WO2019038934A1 - Position detection system and position detection method - Google Patents

Position detection system and position detection method Download PDF

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Publication number
WO2019038934A1
WO2019038934A1 PCT/JP2017/034058 JP2017034058W WO2019038934A1 WO 2019038934 A1 WO2019038934 A1 WO 2019038934A1 JP 2017034058 W JP2017034058 W JP 2017034058W WO 2019038934 A1 WO2019038934 A1 WO 2019038934A1
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Prior art keywords
detection
detection device
wireless
devices
target
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PCT/JP2017/034058
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French (fr)
Japanese (ja)
Inventor
覚 大浦
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株式会社ベイビッグ
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Priority to JP2017552184A priority Critical patent/JP6291654B1/en
Publication of WO2019038934A1 publication Critical patent/WO2019038934A1/en

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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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements

Definitions

  • the present invention relates to a position detection system and a position detection method for detecting the positions of a plurality of objects.
  • a method of detecting the position of an object there is known a method in which a plurality of receivers receive radio signals transmitted from a transmitter held by the object (see, for example, Patent Document 1).
  • the position of the transmitter can be detected using the reception status of radio signals at a plurality of receivers.
  • detection devices such as a receiver at intervals according to the wireless communication range in the area to be subjected to position detection.
  • an application for managing atypical large articles for example, large molds, molds for parts such as ships, aircrafts, etc.
  • the detection device can not be arranged at predetermined intervals in the area for storing the object.
  • a detection device may be in the way of storage and movement of an object.
  • these power supply sources need to be newly installed, resulting in the problem of cost and labor for the introduction of the system.
  • an object of this invention is to provide the position detection system or position detection method which can reduce the number of detection apparatuses, such as a receiver.
  • a position detection system is a position detection system for detecting the positions of a plurality of objects, the first detection having a known position and performing at least one of transmission and reception of a wireless signal.
  • a detection device that is one or more wireless slave devices located in a target range based on the reference device based on the communication status between the included reference device and a target device that is one or more wireless slave devices other than the reference device
  • a first process of repeatedly performing a detection process of detecting a group is performed, and in the first detection process included in the first process, the reference device is a first detection device and is included in the first process.
  • the reference device is included in the detection device group detected in the immediately preceding detection process, and the target device is included in the first process among the plurality of wireless slaves, from the detection process It is a wireless slave device excluding the detection device group detected in the previous detection processing, and the position detection system further includes the position of the first detection device and each of the detection device groups in the first process.
  • An estimation process is performed to estimate the first position of each of the detection device groups based on the number of detection devices detected in the detection process.
  • the position detection system can detect the next wireless slave device on the basis of the wireless slave device detected based on the first detection device whose position is known. This can reduce the number of detection devices.
  • the position detection system further includes a second detection device whose position is known and performs at least one of transmission and reception of a wireless signal, and the position detection system further includes the second processing in the first process.
  • the detection process is repeated until the detection device is included in the target range, and in the estimation process, the positions of the first detection device and the second detection device, and each detection device in the first process
  • the first position of each of the detection device groups may be estimated based on how many detection devices have been detected in the detection processing of the group.
  • the position detection system further performs a second process of repeatedly performing the detection process until the first detection device is included in the target range, and the first detection process included in the second process.
  • the reference device is a second detection device, and in the second and subsequent detection processes included in the second process, the reference device is included in the detection device group detected in the immediately preceding detection process.
  • the target device is a wireless slave device included in the second process among the plurality of wireless slave devices, excluding the group of detection devices detected in the detection process prior to the detection process, the position detection The system is a detection device group in which the positions of the first detection device and the second detection device are detected in the estimation process, and the detection device groups are detected in what number of detection processes in the second process. Based on heel Come, wherein estimating the second position of the sensing equipment group, on the basis of said first position and the second position, may estimate the position of each radio personal station included the each detection equipment group.
  • the position detection system includes a plurality of first detection devices and a plurality of second detection devices, and the position detection system uses different first detection devices as a first reference device.
  • the first processing is performed a plurality of times, and in each of the plurality of first processes, the detection processing is repeatedly performed until any one of the plurality of second detection devices is included in the target range,
  • the reference device is included in the detection device group detected in the immediately preceding detection process, and the target device is the plurality of target devices.
  • the wireless slaves excluding the group of detection devices detected in the detection processing prior to the detection processing, which are included in the first processing, and in the estimation processing, the plurality of first processings For each of In the first processing, the position of the first detection device used as the first reference device, the position of the second detection device included in the target range, and the number of detection processes performed by each detection device group
  • the first position of each detection device group is estimated based on whether or not the detected detection device group is selected, and the plurality of first positions of the detection device groups are estimated for the plurality of first processes.
  • the position may be used to estimate the position of each wireless slave included in each of the detection device groups.
  • the position detection system further sets the reference device of the first detection process to the second detection devices different from each other until one of the first detection devices is included in the target range.
  • the reference device detects the reference device detected in the last detection process
  • the target device is included in the detection device group, and among the plurality of wireless slave devices, the wireless slave device excluding the detection device group detected in the detection process prior to the detection process, which is included in the second process
  • the position of the second detection device used as the first reference device in the second process is included in the target range for each of the plurality of second processes.
  • the second position of each detection device group is estimated on the basis of the position of each detection device group and the detection device group detected in each detection process, and the second processing of the plurality of first processing is performed.
  • the position of each wireless slave unit included in each of the detection device groups may be estimated.
  • the position detection system detects a selected device located within a first distance from the reference device among the target devices based on the communication status between the reference device and the target devices.
  • the target device identified within the second distance from the selected device based on the communication status between the selected device and the target device other than the selected device, and the specified target device and the selected device And the detection device group may be detected.
  • the positions of a plurality of objects located in the vicinity can be managed collectively, and the processing amount of position detection can be reduced.
  • the position detection system changes the selected device in the detection process that has already been completed, and performs the detection process again. You may go.
  • the position detection system may communicate the communication state between the reference device and the target device, and the communication between the second detection device and the target device.
  • the target devices a selected device located within a first distance from the reference device and closest to the second detection device is detected based on the condition, and the selected device and the devices other than the selected device are detected.
  • the target device located within a second distance from the selected device is specified based on the communication status with the target device, and the specified target device and the selected device are detected as the detection device group. Good.
  • the position detection system further includes a dummy slave that transmits and receives a wireless signal
  • the position detection system includes the first detection device, the plurality of wireless slaves, and the first slave in the first process.
  • Target range based on the reference device based on the communication status between the reference device included in the dummy slave device and the target devices other than the plurality of wireless slave devices and the reference device included in the dummy slave device
  • detecting the detection device group which is one or more wireless slaves or dummy slaves located in It may be a wireless slave unit or a dummy slave unit excluding the detection device group detected in the detection processing prior to the detection processing, which is included in the first processing.
