WO2018123957A1

WO2018123957A1 - Radiation device, positioning system, alarm system, sound pickup system, and display system

Info

Publication number: WO2018123957A1
Application number: PCT/JP2017/046402
Authority: WO
Inventors: 伊藤　順治; 華璽劉
Original assignee: 日本電産株式会社
Priority date: 2016-12-28
Filing date: 2017-12-25
Publication date: 2018-07-05

Abstract

Provided is a positioning system, etc., with which it is possible to process position information without relying on terminal devices in indoor spaces, etc., where it is difficult to use GPS. A radiation device 10 used in a positioning system 1 has a power source unit 18 for receiving electric power supplied from a power source and distributing the electric power, at least one radiation element 11a for using the electric power distributed by the power source unit 18 to radiate waves, and a reception antenna device 12 for using the electric power distributed by the power source unit 18 to receive a wireless signal. The wireless signal is a beacon signal that is emitted from an external device 5 and that is used in measuring the position of the external device 5.

Description

Radiation device, positioning system, alarm system, sound collection system and display system

This disclosure relates to a radiation device, a positioning system, an alarm system, a sound collection system, and a display system.

Japanese Unexamined Patent Application Publication No. 2016-57166 discloses a lighting apparatus used in a position positioning system. The said lighting fixture is a guide sign installed in ceilings, such as an underpass and the vicinity of a ticket gate of a station, for example. The luminaire not only emits illumination light but also transmits a beacon that is a signal used for positioning (for example, a signal including identification information associated with the luminaire).

The transmitted beacon is received by a terminal device such as a smartphone. In the terminal device, an application for positioning is executed, and the application can perform positioning of the own device using the received beacon.

Japanese Unexamined Patent Publication No. 2016-57166

In the above-described prior art documents, the luminaire only transmits a beacon signal, and does not know how each terminal device uses the beacon signal. Whether or not the position information can be acquired or how to use the acquired position information depends on each terminal device.

There is a need for a positioning system that can process location information without relying on each terminal device in indoors where it is difficult to use GPS (Global Positioning System).

In an exemplary embodiment, the radiating device of the present disclosure receives a power supplied from a power source and distributes the power, and radiates a wave using the power distributed from the power unit. A receiving antenna device that receives a radio signal by using one radiating element and power distributed from the power supply unit, wherein the radio signal is used for positioning of the external device radiated from an external device. Receiving antenna device, which is a beacon signal.

A positioning system of the present disclosure includes the above-described radiation device, and a positioning device that receives the wireless signal received by the reception antenna device of the radiation device and outputs position information of the external device that has radiated the wireless signal. Prepare.

An alarm system according to the present disclosure includes the positioning system, a plurality of illumination devices arranged at a plurality of positions, a sensor that detects a moving object and outputs a detection signal, and a control device that receives the position information and the detection signal. With. The radiation device is capable of receiving the wireless signal radiated from the external device existing within the detectable range of the sensor, and the control device is a communication that receives the position information and the detection signal. And an arithmetic circuit for determining whether an external device is present within the detectable range of the sensor in response to reception of the detection signal from the device and the sensor, wherein the detectable range When there is no external device, an arithmetic circuit for lighting a lighting device associated with the detectable range among the plurality of lighting devices.

A sound collection system of the present disclosure includes the positioning system described above, a microphone having a predetermined sound collection range angle, and an actuator that changes the direction of the microphone in response to a drive signal, and the positioning device includes the wireless The arrival angle of the signal is measured, and a drive signal for changing the direction of the microphone is generated so that the predetermined sound collection range angle of the microphone includes the direction of the arrival angle.

The display system of the present disclosure includes the positioning system, a plurality of illumination devices arranged at a plurality of positions, a scanner that acquires in advance information on the distance and position to a stationary object existing in an installed environment, Receives information on the distance and position to a stationary object, and positional information of the external device measured by the positioning system, displays the stationary object reflecting the information on the distance and the position, and the position And an image processing circuit for displaying the external device reflecting information.

A radiating device according to the present disclosure includes at least one radiating element that radiates a wave such as an electromagnetic wave or a sound wave, and a radio signal that is radiated from an external device such as a terminal device and is a beacon signal used for positioning of the external device. And a receiving antenna device for receiving. By using the radiation device, it is possible to realize a positioning system that receives a beacon signal from each external device and performs positioning of each external device. Since the positioning system acquires the position information of each external device, each terminal device can be actively controlled by transmitting a control signal or the like to each external device.

