management apparatus 102.
  • the unmanned air vehicle 105 can fly unmanned, for example, an unmanned aerial vehicle (drone).
  • the unmanned air vehicle 105 performs a flight according to a remote operation from another device or a predetermined instruction.
  • the unmanned air vehicle 105 receives the detection signal 151.
  • the unmanned air vehicle 105 notifies the management apparatus 102 that the detection signal 151 has been detected.
  • the unmanned air vehicle 105 transmits a notification signal 153A indicating that the detection signal 151 has been detected to the management apparatus 102.
  • the notification signals 153 and 153A transmitted by the receiver 103 and the unmanned air vehicle 105 may be transmitted only when the detection signal 151 is received, or periodically regardless of the reception of the detection signal 151. It may be done. When the notification signals 153 and 153A are periodically transmitted, if the detection signal 151 is not received, information indicating that it has not been received is included in the notification signals 153 and 153A.
  • the management device 102 is, for example, a PC (personal computer).
  • the management device 102 receives the notification signals 153 and 153A transmitted from the receiver 103 and the unmanned air vehicle 105, and detects the position of the monitoring target person using information included in the notification signals 153 and 153A.
  • the management apparatus 102 displays position information indicating the position of the monitoring target person.
  • each device will be described below. First, the configuration of the receiver 103 will be described.
  • the plurality of receivers 103 construct a wireless network.
  • the plurality of receivers 103 include a reception master unit and a reception slave unit.
  • the signal wirelessly transmitted from the receiver unit is transmitted to the receiver unit directly or via one or more receiver units or a dedicated repeater.
  • the receiving master that has received the signal transmits the signal to the management apparatus 102 via the network.
  • the frequency band and communication method of the wireless signal used in this wireless network may be the same as or different from the frequency band and communication method of the detection signal 151.
  • each receiver 103 and the management apparatus 102 is performed by relaying a plurality of receivers 103.
  • a communication method between the receiver 103 and the management apparatus 102 is described. May be wireless communication not via a receiver or a dedicated repeater, or a wired connection may be used in part.
  • a part of the receivers 103 or a part of the receivers 103 (for example, the reception master unit) and the management apparatus 102 may be connected via the Internet or Wi-Fi (registered trademark).
  • FIG. 2 is a block diagram showing the configuration of the receiver 103.
  • the receiver 103 includes a radio reception unit 121, a reception intensity measurement unit 122, a position measurement unit 123, a notification signal generation unit 124, a radio transmission unit 125, and a relay unit 126.
  • the wireless reception unit 121 receives the detection signal 151 wirelessly transmitted from the transmitter 104.
  • the reception intensity measurement unit 122 measures the reception radio wave intensity of the detection signal 151 received by the wireless reception unit 121.
  • the position measuring unit 123 measures the position where the receiver 103 is arranged.
  • the position measuring unit 123 has a GPS (Global Positioning System) function, and measures the position where the receiver 103 is arranged using the GPS function. Note that the receiver 103 may not include the position measurement unit 123.
  • GPS Global Positioning System
  • the notification signal generator 124 generates a notification signal 153 when the detection signal 151 is received.
  • the wireless transmission unit 125 transmits the notification signal 153 to the management device 102.
  • the relay unit 126 performs processing for relaying the notification signal 153 transmitted from the other receiver 103 to the management apparatus 102.
  • the notification signal 153 transmitted from the other receiver 103 is received by the wireless reception unit 121 and transmitted from the wireless transmission unit 125 based on the control of the relay unit 126.
  • the plurality of receivers 103 need to have all of the above functions.
  • the function of the receiver 103 may be realized by a plurality of devices obtained by dividing the function by function or signal processing.
  • FIG. 3 is a block diagram showing a configuration of the unmanned air vehicle 105.
  • FIG. 4 is a diagram illustrating an example of the appearance of the unmanned air vehicle 105.
  • the unmanned air vehicle 105 includes a wireless reception unit 131, a reception intensity measurement unit 132, a position measurement unit 133, a notification signal generation unit 134, a communication unit 135, a path storage unit 136, a flight control unit 137, and a drive. Part 138.
  • the functions of the wireless reception unit 131, the reception strength measurement unit 132, the position measurement unit 133, and the notification signal generation unit 134 are the same as the wireless reception unit 121, the reception strength measurement unit 122, the position measurement unit 123, and the notification signal provided in the receiver 103. Since it is the same as that of the production
  • the communication unit 135 transmits the notification signal 153A generated by the notification signal generation unit 134 to the management apparatus 102. Further, the communication unit 135 receives a control signal transmitted from the management device 102.