  • the position detection logic can be operated normally.
  • the position of the dummy slave unit is known, and in the estimation process, the position detection system determines the positions of the first detection device and the dummy slave unit, and the detection device groups in the first process.
  • the first position of each of the detection device groups may be estimated based on how many times the detection device group is detected in the detection process.
  • the accuracy of position detection can be improved.
  • the position detection system further specifies both of the plurality of wireless slaves included in each of the detection device groups, and identifies both of the terminal devices that are wireless slaves located at both ends, And the positions of the plurality of terminal units based on the communication status between the first detection unit, and the terminal units included in the detection unit group to be processed and the detection unit group to be processed
  • the position of the other wireless slave may be estimated based on the communication status with the other wireless slave.
  • a position detection method is a position detection method in a position detection system for detecting the positions of a plurality of objects, and the position detection system has a known position, and a wireless signal.
  • a first detection device that performs at least one of transmission and reception, and a wireless slave device that is attached to each of the plurality of objects and that transmits and receives a wireless signal the position detection method includes (1) Based on the communication status between the detection device and the reference device included in the plurality of wireless slaves and the target device which is one or more wireless slaves other than the reference device, the target range based on the reference device
  • the first processing is repeatedly performed to perform detection processing for detecting a group of detection devices that are one or more wireless slaves located, and in the first detection processing included in the first processing, the reference device is for the first detection A device, In the second and subsequent detection processes included in the first process, the reference device is included in the detection device group detected in the immediately preceding detection process, and the target device is one of the plurality of wireless slave devices.
  • a wireless slave device excluding the detection device group detected in detection processing prior to the detection processing, which is included in the first processing, and the position detection method further includes a position of the first detection device and In the first process, an estimation process of estimating a first position of each of the detection device groups is performed based on whether each of the detection device groups is a detection device group detected by a detection process.
  • the position detection method can detect the next wireless slave device on the basis of the wireless slave device detected based on the first detection device whose position is known. This can reduce the number of detection devices.
  • the present invention can provide a position detection system or position detection method that can reduce the number of detection devices.
  • FIG. 1 is a diagram showing the configuration of a position detection system according to a first embodiment.
  • FIG. 2 is a block diagram of a wireless slave device according to the first embodiment.
  • FIG. 3 is a block diagram of a detection device according to the first embodiment.
  • FIG. 4 is a block diagram of the position detection device according to the first embodiment.
  • FIG. 5 is a flowchart showing the operation of the position detection system according to the first embodiment.
  • FIG. 6 is a diagram showing a configuration example of a detection signal according to the first embodiment.
  • FIG. 7 is a diagram showing an exemplary configuration of a notification signal according to the first embodiment.
  • FIG. 8 is a diagram showing an example of arrangement of wireless slaves according to the first embodiment.
  • FIG. 9 is a diagram showing an example of received radio wave strength in each device according to the first embodiment.
  • FIG. 10 is a flowchart of position detection processing according to the first embodiment.
  • FIG. 11 is a diagram for explaining position detection processing according to the first embodiment.
  • FIG. 12 is a diagram for explaining position detection processing according to the first embodiment.
  • FIG. 13 is a diagram for explaining position detection processing according to the first embodiment.
  • FIG. 14 is a diagram for explaining position detection processing according to the first embodiment.
  • FIG. 15 is a diagram for explaining position detection processing according to the first embodiment.
  • FIG. 16 is a diagram for explaining position detection processing according to the first embodiment.
  • FIG. 17 is a diagram showing an example of the position detection result according to the first embodiment.
  • FIG. 18 is a diagram showing the configuration of a position detection system according to a second embodiment.
  • FIG. 19 is a flowchart showing the operation of the position detection system according to the second embodiment.
  • FIG. 20 is a flowchart of position detection processing according to the second embodiment.
  • FIG. 21 is a diagram for explaining position detection processing according to the second embodiment.
  • FIG. 22 is a diagram for explaining position detection processing according to the second embodiment.
  • FIG. 23 is a diagram for explaining position detection processing according to the second embodiment.
  • FIG. 24 is a diagram for explaining position detection processing according to the second embodiment.
  • FIG. 25 is a diagram for explaining position detection processing according to the second embodiment.
  • Embodiment 1 In the position detection system according to the present embodiment, the position of the wireless slave is detected based on the detection device whose position is known, and the position of the next wireless slave is detected based on the detected position of the wireless slave Do. Thus, the position detection system can reduce the number of detection devices.
  • FIG. 1 is a diagram showing an outline of a position detection system 100 according to the present embodiment.
  • the position detection system 100 is a system for detecting the positions (eg, storage positions) of a plurality of objects.
  • the position detection system 100 includes detection devices 101 and 102, a plurality of wireless slaves 103, and a position detection device 104.
  • Each of the plurality of wireless slaves 103 is attached to an object.
  • the object is, for example, an atypical large-sized article, such as a large-sized heavy machine, a mold for a part such as a ship or an aircraft, or the like.
  • the object is, for example, an unstandardized item.
  • the size of the object is about several meters.
  • the number of objects that is, the number of wireless handsets 103 is, for example, several hundreds.
  • the use application of the position detection system 100 is not limited to the above, and can be used for detecting the position of an arbitrary object.
  • the storage area 105 is an area extending in the x direction. Further, in the present embodiment, an example of detecting the position in the x direction in the storage area 105 of a plurality of objects will be described. In addition, the storage area 105 may exist indoors or may exist outdoors.
  • FIG. 1 shows an example in which objects are arranged side by side in the x direction for simplification, a part of the objects may be arranged side by side in the y direction. Also, the objects may be loaded in the vertical direction (z direction) directly or by using a shelf or the like.
  • FIG. 2 is a block diagram showing the configuration of the wireless slave device 103.
  • the wireless slave device 103 includes an identification code storage unit 111, a control unit 112, a wireless communication unit 113, and a power supply unit 114.
  • the identification code storage unit 111 stores an identification code 161 which is information for uniquely identifying the wireless slave device 103.
  • the control unit 112 wirelessly transmits the detection signal 151 including the identification code 161 via the wireless communication unit 113. Further, when the wireless communication unit 113 receives the detection signal 151 transmitted from the other wireless slave device 103, the control unit 112 transmits a notification signal 152 including information indicating the received radio wave strength of the received detection signal 151. It generates and transmits via the wireless communication unit 113. Further, the control unit 112 has a function of relaying the notification signal 152 to the detection device 101 or 102 when the notification signal 152 transmitted from the other wireless slave device 103 is received.
  • the wireless communication unit 113 transmits and receives the detection signal 151 and the notification signal 152.
  • the detection signal 151 and the notification signal 152 are, for example, radio signals conforming to IEEE 802.15.4, and are radio signals of 920 MHz band, 950 MHz band or 2.4 GHz band. Note that radio signals of low power and wide area (LPWA) may be used for the detection signal 151 and the notification signal 152. Further, the detection signal 151 and the notification signal 152 may be wireless signals of any scheme other than the above. Also, different wireless schemes may be used for the detection signal 151 and the notification signal 152.