FIG. 1 is a diagram illustrating a configuration example of an application system 100 that wraps the positioning system 1. FIG. 2 is a diagram illustrating an example of the positioning system 1 and the application system 100 in which the person 2 who owns the IC tag 5 and the person 2 having the smartphone 4 exist. FIG. 3 is a diagram illustrating an example of the positioning system 1 and the application system 100 in which a plurality of AGVs 3 each incorporating the IC tag 5 are present. FIG. 4A is an external view of the radiation device 10 which is a lighting device. FIG. 4B is a front view of the radiation device 10. FIG. 5 is a diagram showing a plurality of straight tube

type lighting devices

41 a and 41 b and the receiving antenna device 12. FIG. 6 is a diagram illustrating an electrical configuration of the radiation device 10. FIG. 7 is a diagram illustrating a configuration of an alternative A type PoE-compatible radiation device 10. FIG. 8 is a diagram showing a configuration of an alternative B type PoE-compatible radiation device 10. FIG. 9 is a diagram illustrating a configuration example of the radiation device 10 including the battery B. FIG. 10 is a diagram illustrating a hardware configuration of the positioning device 20. FIG. 11 is a diagram illustrating a hardware configuration of the control device 30. FIG. 12 is a diagram illustrating an example of the alarm system 101. FIG. 13A is an external view of a radiation device 10b that can output sound. FIG. 13B is a front view of the radiation device 10b. FIG. 14 is a diagram illustrating an example of the alarm system 102 used when a disaster occurs. FIG. 15A is an external view of a radiation device 10c having an antenna device 43 that can transmit and receive. FIG. 15B is a front transparent view of the radiation device 10c. FIG. 16 is a diagram illustrating an example of the sound collection system 103. FIG. 17 is a diagram schematically illustrating an example of acquiring surrounding video (environment video) using the scanner 81. FIG. 18 is a diagram illustrating a configuration example of the display system 104 having the control device 30. FIG. 19 is a diagram showing an example in which the position of the traveling AGV 3 is displayed on the monitor 82 so as to be superimposed on the environmental video.

Hereinafter, a radiation device, a positioning system, and an application system using the positioning system according to the present disclosure will be described with reference to the accompanying drawings. In this specification, an alarm system, a sound collection system, and a display system will be described as application systems.

First, an overview of the positioning system and application system will be described with reference to FIGS.

FIG. 1 shows a configuration example of an application system 100 including a positioning system 1. The positioning system 1 and the application system 100 are typically provided indoors where it is difficult to use GPS, but may be provided outdoors.

The positioning system 1 has at least one radiation device 10 and a positioning device 20. It is assumed that at least one IC tag 5 exists in the environment where the positioning system 1 is installed.

The IC tag 5 is a transmitter that transmits a radio signal (beacon signal). The IC tag 5 may be provided as one electronic device and carried by a person 2 or may be incorporated in devices such as the automatic guided vehicle 3 and the smartphone 4. Identification information (RFID) that can uniquely identify each IC tag 5 is given in advance, and the beacon signal includes the identification information.

In this embodiment, the IC tag 5 radiates a signal wave in accordance with the Bluetooth (registered trademark) Low Energy (BLE) standard. More specifically, the IC tag 5 continuously transmits a signal wave including an advertisement packet for each channel using three channels. The frequency of the signal wave is, for example, a microwave band, but may be a millimeter wave band. The IC tag 5 can emit a 2.4 GHz signal wave at a time interval of, for example, 10 milliseconds to 200 milliseconds, typically 100 milliseconds. The frequency of the signal wave does not need to be constant as long as it can be received by the array antenna 20, and a plurality of frequencies can be hopped.

In the advertisement packet, “public device address” or “random device address” that functions as identification information (RFID) that uniquely identifies the IC tag 5 is described. Thereby, the presence of itself can be notified to the surroundings.

In this embodiment, the IC tag 5 can only operate as a so-called “non-connectable beacon” that only broadcasts advertising packets and does not accept connection requests from the positioning device 20 or the like. However, the IC tag 5 may be a “connectable beacon” that can accept a connection request from the positioning device 20 or the like and can transmit and receive data.

The IC tag 5 may be a device that operates according to other standards.

The radiation device 10 is fixed to a lighting bracket or the like using a predetermined fixture. A radiating device according to the present disclosure includes at least one radiating element and a receiving antenna device. The radiating element is, for example, an LED element for illumination. However, the radiating element is not limited to the LED element. More generally, the radiating element is an element that radiates waves such as electromagnetic waves or sound waves. The electromagnetic waves can be visible light, invisible light, or radio waves. In the case of radio waves, the radiating element is a transmitting antenna element. The sound wave can be, for example, a voice, an alarm sound, or the like. In the case of sound waves, the radiating element is, for example, a speaker. The receiving antenna device includes at least one receiving antenna element for receiving a beacon signal.

The positioning device 20 receives the beacon signal transmitted from the IC tag 5 using the receiving antenna device of the radiation device 10, and estimates the arrival direction of the beacon signal. Thereby, the current position of the IC tag 5 having specific identification information can be estimated. The positioning device 20 outputs the position information of the IC tag 5 that has transmitted the beacon signal.

Application system 100 includes a control device 30. The control device 30 can perform various controls for each IC tag 5 using the position information for each IC tag 5 and the identification information for each IC tag 5 output from the positioning device 20. A specific example of control will be described later.