  • the control signal is a signal for controlling the operation of the unmanned air vehicle 105, for example, information for designating a flight path.
  • the communication unit 135 may receive reception information and position information of other unmanned air vehicles 105 from the management device 102 or other unmanned air vehicles 105. Good.
  • the communication unit 135 communicates with the management apparatus 102 via a mobile phone communication network.
  • a method similar to the communication method between the receiver 103 and the management device 102 may be used as the communication method between the unmanned air vehicle 105 and the management device 102.
  • the unmanned air vehicle 105 may have a function of relaying a signal from another unmanned air vehicle 105 or the receiver 103, similarly to the receiver 103.
  • the unmanned air vehicle 105 has both of the communication functions described above, and the communication method to be used may be switched depending on the radio wave condition or the like. For example, if the unmanned air vehicle 105 can communicate with another unmanned air vehicle 105 or the receiver 103, the unmanned air vehicle 105 communicates with the management device 102 via the other unmanned air vehicle 105 or the receiver 103, thereby When communication with the management apparatus 102 cannot be made via the body 105 or the receiver 103, communication with the management apparatus 102 may be made via the mobile phone communication network.
  • the route storage unit 136 stores preset route information.
  • the driving unit 138 controls the flight of the unmanned air vehicle 105 by driving a propeller included in the unmanned air vehicle 105.
  • a propeller included in the unmanned air vehicle 105.
  • the unmanned aerial vehicle 105 is a propeller type drone will be described as an example, but the power of the unmanned aerial vehicle 105 may be other than the propeller.
  • the flight control unit 137 controls the flight of the unmanned air vehicle 105 by controlling the drive unit 138. Specifically, the flight control unit 137 controls the driving unit 138 based on output results of various sensors (not shown) such as a gyro sensor and an acceleration sensor included in the unmanned air vehicle 105, so that the unmanned air vehicle. Control 105 flights. The flight control unit 137 also allows the unmanned air vehicle 105 to move along the search route based on the position of the own device acquired by the position measurement unit 133 and the search route information stored in the route storage unit 136. The drive unit 138 is controlled to move.
  • the unmanned aerial vehicle 105 includes an ultrasonic sensor, an infrared sensor, a camera, and the like, and has a function of preventing a collision with an obstacle or other unmanned aerial vehicle using the output results of these sensors. May be.
  • FIG. 5 is a block diagram illustrating a configuration of the management apparatus 102.
  • the management device 102 includes a communication unit 141, a receiver position storage unit 142, a position information generation unit 143, and a display unit 144.
  • the communication unit 141 receives the notification signal 153 transmitted from the receiver 103 and the notification signal 153A transmitted from the unmanned air vehicle 105. In addition, the communication unit 141 transmits the above-described control signal, reception information, position information, and the like of the other unmanned air vehicle 105 to the unmanned air vehicle 105.
  • the receiver position storage unit 142 stores the positions of the plurality of receivers 103.
  • the receiver position storage unit 142 includes information indicating the position of the receiver 103 included in the notification signal 153 transmitted from the receiver 103, or the position of the receiver 103 transmitted in advance from the receiver 103. Is stored.
  • the receiver position storage unit 142 may store information indicating positions of the plurality of receivers 103 input in advance by a user operation or the like.
  • the position information generation unit 143 indicates the position of the transmitter 104 using the information included in the notification signals 153 and 153A and the position information of the receiver 103 or the unmanned air vehicle 105 that is the transmission source of the notification signal 153 or 153A. Generate location information.
  • Display unit 144 displays position information.
  • the configuration of the position detection system 100 is not limited to the configuration shown in FIG.
  • a plurality of management devices 102 may exist.
  • some of the plurality of management devices 102 may be mobile terminals (for example, smartphones) carried by facility staff or guardians.
  • the function of the management apparatus 102 may be realized by a guardian installing an application (application program) on a smartphone.
  • the function of the management apparatus 102 may be realized by a plurality of devices.
  • a part of the function of the management apparatus 102 may be realized by a PC, and the other part may be realized by a smartphone carried by a guardian.
  • the position information is generated by a device (for example, a PC), and the generated position information is transmitted to another device (for example, a smartphone) via a network or the like. It may be displayed.
  • the receiver 103 and the management apparatus 102 are individually described. However, the receiver 103 and the management apparatus 102 may be configured as a single apparatus. In other words, at least one of the receivers 103 may have at least part of the function of the management apparatus 102, or the management apparatus 102 may have at least part of the function of the receiver 103.
  • a smartphone carried by a staff member or a guardian may have the functions of both the management device 102 and the receiver 103.