  • LPWA low power and wide area
  • the power supply unit 114 is a power supply that supplies power to the wireless slave device 103, and is, for example, a battery or a battery. That is, the wireless slave device 103 can operate only with internal power supply (or internally generated power) without receiving external power supply.
  • the detection devices 101 and 102 have known positions, and are disposed, for example, at both ends of the storage area 105 in the x direction as shown in FIG.
  • FIG. 3 is a block diagram showing the configuration of the detection devices 101 and 102.
  • the detection devices 101 and 102 each include an identification code storage unit 121, a wireless communication unit 122, a control unit 123, and a communication unit 124.
  • the identification code storage unit 121 stores an identification code 161 which is information for uniquely identifying the detection device 101 or 102.
  • the wireless communication unit 122 receives the detection signal 151 and the notification signal 152 wirelessly transmitted from the wireless slave device 103, and transmits the detection signal 151.
  • the control unit 123 wirelessly transmits the detection signal 151 including the identification code 161 via the wireless communication unit 122.
  • the control unit 123 receives a notification signal 153 including information indicating the received radio wave strength of the received detection signal 151. It generates and transmits to the position detection device 104 via the communication unit 124.
  • the control unit 123 receives the notification signal 152 transmitted from the wireless slave device 103, the control unit 123 transmits the notification signal 152 as the notification signal 153 to the position detection device 104 via the communication unit 124.
  • the communication unit 124 communicates with the position detection device 104.
  • the communication method between the detection devices 101 and 102 and the position detection device 104 is not particularly limited, but, for example, a public telephone network, an internet connection (including a wireless or wired LAN, Wi-Fi (registered trademark), etc.) Or, a unique wired or wireless network or the like can be used. Further, the wireless communication scheme may be the same as the wireless communication scheme of the detection signal 151.
  • FIG. 4 is a block diagram showing the configuration of the position detection device 104.
  • the position detection device 104 includes a communication unit 131, a position detection unit 132, a position information storage unit 133, and a display unit 134.
  • the communication unit 131 receives the notification signal 153 transmitted from the detection devices 101 and 102.
  • the position information storage unit 133 stores position information 162 indicating the installation positions of the detection devices 101 and 102.
  • the position information 162 may be set in advance based on the user's input, and the detection devices 101 and 102 each include a position detection unit such as a GPS, and the position information obtained by the position detection unit is a position. It may be sent to the sensing device 104.
  • the position detection unit 132 detects the positions of a plurality of objects (wireless slaves 103) using the information included in the notification signal 153.
  • the display unit 134 displays the positions of a plurality of detected objects.
  • the display method of a plurality of objects may be arbitrary.
  • the positions of a plurality of objects may be displayed as a two-dimensional or three-dimensional map layout.
  • the configuration of the position detection system 100 is not limited to the configuration shown in FIG.
  • the function of the position detection device 104 may be realized by a plurality of devices.
  • the functions of the detection devices 101 and 102 may be realized by a plurality of devices.
  • at least a part of the functions of the position detection device 104 and at least a part of the functions of the detection devices 101 and 102 may be realized by a single device.
  • at least a portion of the transmission of signals between the sensing devices 101 and 102 and the position sensing device 104 takes place within the devices.
  • the transmission of the notification signal 153 described above is not limited to the transmission between devices via a network or the like, but also includes the transmission of a signal in the device.
  • FIG. 5 is a flowchart showing the operation of the position detection system 100.
  • the position detection device 104 acquires the communication status between the detection devices 101 and 102 and the plurality of wireless slaves 103. Specifically, the position detection device 104 acquires the received radio wave intensity of the detection signal 151 in each device (S101).
  • Each of the devices (the detection devices 101 and 102 and the plurality of wireless slave devices 103) transmits the detection signal 151 at a predetermined cycle, for example.
  • FIG. 6 is a diagram showing the configuration of the detection signal 151.
  • the detection signal 151 includes transmission device information 163 indicating the device (the wireless slave device 103, the detection device 101 or 102) of the transmission source of the detection signal 151.
  • the transmission device information 163 is, for example, an identification code 161 held by the transmission source device.
  • the wireless slave device 103 Upon receiving the detection signal 151 transmitted from another device, the wireless slave device 103 transmits a notification signal 152.
  • the wireless slave device 103 may transmit the notification signal 152 when the received radio wave intensity of the detection signal 151 is equal to or greater than a predetermined threshold.
  • FIG. 7 is a diagram showing the configuration of the notification signal 152. As shown in FIG. As shown in FIG. 7, the notification signal 152 includes receiving device information 164 and receiving information 165.
  • the receiving device information 164 indicates the wireless slave device 103 that has received the detection signal 151, and indicates, for example, the identification code 161 of the wireless slave device 103.
  • the reception information 165 is information on the received detection signal 151, and includes transmission device information 166 and reception radio wave intensity information 167.
  • the transmission device information 166 indicates the device (wireless slave device 103, detection device 101 or 102) of the transmission source of the detection signal 151 received by the wireless slave device 103; for example, the identification code 161 of the transmission source device is there.
  • the received radio wave strength information 167 indicates the received radio wave strength of the received detection signal 151.
  • the notification signal 152 includes a plurality of reception information 165.
  • a plurality of notification signals 152 are transmitted.
  • the notification signal 152 is transmitted to the detection device 101 or 102 directly or via one or more wireless slaves 103.
  • the method of relaying by the plurality of wireless slaves 103 is not particularly limited, and any method may be used. For example, relay processing using broadcast transmission may be used, or a transmission order or the like may be set in advance for the plurality of wireless slave devices 103. Also, in this case, the notification signal 152 may include control information (not shown) for realizing the relay process.
  • the wireless slave device 103 may relay the received notification signal 152 as it is, or may transmit the received notification signal 152 and the notification signal 152 generated by itself in combination. .
  • the configuration of the notification signal 153 generated by the detection devices 101 and 102 is also the same.
  • At least one of the detection devices 101 and 102 may have a communication function with the position detection device 104.
  • the detection device 101 has a communication function with the position detection device 104, and the detection device 102 transmits the notification signal 153 to the detection device 101 via the other device, similarly to the wireless slave device 103. You may
  • At least one of the notification signals 152 and 153 may be transmitted to the position detection device 104 via a dedicated relay (not shown).
  • the wireless slave device 103 may not have the function of receiving (relaying) the notification signal 152.
  • the notification signal 152 may be used as the detection signal 151.
  • FIG. 8 is a view showing an arrangement example of the wireless slave device 103.
  • FIG. 9 is a diagram showing an example of the received radio wave intensity acquired by the position detection device 104 in this case.