In FIG. 1, the person 2 and the automatic guided vehicle 3 are mixed, but it is not essential. The automatic guided vehicle is sometimes called “AGV” (Automatic （Guided Vehicle). Hereinafter, in this specification, the automatic guided vehicle is referred to as AGV.

FIG. 2 shows an example of the positioning system 1 and the application system 100 provided in a room where the person 2 who owns the IC tag 5 and the person 2 having the smartphone 4 exist. The positioning system 1 is provided with a plurality of radiation devices 10, and any radiation device 10 can receive a beacon signal radiated from the IC tag 5 regardless of the position of the IC tag 5. . Based on the position of each IC tag 5 estimated by the positioning device 20, the control device 30 of the application system 100 can always perform entry management and authentication of the IC tag 5. When there is an IC tag 5 that is not qualified to enter the room, the control device 30 causes the lighting device of the radiating device 10 to blink red and / or emits an audible alarm from the speaker of the radiating device 10. Can inform the existence of a suspicious person. Alternatively, the control device 30 can guide the person 2 to a specific position based on the position of each IC tag 5 estimated by the positioning device 20.

FIG. 3 shows an example of the positioning system 1 and the application system 100 in which a plurality of AGVs 3 each incorporating the IC tag 5 are present. The positioning system 1 is provided with a plurality of radiation devices 10 as in the example of FIG. In this example, the radiating device 10 includes a transmitting antenna element as a radiating element. The position of each AGV 3 is estimated by the positioning device 20 of the positioning system 1, and the control device 30 of the application system 100 can guide each AGV 3 to a target position by transmitting a guidance command wirelessly using a transmission antenna element. it can.

Next, the configuration of the radiation device 10, the positioning device 20, and the control device 30 will be described.

FIG. 4A is an external view of the radiating device 10 that is a lighting device, and FIG. 4B is a front view of the radiating device 10. As illustrated in FIG. 4A, the radiating device 10 includes a plurality of radiating

elements

11 a and 11 b, a receiving antenna device 12, and a fixing device 13. The radiating

elements

11a and 11b are LED elements for illumination. Note that reference numerals are given only to two radiating elements by way of example.

The receiving antenna device 12 has a disk-shaped housing, and a plurality of receiving

antenna elements

14a, 14b, and 14c are provided inside the housing. The plurality of reception antenna elements constitute a reception antenna element array 14. In FIG. 4B, the receiving antenna element array 14 is a two-dimensional array. The positioning device 20 can estimate the position on the two-dimensional plane where the IC tag 5 exists using the phase difference of the beacon signal incident on each receiving antenna element. However, the receiving antenna element array 14 may be a one-dimensional array.

As shown in FIG. 4B, the plurality of radiating elements are arranged along the circumference (circumference) of the disk-shaped housing of the receiving antenna device 12.

The fixing device 13 is a fixture that fixes the radiation device 10 to a lighting bracket, a ceiling, a beam, a column, or a wall. The shape of the fixing device 13 shown in the figure is an example, and those skilled in the art can change the shape as appropriate.

In addition, the shape of the radiation device 10 shown in FIGS. 4A and 4B is an example. For example, FIG. 5 shows a radiation device 10 a having a shape different from that of the radiation device 10. The radiating device 10a may include a plurality of straight tube

type lighting devices

41a and 41b. Each lighting device may have at least one lighting element. Each lighting device may be a fluorescent lamp, for example, or may be a plurality of arranged LED elements. The receiving antenna device 12 is disposed between the

lighting devices

41a and 41b.

FIG. 6 shows an electrical configuration of the radiation device 10. In the example of FIG. 6, the radiating device 10 secures power necessary for operation using the power line PL and communicates with the positioning device 20 using the power line PL. That is, the radiating device 10 performs power line communication (PLC: “Power Line Communication”).

The radiation device 10 includes an outlet plug S1, a receiving antenna device 12, an illumination power circuit 16, a power supply unit 18, and a modem 19a.

The outlet plug S1 of the radiation device 10 is connected to an outlet S2 connected to the power line PL. A power supply unit 18 and a modem 19a are connected to the outlet plug S1. The power supply unit 18 receives the power supplied from the power supply and distributes the power to the electronic components in the radiation device 10. The power supply unit 18 has a transformer (not shown) that transforms the AC voltage of the power line PL into a DC voltage that can be used in the radiation device 10. The power supply unit 18 distributes the power obtained by the transformation to the reception antenna device 12, the illumination power circuit 16, and the modem 19a. The transformer can convert an AC voltage into a DC voltage by switching, for example, but since the configuration is well known, a specific description is omitted.

The receiving antenna device 12 has a receiving circuit 15. The receiving circuit 15 receives a high-frequency power signal derived from electromagnetic waves incident on the plurality of receiving

antenna elements

14a, 14b, and 14c, and outputs it to the modem 19a. The modem 19a performs a modulation process necessary for PLC communication, and transmits the modulated signal to the positioning device 20 via the outlet plug S1, the outlet S2, and the power line PL.