  • the functions of the management device 102 and the receiver 103 may be realized by connecting an external device to a smartphone and installing an application on the smartphone.
  • the external device includes, for example, a wireless transmission unit 125, a wireless reception unit 121, and a reception intensity measurement unit 122 included in the receiver 103.
  • the external device may include functions other than these.
  • the application may be stored in an external device or acquired via a network.
  • an application may be automatically installed in a smart phone by attaching an external device to the smart phone.
  • the management apparatus 102 and the receiver 103 are realized as a single device, signal transmission between the management apparatus 102 and the receiver 103 is performed within the device.
  • the transmission of the notification signal 153 described above includes not only transmission between devices via a network or the like but also transmission of signals within the device.
  • FIG. 6 is a diagram illustrating a state in which the detection signal 151 is wirelessly transmitted by the transmitter 104.
  • each of the plurality of receivers 103A to 103D and the unmanned air vehicle 105 transmits the notification signal 153 or 153A to the management apparatus 102.
  • the management apparatus 102 generates location information using a plurality of notification signals 153.
  • FIG. 7 is a diagram showing the configuration of the detection signal 151.
  • the detection signal 151 includes a transmitter ID 161 ⁇ / b> A for identifying the transmitter 104 that is the transmission source of the detection signal 151.
  • the receiver 103 and the unmanned air vehicle 105 transmit a notification signal 153 or 153A including information indicating the transmitter 104 of the transmission source of the received detection signal 151 to the management apparatus 102.
  • FIG. 8 is a diagram showing the configuration of the notification signals 153 and 153A.
  • the notification signals 153 and 153A include a receiver ID 162, a transmitter ID 161B, received radio wave intensity information 163, and receiver position information 164.
  • the receiver ID 162 is the receiver 103 or the unmanned air vehicle 105 that has received the detection signal 151, and indicates the receiver 103 or the unmanned air vehicle 105 that is the transmission source of the notification signal 153 or 153A.
  • the transmitter ID 161B indicates the transmitter 104 that is the transmission source of the detection signal 151.
  • transmitter ID 161B is the same ID as transmitter ID 161A included in detection signal 151.
  • the received radio wave intensity information 163 indicates the received radio wave intensity of the detection signal 151 received by the receiver 103 or the unmanned air vehicle 105.
  • the receiver position information 164 indicates the current position of the receiver 103 or the unmanned air vehicle 105.
  • the receiver position information 164 is position information of the unmanned air vehicle 105 measured by GPS or the like that the unmanned air vehicle 105 has. If the receiver 103 is a stationary device, the receiver position information 164 may not be included in the notification signal 153.
  • the notification signals 153 and 153A may include information other than the above.
  • the notification signals 153 and 153A may include information indicating the time when the detection signal 151 is received.
  • the position information generation unit 143 included in the management apparatus 102 generates position information indicating the position of the transmitter 104 using the plurality of notification signals 153 and 153A received by the communication unit 141. Specifically, the position information generation unit 143 receives the reception radio wave intensity of the detection signal 151 in the receiver 103 or the unmanned air vehicle 105 indicated by the reception radio wave intensity information 163 included in the notification signal 153 or 153A, and the receiver 103. And the position of the transmitter 104 is calculated using the position of the unmanned air vehicle 105.
  • the positions of the plurality of receivers 103 and the unmanned air vehicle 105 indicated by the plurality of receiver position information 164 included in the notification signals 153 and 153A, or the receiver position storage unit 142 The stored positions of the plurality of receivers 103 are used.
  • the received radio wave intensity changes according to the distance between the receiver 103 or the unmanned air vehicle 105 and the transmitter 104 (the shorter the distance, the higher the received radio wave intensity). Therefore, the position information generation unit 143 can determine the position of the transmitter 104 from the received radio wave intensity and the positions of the receiver 103 and the unmanned air vehicle 105 with respect to the plurality of receivers 103.
  • the display unit 144 displays the position of the transmitter 104 detected by the position information generation unit 143.
  • FIG. 9 is a diagram illustrating a display example of the position of the transmitter 104. As shown in FIG. 9, the display unit 144 displays the position 171 of the transmitter 104 two-dimensionally. Further, the position 172 of the receiver 103, the position 173 of the management apparatus 102, the position 174 of the unmanned air vehicle 105, and the like may be displayed together. Note that these pieces of information may be displayed on the floor plan or the like if they are indoors, and may be displayed on the map information if they are outdoors.