  • the position detection device 104 acquires, in each device, information indicating the received radio wave intensity of the detection signal 151 transmitted from each of the other devices.
  • received radio wave intensity 0 indicates that the detection signal 151 could not be received.
  • the received radio wave strength shown in FIG. 9 is an example, and the received radio wave strength may be information simply indicating whether or not it could be received, or information indicating strengths of several levels such as strong or weak. It is also good.
  • the position detection device 104 After acquiring the received radio wave intensity, the position detection device 104 performs position detection processing in the forward direction (S102).
  • FIG. 10 is a flowchart of this position detection process.
  • the position detection device 104 selects the wireless slave device 103 closest to the start device (the detection device 101) as a selected device (S111). That is, the selected device is the wireless slave device 103 of the transmission source of the detection signal 151 having the highest received radio wave intensity in the detection device 101.
  • the position detection device 104 is configured such that among the wireless slaves 103 included in the range 106 within a predetermined distance from the detection device 101, the detection signal 151 having the highest received radio wave intensity in the detection device 101 is used.
  • the wireless handset 103 of the transmission source is selected.
  • the wireless slave device 103 of the transmission source of the detection signal 151 having the received radio wave intensity at the threshold VT1 or more in the detection device 101 is selected among the wireless slave devices 103 of the transmission source of the detection signal 151 having the received radio wave intensity at the threshold VT1 or more in the detection device 101. That is, among the wireless slave devices 103 of the transmission source of the detection signal 151 having the received radio wave intensity at the threshold VT1 or more in the detection device 101, the wireless slave device 103 of the transmission source of the detection signal 151 having the highest received radio wave intensity is It is selected. For example, in the example shown in FIG. 11, the wireless slave device ID1 is selected as the selected device.
  • the distance between the two devices can be obtained using the fact that the received radio wave intensity is inversely proportional to the square of the distance. Therefore, the distance can be determined using either the received radio wave intensity of the signal from the other of the two devices or the received radio wave intensity of the signal from the other of the two devices.
  • the example which uses the received radio wave intensity in any one is demonstrated, it can not be overemphasized that the same judgment can be performed using the other received radio wave intensity.
  • the received radio wave intensity in the detection device 101 is used is described above, the same determination can be made using the received radio wave intensity in the wireless slave device 103 of the detection signal 151 transmitted from the detection device 101. It can do.
  • the position detection device 104 groups the wireless slaves 103 included in the range 107 within a predetermined distance from the selected device as a detection device group (S112). That is, the detection device group is the wireless child device 103 of the transmission source of the detection signal 151 having the received radio wave intensity at the selected device equal to or higher than the threshold VT2. For example, in the example shown in FIG. 12, the wireless slaves ID1 and ID2 are classified into group 1.
  • the position detection device 104 determines whether an end device (detection device 102) exists in the range 107 (S113). That is, it is determined whether the received radio wave intensity in the selected device of the detection signal 151 transmitted from the detection device 102 is equal to or higher than the threshold VT2.
  • the position detection device 104 is a device included in the group selected immediately before among the ungrouped devices that are not grouped.
  • the device closest to is selected as the selected device (S114). That is, the selected device is the wireless slave device 103 of the transmission source of the detection signal 151 of the receiver radio wave intensity among the received radio wave intensities in the devices included in the group 1. Specifically, as shown in FIG.
  • the position detection device 104 is configured to set the wireless slaves ID3 and ID4 included in the range 108 within a predetermined distance from the wireless slaves ID1 and ID2 included in the group 1
  • the wireless slave device ID3 having the highest received radio wave strength in the wireless slave device ID1 or ID2 is selected. That is, among the wireless slave devices 103 of the transmission source of the detection signal 151 with the received radio wave intensity in the wireless slave device ID1 or ID2 of the threshold VT3 or more, the wireless slave device of the transmission source of the detection signal 151 with the highest received radio wave intensity ID3 is selected.
  • the position detection device 104 groups the ungrouped devices included in the range 107 within a predetermined distance from the selected device (wireless slave device ID 3) as a detected device group (S112). For example, in the example shown in FIG. 14, the wireless slaves ID3 to ID5 are classified into group 2.
  • the process of selecting a selected device (FIG. 11) and the grouping process (FIG. 12) are separately performed, but these are collectively performed. It is also good.
  • the wireless slaves 103 included in the range 106 illustrated in FIG. 11 may be grouped as a group 1.
  • the processes shown in FIGS. 13 and 14 may be performed collectively.
  • ungrouped devices included in the range 108 illustrated in FIG. 13 may be grouped as a group 2.
  • This series of processing is repeated until the end device (the detection device 102) is included in the range 107.
  • groups 1 to 5 are set as shown in FIG. Further, in the state shown in FIG. 15, the end device (the detection device 102) is included in the range 107 (Yes in S113).
  • the position detection device 104 estimates the positions of the groups 1 to 5 (S115). Specifically, the position detection devices 104 are arranged at equal intervals in the x direction in the order in which a plurality of groups are detected between the start device (the detection device 101) and the end device (the detection device 102). Calculate the position of each group, assuming that That is, the position detection device 104 determines the position of each group so that the centers of the groups are equally spaced between the start device and the end device.
  • the position (forward direction) illustrated in FIG. 17 is a diagram illustrating an example of the estimation result of the position of each group in this case.
  • FIG. 17 only the position in the x direction is estimated. Further, an example in which the position of the detection device 101 is “0” and the position of the detection device 102 is “100” is shown. As shown in FIG. 17, the same position is estimated for the plurality of wireless slaves 103 included in the group.
  • the position detection device 104 calculates the positions of each group on the assumption that a plurality of groups are arranged at equal intervals, but other methods may be used.
  • the distance between groups may be corrected based on the received radio wave strength.
  • the position detection device 104 may perform the correction so that the distance between the groups becomes shorter as the received radio wave strength becomes stronger according to the received radio wave strength of the selected device.
  • the position detection device 104 estimates the position of each group based on the positions of the start device and the end device and the number of times each group (detection device group) is a detected group. .
  • the processing is ended when the ending device is included in the range 107 based on the selected device, but the processing is ended when only the ending device is included in the range 108. It is also good.
  • the position detection device 104 may group the wireless slaves 103 included in the range 108 or 107 without the grouping. Good.
  • the position detection device 104 may end the process after grouping the one or more ungrouped devices. .
  • the objects are arranged in a matrix, there is a possibility that objects in another row may be detected around the end device. By not performing grouping when an end device is detected, it is possible to suppress detection of objects in other rows.
  • the position detection device 104 After performing position detection processing in the forward direction in step S102, the position detection device 104 performs position detection processing in the reverse direction (S103).
  • the detection device 102 is the start device and the detection device 101 is the end device, contrary to the forward position detection process.
  • the details of the position detection process are the same as in step S102, and the description thereof is omitted.