The illumination power circuit 16 has

radiation elements

11a and 11b, which are LED elements for illumination, and a lighting control circuit 17 that controls lighting of the LED elements. The lighting control circuit 17 may control lighting of each LED element by a lighting switch (not shown), or may control lighting of each LED element by external control.

The radiation device 10 can also secure power by a so-called PoE (Power-over-Ethernet) method. In that case, the power line PL is included in the LAN cable. Also, the outlet plug S1 and the outlet S2 can each be RJ-45 connectors corresponding to the PoE system.

7 and 8 show examples of the configuration of the radiation device 10 corresponding to PoE. FIG. 7 shows a configuration example of the alternative A system, and FIG. 8 shows a configuration example of the alternative B system.

Ethernet (registered trademark; the same shall apply hereinafter) LAN cable C has four pairs of conductors made up of two copper wires. In the alternative A system shown in FIG. 7, both power and data are superimposed on a pair of copper wires L1 and L2. Therefore, the power supply unit 18 and the modem 19a are connected to the copper wires L1 and L2, respectively. On the other hand, in the alternative B system shown in FIG. 8, power and data are superimposed on a pair of different conductors. Therefore, the power supply unit 18 is connected to the copper wire L3, and the modem 19a is connected to a copper wire L4 different from the copper wire L3.

The configurations of the receiving antenna device 12 and the illumination power circuit 16 are as described with reference to FIG. Therefore, the re-explanation is omitted.

The radiation device 10 may secure power from a built-in battery. FIG. 9 shows a configuration example of the radiation device 10 including the battery B. Except for securing power from the battery B, the configuration of FIG. 9 is the same as the configuration of FIG.

As is clear from the above description, the line through which power is transmitted is a category of “power supply” that supplies power to the power supply unit 18 in both cases of PLC communication and PoE. Of course, the PoE hub, battery B, is also a power source.

Next, the positioning device 20 and the control device 30 will be described.

FIG. 10 shows a hardware configuration of the positioning device 20.

The positioning device 20 includes a central processing unit (CPU) 21, a memory 22, an interface (I / F) device 23, and a communication circuit 24, which are connected by an internal bus 25. The CPU 21 measures the position of each IC tag 5 by processing described later, and generates position information indicating the measured position. The memory 22 is a DRAM, for example, and is a work memory used in connection with the processing of the CPU 21. The communication circuit 24 is a communication circuit having one or more communication connectors, for example. The I / F device 23 is connected to the receiving antenna device 12 by wire. More specifically, the I / F device 23 is connected to the outputs of the plurality of receiving

antenna elements

14a, 14b, 14c, etc. of the receiving antenna device 12, and the high frequency generated from the electromagnetic wave received by each antenna element. Receive electrical signals. The communication circuit 24 is connected to the control device 30 via, for example, a wired communication line that performs Ethernet standard wired communication.

Hereinafter, a process (positioning process) performed by the positioning device 20 for measuring the position of the IC tag 5 will be described. Various positioning processes for objects on a plane or in space are known. The positioning device 20 measures the position of the IC tag 5 using one of these positioning processes or a combination of a plurality of positioning processes. Hereinafter, the positioning process will be exemplified.

(A) The positioning device 20 measures the direction of arrival of the radio signal transmitted by the IC tag 5 and determines the position of the moving body (AOA (Angle-Of-Arrival) method). In the AOA method, when the signal transmitted by the IC tag 5 is received by the receiving antenna device 12, the arrival angle of the arrival radio wave is measured based on the reference direction (for example, the front direction of the receiving antenna), thereby the IC tag 5 This is a method for determining the position of. Since the minimum number of base stations (the number of radiating devices 10 having the receiving antenna device 12) required for determining the position is two, the number of radiating devices 10 required at the same time is small. In addition, since the angle can be accurately measured, the position of the IC tag 5 can be determined with high accuracy when there is no obstacle from the base station to the terminal and the line of sight is clear. A phased array antenna that controls the beam direction and radiation pattern by adjusting the phase of the current flowing through each antenna element can also be used.

When an array antenna is used, the direction of the IC tag 5 relative to the receiving antenna device 12 can be specified by the single receiving antenna device 12. In this case, the position of the IC tag 5 can be determined by one receiving antenna device 12. For example, when the direction of the IC tag 5 with respect to the receiving antenna device 12 arranged on the ceiling surface at a predetermined height is specified, if the height of the IC tag 5 with respect to the floor surface is known or estimated, the IC tag It is possible to determine the position of 5. For this reason, it is also possible to position the IC tag 5 with one receiving antenna device 12.

(B) The positioning device 20 receives the radio signal emitted from the IC tag 5 by the reception antenna device 12, and determines the position of the moving body from the difference in reception time at each antenna element of the reception antenna device 12 (TDOA (Time Difference Of Arrival method). The radiating device 10 having the receiving antenna device 12 functions as a base station and must accurately measure the reception time. It is necessary to perform accurate time synchronization between the radiation devices 10 in nanosecond units.