  • the position information generation unit 143 is information indicating whether or not the detection signal 151 has been received by each receiver 103 and the unmanned air vehicle 105 (or information indicating whether or not the received radio wave intensity is equal to or greater than a predetermined threshold). From the above, the position of the transmitter 104 may be detected. That is, the position information generation unit 143 may not use the received radio wave intensity information 163.
  • the position information may be information indicating the receiver 103 or the unmanned air vehicle 105 that has received the detection signal 151.
  • the receiver 103 or the unmanned air vehicle 105 that has received the detection signal 151 may be highlighted instead of displaying the position 171 of the transmitter 104.
  • the position information generation unit 143 may not use the position information of the receiver 103.
  • a staff member who carries the receiver 103 for example, a smartphone
  • position measurement using GPS cannot be performed.
  • the position information generation unit 143 indicates whether or not the detection signal 151 can be received by each receiver 103 as the position information. Only information may be generated, or only information indicating the receiver 103 that has received the detection signal 151 may be generated.
  • the display unit 144 may display the received radio wave intensity.
  • the position information generation unit 143 may generate information indicating the moving direction or moving speed of the transmitter 104 based on the plurality of notification signals 153 received in time series.
  • wireless communication between the management apparatus 102 and the plurality of receivers 103 or the unmanned air vehicle 105 is performed directly or via one or more other receivers 103.
  • signal propagation paths are set in advance in the plurality of receivers 103.
  • Each signal (notification signal 153 (or 153A)) is propagated between the plurality of receivers 103 based on this propagation path.
  • each receiver 103 holds information on the set propagation path, and determines whether or not to relay the received signal based on the information.
  • each signal includes information indicating a propagation path of the signal, and each receiver determines whether to relay the received signal based on the information.
  • FIG. 10 is a flowchart of the operation of the unmanned air vehicle 105.
  • the unmanned air vehicle 105 operates in the normal mode (S211).
  • 11 and 12 are diagrams illustrating the operation of the unmanned air vehicle 105 in the normal mode. As shown in FIG. 11, the unmanned air vehicle 105 flies along a preset search route 181.
  • unmanned flight when a monitored person leaves a specific area for example, when a patient leaves the facility or a child leaves the school route
  • the monitoring person is lost A body 105
  • the search route 181 is set in the unmanned air vehicle 105 via the management device 102, and information indicating the search route 181 is stored in the route storage unit 136.
  • the searched route 181 may be a route set in advance or a route designated by the user.
  • the management apparatus 102 may automatically determine the search route 181.
  • the management apparatus 102 determines the search route 181 based on the past movement history of the monitoring target person or another monitoring target person.
  • the management apparatus 102 determines the search route 181 based on the monitoring target person's behavior history during a past drought or the monitoring target person's behavior history during a normal outing. To do.
  • the management apparatus 102 may determine the search route 181 based on the climbing route or the like.
  • the unmanned air vehicle 105 determines whether or not it has received the detection signal 151 (S212). If the unmanned air vehicle 105 has not received the detection signal 151 (No in S212), the unmanned air vehicle 105 continues to fly on the search route 181.
  • the operation mode is set to the search mode. Transition is made (S213).
  • the search mode is a mode for searching in detail the position of the transmitter 104, and any of the following operations is performed.
  • FIG. 13 is a flowchart of the first operation example in the search mode.
  • FIG. 14 is a diagram illustrating an example of the operation of the first operation example.
  • the unmanned air vehicle 105 goes straight a predetermined distance in the current traveling direction (S221).
  • the unmanned air vehicle 105 determines whether or not the received radio wave intensity of the detection signal 151 is equal to or greater than a predetermined threshold (S222). That is, the unmanned air vehicle 105 determines whether the transmitter 104 is sufficiently close.
  • the unmanned air vehicle 105 determines whether the received radio wave intensity has increased (S223).
  • the unmanned aerial vehicle 105 regularly receives the detection signal 151, and for example, determines whether the current received radio wave intensity has increased from the previous received radio wave intensity.
  • the unmanned air vehicle 105 calculates the average value or median value of the detection signals 151 received every predetermined number of times, and the obtained average value or median value has increased by more than a threshold value from the immediately preceding average value or median value. It may be determined.
  • the unmanned air vehicle 105 does not determine whether the received radio wave intensity has increased by these methods, but determines whether the received radio wave intensity has decreased by these methods, and the received radio wave intensity has decreased. If not, it may be determined that the received radio wave intensity has increased. Note that the details of these determination processes can be similarly applied to the determination process described later.
  • step S223 If the received radio wave intensity increases (Yes in S223), the process returns to step S221, and the unmanned air vehicle 105 moves in the current traveling direction.