  • FIG. 17 illustrates an example in which the number of groups obtained by the forward grouping is equal to the number of groups obtained by the reverse grouping, these may be different.
  • the position detection device 104 calculates the position of each wireless slave unit 103 using the position in the forward direction estimated in step S102 and the position in the reverse direction estimated in step S103 (S104). For example, as illustrated in the position (final) of FIG. 17, the position detection device 104 calculates an average value of the forward position and the reverse position as the final position.
  • the position detection system 100 can detect the positions of a plurality of objects (wireless slaves 103) using the two detection devices 101 and 102.
  • at least one of the plurality of wireless slave devices 103 is not included in any of the wireless communication range of the detection device 101 and the wireless communication range of the detection device 102.
  • the storage area 105 includes a section which is not included in either the wireless communication range of the detection device 101 or the wireless communication range of the detection device 102. For example, as shown in FIG. 8, assuming that the distance between the detecting device 101 and the detecting device 102 is L and the wireless communicable distance of the detecting devices 101 and 102 is D, L is longer than 2 ⁇ D.
  • the position of the wireless slave device 103 can be changed by using the method according to the present embodiment. It can be detected indirectly via the wireless handset 103.
  • the detection processing may be ended by another method.
  • the position detection device 104 may end the process when there is no selected device (when there is no device whose received radio wave intensity is higher than or equal to the threshold VT2).
  • the position detection device 104 grasps in advance the number of all the wireless slaves 103 or the identification code 161 etc., and ends the process when all the wireless slaves 103 are grouped. It is also good.
  • the number of detection devices included in the position detection system 100 may be one.
  • grouping may not be performed when objects are relatively separated and disposed. That is, the position detection device 104 may select an ungrouped device closest to the selected device as the next selected device.
  • ranges 106 to 108 shown in FIGS. 11 to 13 may be the same size or different sizes. That is, the above-described threshold values VT1 to VT3 may be the same value or different values.
  • the processing in steps S111 to S114 shown in FIG. 10 is performed using the reference device included in the detection device 101 and the plurality of wireless slave devices 103 and the reference device included in the detection device 101 and the plurality of wireless slave devices 103.
  • This is processing for repeatedly performing detection processing for detecting a group of detection devices, which are one or more wireless slave devices 103 located in a target range based on the reference device, based on the communication status with the one or more target devices.
  • the communication status refers to the received radio wave intensity of the wireless signal (the detection signal 151) transmitted from the other device in one device between the two devices, and the wireless signal transmitted from the one device in the other device. This is at least one of the received radio wave intensities of the signal (signal for detection 151).
  • the reference device in the first detection process (S111 to S112), is the detection device 101.
  • the reference device is included in the detection device group detected in the immediately preceding detection process, and one or more target devices are relevant among the plurality of wireless slave devices 103. It is the wireless slave device 103 (ungrouped device) excluding the detection device group detected in the detection process prior to the detection process.
  • the position detection device 104 estimates the first position of each detection device group based on the position of the detection device 101 and on which detection device group each detection device group has been detected in the detection process.
  • the position detection system 100 can detect the next wireless slave device 103 based on the wireless slave device 103 detected based on the detection device 101 whose position is known. This can reduce the number of detection devices.
  • the position detection device 104 estimates the first position of each detection device group based on the positions of the detection devices 101 and 102 and on which detection device group each detection device group has been detected in the detection process. Perform estimation processing.
  • the position detection device 104 also performs forward position detection processing (first processing) and reverse position detection processing (second processing).
  • first processing forward position detection processing
  • second detection processing second processing
  • the reference device of the first detection process is the detection device 101 (first detection device)
  • the detection device 102 second detection device
  • the detection device 101 first detection device
  • the second and subsequent detection processes included in the first process one or more target devices are detected in the detection process before the detection process included in the first process among the plurality of wireless slave devices 103.
  • one or more target devices are detected in the detection process prior to the detection process included in the second process among the plurality of wireless slave devices 103. It is a wireless slave device 103 (ungrouped device) excluding the detected device group.
  • the position detection device 104 detects the positions of the detection devices 101 and 102 and the number of detection devices detected in the first processing in the first processing. 1 Estimate the position (forward position). The position detection device 104 detects the positions of the detection devices 101 and 102 and the number of detection devices detected in the second processing in the second processing. 2 Estimate the position (position in the reverse direction). Then, the position detection device 104 estimates the position (final position) of each wireless slave device 103 included in each detection device group based on the first position and the second position.
  • the position detection device 104 detects a selected device located within a first distance (within the range 106 or 108) from the reference device among the target devices based on the communication status between the reference device and the target device. Do. For example, the position detection device 104 selects, as a selected device, a target device located closest to the reference device and located within a first distance from the reference device. The position detection device 104 identifies the target device located within the second distance (within the range 107) from the selected device based on the communication status between the selected device and the target device other than the selected device, and the specified device; The selected device is detected as a detection device group.
  • FIG. 18 is a diagram showing a configuration example of a position detection system 100A according to the present embodiment.
  • a plurality of rows of storage areas 105 (105A to 105C) are provided, and in each storage area 105, a plurality of objects (wireless slaves 103) are arranged.
  • FIG. 18 shows an example in which the storage area 105 includes three lines, the number of lines may be arbitrary.
  • detection devices 101 101 (101A to 101C) and 102 (102A to 102C) are provided for the storage area 105 of each row.
  • the position detection device 104 is omitted.
  • FIG. 19 is a flowchart showing the operation of the position detection system 100A according to the present embodiment.
  • the detection process described in the first embodiment is performed repeatedly on a row basis.
  • an operation for this case is added to the process described in the first embodiment.
  • a space such as a passage is provided between the storage areas 105 of each row.
  • the wireless slaves 103 in the same row are sequentially selected.
  • a plurality of objects may be stored such that the wireless slaves 103 are arranged in the same direction (for example, the aisle side). This can improve the accuracy of position detection.
  • the position detection device 104 acquires the communication status between the detection devices 101A to 101C and 102A to 102C and the plurality of wireless slaves 103. Specifically, the position detection device 104 acquires the received radio wave intensity of the detection signal 151 in each device (S121).
  • the position detection device 104 selects a row to be processed (S122). Then, the position detection device 104 performs position detection processing in the forward direction on the selected row (S123).
  • FIG. 20 is a flowchart of the position detection process (S123).
  • the position detection device 104 determines whether the wireless slave device 103 exists in the first range 106 from the start device (the detection device 101) (S131). When the wireless slave device 103 exists in the first range 106 (Yes in S131), the position detection device 104 selects the wireless slave device 103 closest to the start device as the selected device, as in the first embodiment ( S132).
  • the position detection device 104 has not been selected in another row in the second range 106A from the start device (device 101 for detection). It is determined whether there is a device (S133).
  • the second range 106A is wider than the first range 106. That is, for the determination of the second range 106A, a threshold lower than the determination of the first range 106 is used.