(C) The positioning device 20 uses the fact that the position of the receiving antenna device 12 of the radiating device 10 is known and the radio wave is attenuated according to the distance, thereby receiving the radio signal received by the IC tag 5 To determine the position (RSSI (Received Signal Signal Strength Indication) method). However, since the strength of the received signal is affected by multipath, a distance attenuation model is required for each environment in which the positioning system 1 is introduced in order to calculate the distance (position).

(D) The positioning device 20 captures an image (for example, QR code (registered trademark)) to which the identification information of the IC tag 5 is added with a camera, and the position of the camera, the direction in which the camera is facing, and within the captured image The position of the IC tag 5 can also be determined based on the position of the IC tag 5.

The position measurement accuracy varies depending on the positioning process. In the positioning process (a), the position measurement accuracy is determined by the angular resolution of the antenna and the distance between the object to be measured, and 10 cm is realized in a general building. In the positioning process (c), there is a possibility that an error of several meters in a general room or about 1 m even under good conditions may occur due to a change in radio wave intensity due to interference of radio waves emitted from the IC tag. In the positioning process (d), the positioning error depends on the number of pixels of the image sensor, spatial resolution, and distortion caused by the lens. In addition, a relatively heavy processing such as object recognition is required.

From the viewpoint of accuracy, the positioning process (a) described above is excellent at the present time. However, the positioning system 1 and the application system 100 of the present disclosure may be constructed using any one of the positioning processes (b) to (d).

FIG. 11 shows the hardware configuration of the control device 30.

The control device 30 has a central processing unit (CPU) 31, a memory 32, a map information database (DB) 33, and a communication circuit 34, which are connected by an internal bus 35.

The CPU 31 is a signal processing circuit that generates a guidance command for guiding the individual person 2 or the AGV 3 having the IC tag 5 by a process described later. Typically, the CPU 31 is a computer configured by a semiconductor integrated circuit. The memory 32 is a DRAM, for example, and is a work memory used in connection with the processing of the CPU 31. For example, the memory 32 stores position information of each IC tag 5 received from the positioning device 20. The CPU 31 updates information in the memory 32.

The communication circuit 34 is, for example, a communication circuit that has one or more communication connectors and performs Ethernet standard wired communication. The communication circuit 34 acquires position information indicating the position of each IC tag 5 from the positioning device 20. Moreover, the communication circuit 27 transmits the guidance instruction | command to each smart phone 4 or IC tag 5 which has IC tag 5 via the radiation | emission apparatus 10c which has a transmission antenna apparatus mentioned later.

The map information DB 33 holds information such as the layout of the environment in which the application system 100 is introduced, the passable area, the shortest route from one partition to another in the virtually set environment, and the detour route. ing.

The process in which the CPU 31 generates the guidance command will be described later together with a specific example of the application system 100.

FIG. 12 shows an example of the alarm system 101. The alarm system 101 is an example of the application system 100. The alarm system 101 can be installed, for example, in a research facility where only persons who are qualified to enter the room can pass.

In the alarm system 101, a sensor 50 is further provided in the positioning system 1 and the application system 100 of FIG. The sensor 50 is a so-called human sensor, and detects the location of the moving person 2 and outputs a detection signal. The sensor 50 detects a moving body using, for example, infrared rays, ultrasonic waves, or visible light. The detection signal is transmitted to the control device 30, and the control device 30 receives the detection signal via the communication circuit 34.

The radiation device 10 is installed at a position where the beacon signal radiated from the IC tag 5 existing within the detectable range of the sensor 50 can be received. Thereby, synchronizing with detection of the person 2 by the sensor 50, the radiation device 10 can receive the beacon signal from the IC tag 5 owned by the person 2 or the smartphone 4 incorporating the IC tag 5.

The control device 30 holds in advance in the memory 32 the identification information of the IC tag 5 that has been lent only to persons permitted to enter and pass through the environment of the alarm system 101 as a white list.

The communication circuit 34 of the control device 30 receives the detection signal output from the sensor 50. In response to receiving the detection signal from the sensor 50, the CPU 31 determines whether or not the position information of the IC tag 5 has been received from the positioning device 20. When the position information is received and the position information indicates that the IC tag 5 exists within the detectable range of the sensor 50, the following processing is further executed. That is, the CPU 31 determines whether or not the identification information included in the received beacon signal exists in the white list. When the identification information exists in the white list, since the person is an authenticated person, no special processing is performed.

On the other hand, when the CPU 31 does not receive the position information when the detection signal is received from the sensor 50, the CPU 31 has received the position information, but the position information indicates that the IC tag 5 exists within the detectable range of the sensor 50. If not, or if the identification information is not in the white list, an alarm is issued. This is because a person other than the person who has been authenticated enters the facility and passes.