  • the unmanned air vehicle 105 sets the reception setting to high sensitivity and moves backward (S224). For example, the reverse speed is slower than the straight (forward) speed.
  • the unmanned air vehicle 105 determines whether or not the received radio wave intensity has increased (S225). When the received radio wave intensity increases (Yes in S225), the backward movement is continued (S224). On the other hand, when the received radio wave intensity decreases (No in S225), the unmanned air vehicle 105 turns 90 degrees to the right or left (S226) and goes straight for a predetermined distance (S227).
  • the unmanned air vehicle 105 may retreat without changing the reception setting (with the normal reception setting).
  • the unmanned air vehicle 105 may move forward after turning 180 degrees instead of moving backward. Further, the unmanned air vehicle 105 may move backward by a predetermined distance (or time) without performing the determination in step S225, return to the position where the previous detection signal 151 was received, and turn 90 degrees to the right or left. (S226) may be performed.
  • the unmanned air vehicle 105 determines whether or not the received radio wave intensity has increased (S228). If the received radio wave intensity has increased (Yes in S228), the process returns to step S221, and the unmanned air vehicle 105 moves in the current traveling direction.
  • the unmanned air vehicle 105 turns 180 degrees (S229) and goes straight for a predetermined distance (S221).
  • the unmanned air vehicle 105 receives the predetermined radio wave intensity of the detection signal 151. It is determined whether or not the threshold value is exceeded (S230).
  • the received radio wave intensity of the detection signal 151 is equal to or higher than the predetermined threshold (Yes in S230)
  • the unmanned air vehicle 105 stands by in the air, for example, during that period.
  • the process returns to Step S221, and the unmanned air vehicle 105 resumes moving.
  • the unmanned aerial vehicle 105 goes straight from the position P0 in a predetermined direction.
  • the unmanned air vehicle 105 turns 90 degrees (to the left in this example) (S226).
  • the unmanned air vehicle 105 moves in a direction away from the transmitter 104, so that the received radio wave intensity decreases (No in S228). Therefore, the unmanned air vehicle 105 turns 180 degrees (S229), and then goes straight (S221).
  • the unmanned air vehicle 105 moves to the position P2, so that the distance between the unmanned air vehicle 105 and the transmitter 104 becomes a predetermined value or less, and the received radio wave intensity becomes a predetermined value or more (Yes in S222). Thereby, the unmanned air vehicle 105 stands by at this position P2 (No in S230).
  • the unmanned air vehicle 105 can move near the transmitter 104 and can stand by near the transmitter 104. Even if the transmitter 104 is moving, the unmanned air vehicle 105 can move following the movement of the transmitter 104.
  • the management device 102 can accurately detect the position of the transmitter 104 based on the position information of the unmanned air vehicle 105 transmitted from the unmanned air vehicle 105.
  • the unmanned air vehicle 105 waits when it moves close to the transmitter 104 (when the received radio wave intensity is equal to or greater than the threshold value), but it does not have to wait. That is, the processes in steps S222 and S230 shown in FIG. 13 do not have to be performed. Even in this case, the unmanned air vehicle 105 can move following the movement of the transmitter 104.
  • the turning angle is not limited to 90 degrees and 180 degrees, and may be other than this.
  • FIG. 15 is a flowchart of a second operation example in the search mode.
  • FIG. 16 is a diagram illustrating an example of the operation of the second operation example.
  • the unmanned air vehicle 105 turns (circular movement) with a predetermined radius around the current position (S231).
  • the unmanned aerial vehicle 105 determines whether there is a direction in which the received radio wave intensity is greater than the received radio wave intensity at the current position, based on the received radio wave intensity of the detection signal 151 received at each position during the turn ( S232). If there is a direction in which the received radio wave intensity has increased (Yes in S232), the unmanned air vehicle 105 moves in the direction in which the received radio wave intensity has increased most (S233), and the processing after step S231 is performed again at the position after the movement. Do.
  • the unmanned air vehicle 105 waits in the air for a predetermined time (S234), and then performs the processing from step S231 onward.
  • the unmanned air vehicle 105 can move near the transmitter 104 and stand by near the transmitter 104 as shown in FIG. Even if the transmitter 104 is moving, the unmanned air vehicle 105 can move following the movement of the transmitter 104.
  • whether or not to wait is determined depending on whether or not there is a direction in which the received radio wave intensity has increased.
  • the received radio wave intensity is Whether or not to wait is determined according to whether or not the threshold is exceeded.
  • the turning radius may be shortened.
  • the unmanned air vehicle 105 may shorten the turning radius as the received radio wave intensity increases.