  • the position detection device 104 selects the wireless slave device 103 closest to the start device as the selected device among the corresponding devices. (S134).
  • FIG. 21 is a diagram for explaining this operation, and shows an example at the start of the detection process on the second line.
  • the wireless slave device 103 does not exist in the first range 106 of the start device (the detection device 101B), and three devices of the wireless slave devices 103A, 103B and 103C exist in the second range 106A. Further, the distances from the detection device 101B are greater in the order of the wireless slaves 103A, 103B, and 103C (the received radio wave strength is lower). Further, in the detection processing of the first line, the wireless slave device 103A is already selected (grouped). Therefore, the wireless slave device 103B closer to the detection device 101B is selected among the wireless slave devices 103B and 103C not selected in the other row.
  • the position detection device 104 can select the selected device even when the wireless slave device 103 does not exist in the first range 106. Therefore, the occurrence of the case where the detection process is not completed can be suppressed. Further, by excluding the device selected in another row, it is possible to suppress repeated execution of the same processing as the processing already detected.
  • the processing of the row may be ended once, and after the processing of all the rows is ended, the processing of the row may be performed again. This prevents the device selected in the subsequent row from being selected as the selected device in the target row, and thus makes it easier to select the device in the target row.
  • the position detection device 104 groups the wireless slaves 103 included in the range 107 within a predetermined distance from the selected device as a detection device group (S135).
  • the position detection device 104 determines whether the end device (the detection device 102) exists in the range 107 (S136). If there is an end device (detection device 102) in the range 107 (Yes in S136), the position detection device 104 estimates the position of each group (S142) as in the first embodiment.
  • the end device is not limited to the detection device 102 arranged in the same row as the start device, and the detection process ends when any of the detection devices 102A to 102C is detected.
  • the position detection device 104 When a plurality of end devices (detection devices 102) are included in the range 107, the position detection device 104 has a received radio wave strength equal to or higher than the threshold among the plurality of end devices, and is most received. The position of each group is estimated using an end device with high radio field intensity as the end device.
  • the position detection device 104 is in the third range 108 within a predetermined distance from the devices included in the group selected immediately before. It is determined whether there is an ungrouped device that is not grouped in the target row detection process (S138). When there are ungrouped devices in the third range 108 (Yes in S138), as in the first embodiment, the position detection device 104 is closest to the devices included in the group selected immediately before among the corresponding devices. The device is selected as the selected device (S139).
  • the position detection device 104 determines whether the selected device of the immediately preceding detection process can be changed (S140). If it is determined that the change is possible (Yes in S140), the position detection device 104 cancels the group immediately before and changes the selected device immediately before (S141). On the other hand, when the change is not possible (No in S140), the position detection device 104 ends the process.
  • the wireless slave device 103C is selected as a selection device, and group 3 is set.
  • the range 108 for group 3 does not include ungrouped devices.
  • the position detection device 104 cancels group 3 and reselects the selected device.
  • the wireless handset 103D closer to the device included in group 2 next to the selected device (wireless handset 103C) that has already been selected Is selected as the selected device.
  • the position detection device 104 selects a device other than the selected device selected in the past as a new selected device.
  • the position detection device 104 further traces back to the previous process and selects a new selected device. Note that the position detection device 104 may reselect the device with the highest received radio wave intensity as the selected device in all the cases where the case where the selected device can not be selected has occurred in the past.
  • step S139 or S141 the processing of step S135 and thereafter is performed on the newly selected selected device.
  • the processing is ended when another starting device is detected (Yes in S137), but the processing is not ended, but the selection of the selected device is redone as in step S140. It is also good.
  • an end device in a row different from the start device (detection device 101A) may be detected, and the detection process may end.
  • the position detection device 104 estimates the position of each group, for example, assuming that the plurality of groups 1 to 6 are located between the detection device 101A and the detection device 102B. Therefore, the position of each group indicates a two-dimensional position, as in positions A to F shown in FIG.
  • the position detection device 104 performs a reverse direction position detection process (S124). That is, the detection device 102A is used as the start device. The details of this process are the same as those in step S123 and thus will not be described.
  • forward position detection processing (S123) and reverse position detection processing (S124) are performed on all the rows (S125).
  • the position detection device 104 uses the positions of the respective wireless slaves 103 estimated by the plurality of position detection processes to determine the final position of the wireless slave 103 Is calculated (S126). For example, as in the first embodiment, the position detection device 104 calculates an average value of a plurality of positions as the final position. The position detection device 104 may use a median of a plurality of positions or may use a weighted average. For example, the position detection device 104 may increase the weight as the estimated position decreases the number of repetitions of the detection process, or may increase the weight of the estimated position when the end device in the same row as the start device is detected. .
  • the position detection device 104 can detect the positions of the plurality of wireless slaves 103 arranged in a two-dimensional manner.
  • the position detection device 104 detects when an end device in another row is detected. It is not necessary to finish the process and to perform position estimation. Alternatively, the position detection device 104 may perform the process of reselecting the selected device described above.
  • the position detection device 104 When the position detection process is completed, if there is an undetermined slave device which is the wireless slave device 103 for which the position estimation has not been performed, the position detection device 104 performs the following process to obtain the undetermined slave device.
  • the position may be estimated. For example, when the highest received radio wave intensity for the detection signal 151 transmitted from the undetermined child device is equal to or greater than the threshold, the position detection device 104 is in the same group as the wireless child device 103 with the highest received radio wave intensity. Assign an indeterminate handset. Also, when the highest received radio wave intensity is less than the threshold, the position detection device 104 is based on the estimated position of the one or more wireless slaves 103 that have received the detection signal 151 transmitted from the undetermined slave. , Estimate the position of the undetermined handset.
  • the position detection device 104 uses the positions of the three wireless slaves 103 that have received the detection signal 151 and the received radio wave intensities to estimate the position of the undetermined slave.
  • the position detection device 104 is positioned within a predetermined distance range from one wireless slave device 103 which has received the detection signal 151 and there is no other wireless slave device 103 present. presume.
  • the position detection device 104 performs a plurality of first processing (for example, position detection processing for each row) using different detection devices 101 as the first reference device.
  • the position detection device 104 repeatedly performs the detection process until any of the plurality of detection devices 102 is included in the target range 107 in each of the plurality of first processes.
  • the second and subsequent detection processes included in each first process one or more target devices are detected in the detection process prior to the detection process included in the first process among the plurality of wireless slave devices 103 It is a wireless slave device 103 (ungrouped device) excluding the detected device group.
  • the second and subsequent detection processes included in each second process one or more target devices are included in the second process among the plurality of wireless slave devices 103 in the detection process prior to the detection process.
  • the position detection device 104 detects, for each first process, the position of the detection device 101 used as the first reference device (starting device) in the first process and the detection device 102 included in the target range 107.