There are various ways of issuing alarms. For example, the control device 30 causes the lighting device (LED element) of the one or more radiation devices 10 associated with the detectable range of the sensor 50 to blink. “Associated” typically means being in the immediate vicinity of the sensor 50 or at a predetermined distance. When the luminescent color of the lighting device is variable, the CPU 31 may blink the lighting device with a predetermined color, for example, red.

Alternatively, the alarm system 101 may issue an alarm by voice. FIG. 12 shows a radiation device 10b capable of outputting sound. FIG. 13A is an external view of the radiation device 10b capable of outputting sound, and FIG. 13B is a front view of the radiation device 10b.

The radiation device 10b has two

speakers

42a and 42b. Since the receiving antenna device 12 and the fixing device 13 are the same as the radiation device 10 shown in FIGS. 4A and 4B, the description thereof is omitted. Audio signals output from the

speakers

42a and 42b can be acquired by PLC or Ethernet standard communication. Alternatively, the radiation device 10b may be connected to the control device 30 via a cable that transmits an audio signal.

* In addition to the blinking of the lighting device, it is possible to notify the surrounding people of the existence of a suspicious person by issuing a sound (alarm sound). An alarm may be issued only by voice.

FIG. 14 shows an example of the alarm system 102 used when a disaster occurs. The alarm system 102 described below may be regarded as the alarm system 101 (FIG. 12) that operates in a specific environment, or may be regarded as an independent system from the alarm system 101. In this embodiment, the former example will be described.

Now, assume that the CPU 31 receives an emergency signal. The emergency signal is an alarm signal when a known disaster prevention system (not shown) automatically detects the occurrence of a disaster, or an alarm signal issued when a person presses the disaster occurrence button. The CPU 31 can recognize a predetermined signal as an emergency signal.

In response to the reception of the emergency signal, the CPU 31 determines the presence or absence of the detection signal from the sensor 50 or the presence or absence of the IC tag 5 within the detectable range of the sensor 50. When the detection signal is received from the sensor 50 or the IC tag 5 is present, the CPU 31 turns on at least one illumination device associated with the guide route from the position to a predetermined evacuation position. The guide route is determined in advance for each specific position or section in the facility, for example, and is stored in the map information DB 33. Moreover, the information of the radiation | emission apparatus 10 group which has the illuminating device arrange | positioned along the guidance path | route is also stored in map information DB33. CPU31 reads the information of the path | route from the position where IC tag 5 exists to an evacuation exit from map information DB33, for example. And CPU31 specifies the radiation | emission apparatus 10 group which has the illuminating device arrange | positioned along the said path | route, and makes them light up simultaneously or sequentially along an evacuation direction.

FIG. 14 shows a plurality of patterns 62 of the radiating device 10 that are lit along the guidance path 60. At this time, the radiating device 10b (FIGS. 13A and 13B) may be used in combination to notify by voice that the guide path 60 is indicated by the lighting device. Thus, the alarm system 102 can accurately guide and evacuate a person when receiving an emergency signal.

Note that the guidance route 60 may be displayed on the display of the smartphone 4. For this purpose, a transmission antenna device for transmitting information from the control device 30 to the smartphone 4 may be provided. The control device 30 can push information on the guidance route 60 to the smartphone 4. The information on the guide route 60 may include information on a map on which the guide route 60 is displayed in a superimposed manner. Or the application program which operate | moves on the smart phone 4 may access the control apparatus 30 regularly using the communication function of the smart phone 4. FIG. When information on the guidance route 60 is provided from the control device 30, the application program can acquire the information and display the evacuation route 60 on the display of the smartphone 4.

15A is an external view of a radiation device 10c having an antenna device 43 that can transmit and receive, and FIG. 15B is a front transparent view of the radiation device 10c. As illustrated in FIG. 15B, the antenna device 43 includes a transmission antenna element array 44 in addition to the reception antenna element array 14. The transmission antenna element array 44 includes a plurality of

transmission antenna elements

44a, 44b, 44c and the like. Using such a transmission antenna element array 44, the control device 30 can transmit information on the guide route 60 to the smartphone 4 or the like. Thereby, the control apparatus 30 can make the display of the smart phone 4 display the present position and the guidance route 60 from the current position to the evacuation exit.

In addition, transmission of the information from the control apparatus 30 to the smart phone 4 using the radiation apparatus 10c is not restricted at the time of emergency evacuation. For example, you may utilize in order to display the guidance route in a facility.

Next, the sound collection system will be described with reference to FIG.

FIG. 16 shows an example of the sound collection system 103. The sound collection system 103 is an example of the application system 100. The sound collection system 103 makes it possible to direct a directional microphone toward the person having the IC tag 5 and collect the sound of the person.

In the sound collection system 103, a variable direction microphone system 70 is further provided in the positioning system 1 and the application system 100 of FIG.

The direction variable microphone system 70 includes a microphone 71 and an actuator 72.