  • the unmanned air vehicle 105 may shorten the turning radius as the number of times of turning and moving increases.
  • the turning radius may be controlled in accordance with the distance between the position of the transmitter 104 estimated by the management apparatus 102 and the position of the unmanned air vehicle 105.
  • FIG. 17 is a diagram illustrating an example of the operation of the third operation example.
  • the unmanned air vehicle 105 receives the detection signal 151 while moving so as to cover the search range 186 centering on the current position P0.
  • the unmanned air vehicle 105 moves to a position where the received radio wave intensity is strongest, waits for a predetermined time, and then repeats the same operation again.
  • the unmanned air vehicle 105 can move near the transmitter 104 and can stand by near the transmitter 104. Even if the transmitter 104 is moving, the unmanned air vehicle 105 can move following the movement of the transmitter 104.
  • FIG. 17 shows an example in which the search range 186 is a rectangle, but the shape of the search range 186 may be any shape, and may be a circle or an ellipse. Further, the center of the search range 186 may not be the current position P0.
  • the movement pattern in the search range 186 is also an example, and an arbitrary movement pattern may be used.
  • search range 186 is preferably set so that the position of the transmitter 104 is included in the search range 186 based on the range in which the detection signal 151 can be received.
  • the flight in the pattern is stopped, and the first operation example or the second operation described above is performed.
  • An operation example may be performed.
  • the unmanned air vehicle 105 stops flying along the search path 181 and stands by on the spot. As a result, the unmanned air vehicle 105 can be prevented from leaving the transmitter 104.
  • an operation for controlling the unmanned aerial vehicle 105 is performed so that the unmanned aerial vehicle 105 does not leave the transmitter 104, and preferably approaches the transmitter 104.
  • part of the processing performed by the unmanned air vehicle 105 may be performed by another device such as the management device 102.
  • the management apparatus 102 determines whether the received radio wave intensity has increased or the received radio wave intensity has exceeded a threshold by using the received radio wave intensity information 163 included in the notification signal 153A transmitted from the unmanned air vehicle 105.
  • the determination result may be transmitted to the unmanned air vehicle 105.
  • the management apparatus 102 may generate a signal for controlling the flight of the unmanned air vehicle 105 using these determination results, and transmit the signal to the unmanned air vehicle 105.
  • control is performed for the unmanned air vehicle 105 to approach the transmitter 104 based on various determination results, but in addition to or instead of the control, the management device 102
  • the position of the transmitter 104 may be specified using the determination result, and the specific result may be displayed.
  • the management apparatus 102 determines that the transmitter 104 exists on the traveling direction side of the unmanned air vehicle 105 when the received radio wave intensity increases as the unmanned air vehicle 105 moves. To do.
  • the management apparatus 102 determines that the transmitter 104 exists in the direction in which the received radio wave intensity has increased most.
  • the management apparatus 102 determines that the transmitter 104 exists at a position where the received radio wave intensity is strongest.
  • the unmanned air vehicle 105 may have a function of executing a plurality of the first to fourth operation examples described above. For example, the unmanned air vehicle 105 switches which of the plurality of operations is performed based on an instruction from the management device 102. Alternatively, when priority is set for a plurality of operations and the unmanned air vehicle 105 cannot approach the transmitter 104 due to a high-priority operation, another operation may be performed.
  • the management apparatus 102 may specify the position of the transmitter 104 by using the information included in the notification signal 153A transmitted from each unmanned air vehicle 105 by the method described above. For example, if it is determined by the above method that the transmitter 104 is present in the first direction from the first unmanned air vehicle and the transmitter 104 is present in the second direction from the second unmanned air vehicle, The management apparatus 102 determines that the transmitter 104 exists in a region where the first direction and the second direction intersect.
  • Each unmanned air vehicle 105 performs the operation in the normal mode described above. Further, different search paths 181 are set for each unmanned air vehicle 105.
  • FIG. 18 is a flowchart of the operation of each unmanned air vehicle 105 in this case. In the process shown in FIG. 18, steps S214 and S215 are added to the process shown in FIG.
  • the unmanned air vehicle 105 determines whether another unmanned air vehicle 105 has received the detection signal 151 (S214).
  • the unmanned air vehicle 105 moves in the direction of the unmanned air vehicle 105 that has received the detection signal 151 (S215). This operation is repeated until the unmanned air vehicle 105 receives the detection signal 151.
  • the management apparatus 102 transmits the position information of the unmanned air vehicle 105 that has received the detection signal 151 to each unmanned air vehicle 105. .