  • the first position of each detection device group is estimated on the basis of the position of each detection device group and the detection device group detected in the second detection process.
  • the position detection device 104 estimates the position of each wireless slave unit 103 included in each detection device group using the plurality of first positions of each detection device group estimated for the plurality of first processes. .
  • the position detection accuracy can be improved by estimating the position based on a plurality of detection results. Also, the position of an object placed in a wide range can be detected.
  • the position detection device 104 sets the reference device of the first detection process as different detection devices 102, and repeatedly performs the detection process until any of the detection devices 101 is included in the target range 107. 2 Perform the process multiple times. For each second process, the position detection apparatus 104 detects the position of the detection apparatus 102 used as the first reference apparatus in the second process, the position of the detection apparatus 101 included in the target range 107, and The second position of each detection device group is estimated based on how many detection devices are detected in the detection processing of each detection device group. The position detection device 104 detects a plurality of first positions of each detection device group estimated for a plurality of first processes and a plurality of detection device groups estimated for a plurality of second processes. The position of each wireless slave unit 103 included in each detection device group is estimated using the second position of.
  • the position detection accuracy can be improved by estimating the position based on a plurality of detection results.
  • the position detection device 104 changes the selected device in the detection processing that has been completed, and performs the detection processing again. According to this, it is possible to reduce the occurrence of the case where position detection can not be performed.
  • the target device closest to the starting device or the immediately preceding selected group is selected as the selected device among the target devices located within the range 108.
  • the position detection device 104 may select the target device closest to the end device among the target devices located in the range 108 as the selected device. Specifically, the position detection device 104 determines the target device closest to the end device based on the communication status between the target device located in the range 108 and the end device.
  • the grouping process can be advanced to approach the end device. This makes it possible to suppress the occurrence of the case in which the process is not completed properly. In addition, even when an object is randomly arranged in the detection area, the processing can be easily completed correctly.
  • the closest distance among the plurality of distances to the plurality of end devices may be used for the determination, or one specified end device (for example, the start device) And the distance between the end equipment and the end equipment arranged in the same row may be used.
  • the position detection device 104 Among the target devices located in the range 108, the target device closest to the starting device or the immediately preceding selected group may be selected as the selected device.
  • the position detection apparatus 104 selects the target device closest to the start device as the selected device as in the embodiment described above, and performs the second and subsequent detection processes ( In S114 and S139), among the target devices located in the range 108, the target device closest to the end device may be selected as the selected device.
  • the position detection device 104 performs the range based on the immediately preceding selected device.
  • the selected device may be selected from the target devices included in. That is, the position detection device 104 may select the target device closest to the end device as the selected device among the target devices located within the predetermined range from the immediately preceding selected device.
  • the position detection device 104 may collectively perform the process of selecting a selected device and the grouping process. For example, ungrouped devices included in the range 108 illustrated in FIG. 13 may be grouped as a group 2. In this case, next, the position detection device 104 sets ungrouped devices within a predetermined range (for example, the range 108) based on the wireless slave device 103 closest to the end device among the wireless slave devices 103 included in the group 2. , Group as the next group 3. The position detection device 104 repeats the same processing thereafter to set a plurality of groups.
  • a predetermined range for example, the range 108
  • the position detection system 100 communicates the communication status between the reference device and the target device, and the communication between the termination device (second detection device) and the target device. Based on the situation, among the target devices, the selected device located within the first distance from the reference device and closest to the end device is detected, and the communication status between the selected device and the target devices other than the selected device is detected. Based on the selected device, the target device located within the second distance is specified, and the specified target device and the selected device are detected as a detection device group.
  • a dummy slave having the same function as the wireless slave 103 may be used separately from the wireless slave 103 attached to the object. By using the dummy slave unit, it is possible to operate the position detection logic normally even when the number of objects is small.
  • the position detection system 100 further includes a dummy slave that transmits and receives a wireless signal.
  • the position detection device 104 is included in the detection device 101, the plurality of wireless slave devices 103 and the reference device included in the dummy slave device, and the detection device 101, the plurality of wireless slave devices 103 and the dummy slave device in the first process. Based on the communication status with one or more target devices other than the reference device to be detected, the detection device group which is one or more wireless slave devices 103 or dummy slave devices located in the target range based on the reference device is detected.
  • one or more target devices are the wireless child device 103 or the dummy excluding the detection device group detected in the detection process prior to the detection process among the plurality of wireless child devices 103 and dummy child devices It is a child machine.
  • the position of the dummy slave may be known.
  • the position of the group including the dummy slaves can be estimated with high accuracy, so that the accuracy of position detection can be improved.
  • the position detection device 104 estimates the position of each group detected between the start device and the dummy slave device, using the position of the start device and the position of the dummy slave device. Further, the position detection device 104 estimates the position of each group detected between the dummy slave and the finisher using the position of the dummy slave and the position of the finisher.
  • the position of the dummy slave unit is known, and the position detection device 104 detects the positions of the detection device 101 and the dummy slave unit in the estimation process, and the detection devices detected in each detection device group in the first detection process The first position of each detection device group is estimated based on whether it is a group.
  • a dummy slave device whose position is known may be used as a detection device.
  • the position detection device 104 may estimate the detailed position of each wireless slave device 103 in the detection device group after the grouping process of the detection device group is completed. For example, the position detection device 104 may process the target device based on the detection device group to be processed and the communication status (received radio wave strength) between the plurality of wireless slaves 103 included in the detection device group adjacent to the detection device group. The detailed position of the wireless handset 103 in the detection device group is estimated.
  • the position detection device 104 is based on the communication status between the wireless slave device 103 included in the processing target detection device group and the plurality of wireless slave devices 103 included in the detection device group adjacent to the detection device group. Then, both terminals which are wireless slaves 103 at both ends in the processing target detection device group are determined. Specifically, it is determined that the wireless slave device 103 having the highest received signal strength with the adjacent detection device group is located at the end. Thereby, both terminals of each detection device group are determined.
  • the position detection device 104 includes a plurality of terminals included in a plurality of detection device groups, and a device whose position is known (the detection device 101 or 102, or a wireless device whose detailed position has been estimated or whose position is known).
  • the position of each terminal is estimated based on the ratio of the received radio wave intensity in the child device 103).
  • the position detection device 104 is used to detect communication conditions (received radio wave strengths V01 to 09) between two adjacent terminal devices or detection devices 101 or 102 adjacent to each other, and for detection devices 101 and By using the distance L to the device 102, it is estimated where each of the terminals is located between the detection device 101 and the detection device 102.
  • the received radio wave intensity is inversely proportional to the square of the distance.
  • the sum of the distances between the plurality of both terminals and the devices adjacent to each other among the detection devices 101 and 102 is equal to the distance L between the detection device 101 and the detection device 102.
  • the position detection device 104 can use these relationships to estimate the distance between adjacent devices and the position of each terminal.