The microphone 71 is a directional microphone having a predetermined sound collection range angle. As a sound collection range angle, a microphone of about ± 60 degrees with respect to the front is called a unidirectional microphone, and a microphone of about ± 30 degrees is called a super unidirectional microphone. In the present embodiment, the microphone 71 is a super unidirectional microphone, but a unidirectional microphone may be used.

Actuator 72 changes the direction of microphone 71 in response to an external drive signal. FIG. 16 shows an example in which the actuator 72 changes the direction of the microphone 71 along one direction. As another example, two actuators may be provided to change the direction of the microphone 71 in two directions.

A driving signal for driving the actuator 72 is generated by the positioning device 20 or the control device 30. For example, the positioning device 20 measures the arrival angle of the beacon signal of the IC tag 5 and generates a drive signal for changing the direction of the microphone 71 so that the sound collection range angle of the microphone includes the direction of the arrival angle. This will be described in more detail. The positioning device 20 holds in advance information on the distance and direction from the variable direction microphone system 70 to each radiation device 10 (vector information A). For example, the positioning device 20 estimates the direction and distance from a certain radiation device 10 to a specific person 1b having the IC tag 5. Thereby, the vector information B from the said radiation | emission apparatus 10 to the person 1b is determined. If the addition calculation of the vector information A and B is performed, the distance and direction (vector information C) from the direction variable microphone system 70 to the person 1b can be acquired. The positioning device 20 determines the driving amount of the actuator 72 based on the direction information indicated by the acquired vector information C, and generates a driving signal for driving the actuator 72 by the driving amount. In order to direct the variable direction microphone system 70 toward the person 1b with high accuracy, it is preferable to drive the actuator 72 in both the horizontal (left and right) direction and the vertical (up and down) direction. However, the actuator 72 may be driven only in the horizontal (left / right) direction or only in the vertical (up / down) direction.

According to the sound collection system 103, for example, when it is desired to record the remarks of a specific person 1b in a conference hall, if the position of the person 1b is estimated using the identification ID of the IC tag 5 owned by the person 1b, The microphone 71 can be directed in that direction.

The sound collection system 103 described above is an example of a system that drives a device (control target) in the direction of the IC tag 5 that emits a specific identification ID. Instead of the microphone 71, for example, a spotlight may be driven to shine light in the direction of the IC tag 5, or an air conditioner air outlet or louver may be driven to send air in the direction of the IC tag 5. .

Next, with reference to FIG. 17, a display system that displays the current position of a moving body that moves while holding the IC tag 5 superimposed on a previously acquired environmental image will be described.

FIG. 17 schematically shows an example of acquiring surrounding images (environmental images) using the scanner 81. The scanner 81 is mounted on, for example, a self-propelled vehicle 80 and moves within a predetermined range to capture an environmental image.

During movement, the scanner 81 obtains information on the distance and position to each stationary object existing in the traveling environment. The information on the distance and position to each stationary object acquired by the scanner 81 is accumulated in the map information DB 33 of the control device 30, for example.

FIG. 18 shows a configuration example of the display system 104 having the control device 30. A monitor 82 is connected to the control device 30. In the display system 104, the control device 30 receives and accumulates information acquired by the scanner 81, performs the following image processing, and displays a video on the monitor 82. The monitor 82 is not a component of the control device 30, but the monitor 82 can be a part of the control device 30 when the control device 30 is realized by a laptop PC, for example.

The CPU 31 of the control device 30 receives the position information of the IC tag 5 measured by the positioning device 20 via the communication circuit 34. Furthermore, CPU31 reads the information of the distance and position to each stationary object from map information DB33. Then, the CPU 31 displays a predetermined image at the current position of the IC tag 5, and further superimposes and displays a stationary object present at the position.

FIG. 19 shows an example in which the position of the traveling AGV 3 is displayed on the monitor 82 while being superimposed on the environment video. The positioning device 20 receives the beacon signal from the IC tag 5 of the AGV 3 every moment, estimates the position, and transmits the position information to the control device 30. The CPU 31 sequentially switches and displays the environmental video as the background image while sequentially updating the position of the AGV 3 on the monitor 82. If an environmental video is acquired in advance, the administrator can visually check the current position of the AGV 3 without installing a camera permanently. In the above description, the CPU 31 performs image processing. However, image processing may be performed using a dedicated chip circuit that performs image processing. The chip circuit that performs the above-described image processing is referred to as an image processing circuit in this specification.

The radiation apparatus, the positioning system, and the application system including the positioning system of the present disclosure can be widely used for estimation of the position of a moving body that moves indoors or outdoors, guidance using the position, and the like.