  • Each unmanned air vehicle 105 moves in a direction toward the point indicated by the received position information.
  • the management device 102 sets a route to the point indicated by the position information based on the position information of the unmanned air vehicle 105 that has received the detection signal 151, and transmits the route to each unmanned air vehicle 105. Also good.
  • the position information or route information may be transmitted directly from the unmanned air vehicle 105 that has received the detection signal 151 to each unmanned air vehicle 105. Further, when the detection signals 151 are received by a plurality of unmanned aerial vehicles 105, for example, control is performed such that the other unmanned aerial vehicles 105 are directed toward the unmanned aerial vehicle 105 having the highest received radio wave intensity.
  • the management apparatus 102 can estimate the position of the transmitter 104 based on information from the plurality of unmanned air vehicles 105, it is possible to realize more accurate position estimation.
  • the unmanned air vehicle 105 may perform the same processing as in FIG. 18 when the receiver 103 receives the detection signal 151. That is, the unmanned air vehicle 105 may move toward the receiver 103 that has received the detection signal 151.
  • the position detection system 100 includes a plurality of receivers 103 has been described. However, the position detection system 100 does not include a plurality of receivers 103, and The position information of the transmitter 104 may be generated based only on the notification signal 153A.
  • the position detection system 100 is a system for detecting the position of a moving body, and is held by the moving body, and the transmitter 104 that wirelessly transmits the detection signal 151; And an unmanned air vehicle 105 that receives the detection signal 151.
  • the position detection system 100 When the detection signal 151 is received by the unmanned air vehicle 105, the position detection system 100 generates information for detecting the position of the transmitter 104 based on the position information of the unmanned air vehicle 105.
  • the position detection system 100 can implement more accurate position detection.
  • the position detection system 100 can detect the position of the moving object even when the moving object to be monitored is out of the wireless communication range of the fixed receiver 103.
  • the unmanned air vehicle 105 flies along a predetermined route in the normal mode, and when receiving the detection signal 151 in the normal mode, the search mode for approaching the position of the transmitter 104.
  • the unmanned air vehicle 105 further moves the detection signal while moving from the point where the detection signal 151 is received in the normal mode in the search mode. 151, and further, the received radio wave intensity of the received detection signal 151 is detected.
  • the unmanned air vehicle 105 flies so as to approach the position of the transmitter 104 based on the received radio wave intensity at a plurality of points.
  • the unmanned air vehicle 105 receives the detection signal 151 while performing circular motion in the search mode, and receives the received radio wave of the received detection signal 151. Detect intensity.
  • the unmanned air vehicle 105 flies so as to approach the position of the transmitter 104 based on the received radio wave intensity during the circular motion.
  • the unmanned air vehicle 105 continuously receives the plurality of detection signals 151 in the search mode, and the received radio wave intensity of each of the received plurality of detection signals. To detect.
  • the unmanned aerial vehicle 105 flies so as to approach the position of the transmitter 104 based on a plurality of detected changes in received radio wave intensity.
  • the unmanned air vehicle 105 turns 90 degrees when the received radio wave intensity decreases at a plurality of detected received radio wave intensities, and receives the flight after flying 90 degrees.
  • the radio field intensity decreases, it turns 180 degrees.
  • the unmanned air vehicle 105 can move following the movement of the moving object.
  • the unmanned air vehicle 105 flies on a predetermined route in the normal mode and waits when receiving the detection signal 151 in the normal mode. Thereby, it can suppress that the unmanned air vehicle 105 leaves
  • the position detection system 100 includes a plurality of unmanned air vehicles 105 each receiving a detection signal 151.
  • Each of the plurality of unmanned air vehicles 105 moves in a direction in which the other unmanned air vehicles 105 are located when the other unmanned air vehicles 105 receive the detection signal 151.
  • the position detection system 100 further includes a plurality of receivers 103 that receive the detection signal 151.
  • the position detection system 100 generates information for detecting the position of the transmitter 104 based on which of the unmanned air vehicle 105 and the plurality of receivers 103 has received the detection signal 151. Thereby, more accurate position detection can be realized by the plurality of receivers 103 and the unmanned air vehicle 105.
  • the unmanned aerial vehicle 105 includes a camera, a microphone, a sensor (for example, a thermal sensor or an infrared camera), and the like, when it is close to the transmitter 104 or in accordance with an instruction from the management device 102, , Audio or sensor results may be sent to the management device 102.
  • a camera for example, a microphone, a sensor (for example, a thermal sensor or an infrared camera), and the like, when it is close to the transmitter 104 or in accordance with an instruction from the management device 102, Audio or sensor results may be sent to the management device 102.