1 positioning system, 10 radiating device, 11a, 11b radiating element, 14 receiving antenna element array, 14a, 14b receiving antenna element, 15 receiving circuit, 16 lighting power circuit, 17 lighting control circuit, 19a modem, 19b, 19c communication circuit , 100 application system, 101, 102 alarm system, 103 sound collection system, 104 display system, PL power line

Claims

A power supply unit that receives power supplied from a power supply and distributes the power;
At least one radiating element that radiates waves using power distributed from the power supply unit;
A receiving antenna device that receives a radio signal using power distributed from the power supply unit, wherein the radio signal is a beacon signal radiated from an external device and used for positioning of the external device. A radiating device comprising a receiving antenna device.
The radiation device according to claim 1, wherein the power supply unit is a power line connected to the power supply and receives the power through a power line capable of performing data communication.
The power supply unit is connected to one end of a communication line for data communication,
The radiation device according to claim 1, wherein the other end of the communication line is connected to the power source.
The communication line has at least one cable used for the data communication,
The radiation device according to claim 3, wherein the power supply unit receives power superimposed on the at least one cable by the power supply.
The communication line has at least one first cable for the data communication and at least one second cable not used for the data communication,
The power source is connected to one end of the second cable;
The radiation device according to claim 3, wherein the power supply unit receives power superimposed on the second cable by the power supply.
The radiation device according to claim 1, wherein the power source is a battery.
The radiation device according to any one of claims 1 to 6, further comprising a fixing device for attaching to an indoor structure.
The radiation device according to claim 7, wherein the indoor structure is at least one of a lighting bracket, a ceiling, a beam, a column, and a wall.
The radiation device according to any one of claims 1 to 8, wherein the at least one radiation element radiates electromagnetic waves or sound waves.
The radiation device according to claim 9, wherein the at least one radiation element emits visible light that is the electromagnetic wave.
The radiation device according to claim 9, wherein the at least one radiation element emits invisible light which is the electromagnetic wave.
The radiation device according to claim 9, wherein the at least one radiation element is at least one transmission antenna element that radiates a radio wave that is the electromagnetic wave.
The radiation device according to claim 9, wherein the at least one radiation element is a speaker that emits the sound wave.
The at least one radiating element is a plurality of radiating elements used for illumination;
The radiation device according to claim 10, wherein the plurality of radiation elements are arranged around the reception antenna device.
The receiving antenna device has a disk-shaped housing,
The radiating device according to claim 14, wherein the plurality of radiating elements are arranged along a circumference of the receiving antenna device.
It further includes a plurality of straight tube type lighting devices,
The radiation device according to claim 14, wherein each of the plurality of illumination devices includes the at least one radiation element, and the reception antenna device is disposed between the plurality of illumination devices.
A radiation device according to any of claims 1 to 16,
A positioning system comprising: a positioning device that receives the wireless signal received by the receiving antenna device of the radiating device and outputs position information of the external device that has radiated the wireless signal.
The positioning system according to claim 17, wherein the receiving antenna device has a plurality of antenna elements arranged in an array.
Each of the plurality of antenna elements receives the radio signal;
The positioning system according to claim 18, wherein the positioning device measures an arrival angle of the radio signal received by each of the plurality of antenna elements.
A positioning system according to any one of claims 17 to 19,
A plurality of lighting devices arranged at a plurality of positions;
A sensor that detects a moving object and outputs a detection signal;
A controller for receiving the position information and the detection signal;
The radiating device is capable of receiving the radio signal radiated from the external device existing within the detectable range of the sensor,
The control device includes:
A communication device that receives the position information and the detection signal;
In response to reception of the detection signal from the sensor, the receiving antenna device is an arithmetic circuit that determines whether or not an external device exists within the detectable range of the sensor, and is an external circuit within the detectable range. An alarm system comprising: an arithmetic circuit for lighting a lighting device associated with the detectable range among the plurality of lighting devices when no device exists.
21. The alarm system according to claim 20, wherein the arithmetic circuit causes the lighting device to blink in a predetermined color.
A speaker,
The alarm system according to claim 20 or 21, wherein the arithmetic circuit further outputs a sound from the speaker when there is no external device within the detectable range.
The arithmetic circuit is a case where an external device is present within the detectable range, and in response to reception of a predetermined signal, a predetermined position from the detectable range among the plurality of lighting devices. 23. The alarm system according to any one of claims 20 to 22, wherein at least one lighting device associated with the route to is turned on.
24. The alarm system according to claim 23, wherein the arithmetic circuit turns on the at least one lighting device in response to reception of an alarm signal.
A positioning system according to claim 19,
A microphone having a predetermined sound collection range angle;
An actuator that changes the direction of the microphone in response to a drive signal;
The positioning device measures an arrival angle of the wireless signal, and generates a drive signal for changing the direction of the microphone so that the predetermined sound collection range angle of the microphone includes the direction of the arrival angle. Sound system.
A positioning system according to any one of claims 17 to 19,
A plurality of lighting devices arranged at a plurality of positions;
A scanner that acquires in advance information on the distance and position to a stationary object present in the installed environment; and
Receiving information on the distance and position to the stationary object, and positional information of the external device measured by the positioning system, displaying the stationary object reflecting the information on the distance and the position; and A display system comprising: an image processing circuit that reflects the position information and displays the external device.