  • a sensor for example, a thermal sensor or an infrared camera
  • each processing unit included in each device included in the position detection system according to the above embodiment is typically realized as an LSI that is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include a part or all of them.
  • circuits are not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor.
  • An FPGA Field Programmable Gate Array
  • reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used.
  • each device included in the position detection system may be realized by a processor such as a CPU executing a program.
  • the present invention may be the above program or a non-transitory computer-readable recording medium on which the above program is recorded.
  • the program can be distributed via a transmission medium such as the Internet.
  • the present invention can be realized not only as a position detection system but also as a transmitter, a receiver, or a management device included in the position detection system.
  • the present invention can be realized as a position detection method that uses the characteristic means included in such a position detection system as a step, or as a program that causes a computer to execute such a characteristic step. You can also.
  • division of functional blocks in the block diagram is an example, and a plurality of functional blocks can be realized as one functional block, a single functional block can be divided into a plurality of functions, or some functions can be transferred to other functional blocks. May be.
  • functions of a plurality of functional blocks having similar functions may be processed in parallel or time-division by a single hardware or software.
  • the position detection system according to one or more aspects has been described based on the embodiment.
  • the present invention is not limited to this embodiment. Unless it deviates from the gist of the present invention, various modifications conceived by those skilled in the art have been made in this embodiment, and forms constructed by combining components in different embodiments are also within the scope of one or more aspects. May be included.
  • the present invention can be applied to a position detection system.
  • Position detection system 102 Management apparatus 103, 103A, 103B, 103C, 103D, 103E Receiver 104 Transmitter 105, 105A, 105B, 105C Unmanned air vehicle 121, 131 Wireless reception unit 122, 132 Reception strength measurement unit 123, 133 Position Measurement unit 124, 134 Notification signal generation unit 125 Wireless transmission unit 126 Relay unit 135, 141 Communication unit 136 Route storage unit 137 Flight control unit 138 Drive unit 142 Receiver position storage unit 143 Position information generation unit 144 Display unit 151 Detection signal 153, 153A Notification signal 161A, 161B Transmitter ID 162 Receiver ID 163 Received signal strength information 164 Receiver position information 181 Search path 186 Search range

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système de détection de position (100) qui est un système de détection de position pour détecter la position d'un corps mobile. Le système de détection de position (100) comprend un émetteur (104), qui est maintenu par le corps mobile, et qui transmet des signaux de détection (151) sans fil, et un véhicule aérien sans pilote (105) qui reçoit les signaux de détection (151), et dans le cas où les signaux de détection (151) sont reçus par le véhicule aérien sans pilote (105), le système de détection de position (100) génère, sur la base d'informations de position du véhicule aérien sans pilote (105), des informations de détection de la position de l'émetteur (104).
PCT/JP2015/001929 2015-04-06 2015-04-06 Système de détection de position et procédé de détection de position WO2016162899A1 (fr)

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PCT/JP2015/001929 WO2016162899A1 (fr) 2015-04-06 2015-04-06 Système de détection de position et procédé de détection de position

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EP3483852A1 (fr) * 2017-11-13 2019-05-15 Toyota Jidosha Kabushiki Kaisha Système et procédé de sauvetage et serveur utilisé pour système et procédé de sauvetage
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JP2017208722A (ja) * 2016-05-19 2017-11-24 日本電信電話株式会社 携帯端末探索システム、無人移動体、及び携帯端末探索方法
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US11373499B2 (en) 2017-11-13 2022-06-28 Toyota Jidosha Kabushiki Kaisha Rescue system and rescue method, and server used for rescue system and rescue method
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JP2019128195A (ja) * 2018-01-23 2019-08-01 東芝テック株式会社 発信機探索装置及びそのプログラム
JP2019018847A (ja) * 2018-07-27 2019-02-07 Kddi株式会社 飛行装置、飛行制御装置及び飛行制御方法
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JP2020123316A (ja) * 2019-01-30 2020-08-13 株式会社スペース二十四インフォメーション 遭難者捜索システム
JP7344589B2 (ja) 2019-01-30 2023-09-14 株式会社スペース二十四インフォメーション 標的追跡システム
JP2021056702A (ja) * 2019-09-30 2021-04-08 Kddi株式会社 安全判定装置及び安全判定方法
JP7016917B2 (ja) 2020-06-18 2022-02-07 シチズン時計株式会社 自動探知自律移動機器
JP2020161176A (ja) * 2020-06-18 2020-10-01 シチズン時計株式会社 自動探知自律移動機器

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