  • the position detection device 104 can improve the accuracy of position detection by using the communication status (for example, received radio wave intensity V10, V11, etc.) between non-adjacent devices. For example, in the above estimation, the received radio wave intensity V01 between the detection device 101 and the wireless handset 103 at the left end of group 1, and between the wireless handset 103 at the left end of group 1 and the wireless handset 103 at the right end. Instead of the received radio wave intensity V02, the received radio wave intensity V10 between the detection device 101 and the wireless slave device 103 at the right end of the group 1 can also be used. Therefore, the position detection device 104 estimates the position of each of the terminal units a plurality of times using a combination of a plurality of received radio wave intensities. Then, the position detection device 104 estimates the final position using the plurality of estimated positions obtained. For example, the position detection device 104 calculates the average of the plurality of obtained estimated positions as the final position.
  • the communication status for example, received radio wave intensity V10, V11, etc.
  • the position detection device 104 detects the detection device based on the ratio of the received radio wave intensity between each of the wireless handsets 103 at both ends in the detection device group and the other wireless handsets 103 included in the detection device group. The position of the other wireless handset 103 in the group is estimated.
  • the position detection device 104 identifies both of the plurality of wireless slaves included in each of the detection device groups, that is, both terminals that are wireless slaves located at both ends. Next, the position detection device 104 estimates the positions of the plurality of terminals based on the identified communication terminals between the plurality of terminals and the detection devices 101 and 102. Next, based on the communication status between both terminals included in the processing target detection device group and the other wireless slave devices included in the processing target detection device group, the position detection device 104 Estimate the position of Then, the position detection device 104 calculates each final position of the wireless slave device 103 using each position of the wireless slave device 103 estimated by the plurality of position detection processing (for example, position detection processing for each row). Do.
  • the accuracy of position estimation can be further improved by using the dummy slave unit as a device whose position is known.
  • each processing unit included in each device included in the position detection system according to the above embodiment is typically realized as an LSI which is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include some or all.
  • circuit integration is not limited to LSI's, and implementation using dedicated circuitry or general purpose processors is also possible.
  • a field programmable gate array (FPGA) that can be programmed after LSI fabrication, or a reconfigurable processor that can reconfigure connection and setting of circuit cells inside the LSI may be used.
  • some or all of the functions of the devices included in the position detection system according to the above embodiment 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 in which the above program is recorded. Further, it goes without saying that 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 various devices included in the position detection system.
  • the present invention can be realized as a position detection method in which the characteristic means included in such a position detection system is taken 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 may be realized as one functional block, one functional block may be divided into a plurality of parts, or some functions may be transferred to another function block. May be Also, a single piece of hardware or software may process the functions of a plurality of functional blocks having similar functions in parallel or in time division.
  • the present invention is applicable to position detection systems.

Abstract

This position detection system (100) includes a device for use in detection (101) that has a known position, and wireless slave devices (103) mounted on each of multiple targets. On the basis of the communication state between a reference device, which is included in the device for use in detection (101) and the multiple wireless slave devices (103), and one or more target devices other than the reference device, the position detection system (100) repeatedly performs detection processing for detecting a detection device group, which is one or more wireless slave devices located in a target area (107) based on a reference device. In the first round of detection processing, the reference device is the device for use in detection (101), and in the second and subsequent rounds of detection processing, the reference device is included in the detection device group detected in the immediately preceding detection processing. The position detection system (100) further estimates the position of each detection device group on the basis of the position of the device for use in detection (101) and of which round of detection processing each detection device group was detected in.

Description

位置検知システム及び位置検知方法Position detection system and position detection method
　本発明は、複数の対象物の位置を検知するための位置検知システム及び位置検知方法に関する。 The present invention relates to a position detection system and a position detection method for detecting the positions of a plurality of objects.
　対象物の位置を検知する方法として、対象物が保持する発信器から送信された無線信号を複数の受信器で受信する方法が知られている（例えば、特許文献１参照）。例えば、複数の受信器における無線信号の受信状況を用いて、発信器の位置を検知できる。 As a method of detecting the position of an object, there is known a method in which a plurality of receivers receive radio signals transmitted from a transmitter held by the object (see, for example, Patent Document 1). For example, the position of the transmitter can be detected using the reception status of radio signals at a plurality of receivers.
特許６１１４９４２号Patent 6114942
　しかしながら、上記の方法では、位置検知の対象とする領域に、受信器等の検知用機器を、無線通信範囲に応じた間隔で配置する必要がある。また、このようなシステムの使用用途として、非定型の大型物品（例えば、大型の重機、船舶、又は航空機等の部品用の金型等）を管理する用途が考えられる。このような使用用途では、対象物を保管する領域内に所定の間隔で検知用機器を配置できない場合がある。例えば、検知用機器が、対象物の保管及び移動の邪魔になる場合がある。または、検知用機器に外部からの電力供給が必要な場合に、これらの電力供給源を新たに設置する必要が生じ、システムの導入にコスト及び手間がかかるという課題が生じる。 However, in the above method, it is necessary to dispose detection devices such as a receiver at intervals according to the wireless communication range in the area to be subjected to position detection. In addition, as a use application of such a system, an application for managing atypical large articles (for example, large molds, molds for parts such as ships, aircrafts, etc.) can be considered. In such a use, there are cases where the detection device can not be arranged at predetermined intervals in the area for storing the object. For example, a detection device may be in the way of storage and movement of an object. Alternatively, when the detection device requires an external power supply, these power supply sources need to be newly installed, resulting in the problem of cost and labor for the introduction of the system.
　そこで、本発明は、受信器等の検知用機器の数を低減できる位置検知システム又は位置検知方法を提供することを目的とする。 Then, an object of this invention is to provide the position detection system or position detection method which can reduce the number of detection apparatuses, such as a receiver.
　本発明の一態様に係る位置検知システムは、複数の対象物の位置を検知するための位置検知システムであって、位置が既知であり、無線信号の送信及び受信の少なくとも一方を行う第１検知用機器と、前記複数の対象物の各々に装着され、無線信号の送信及び受信を行う無線子機とを含み、前記位置検知システムは、前記第１検知用機器及び複数の前記無線子機に含まれる基準機器と、前記基準機器以外の１以上の無線子機である対象機器との通信状況に基づき、前記基準機器を基準とした対象範囲に位置する１以上の無線子機である検知機器群を検知する検知処理を繰り返し行う第１処理を行い、前記第１処理に含まれる１回目の前記検知処理では、前記基準機器は第１検知用機器であり、前記第１処理に含まれる２回目以降の前記検知処理では、前記基準機器は、直前の検知処理で検知された前記検知機器群に含まれ、前記対象機器は、前記複数の無線子機のうち、前記第１処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機であり、前記位置検知システムは、さらに、前記第１検知用機器の位置と、前記第１処理において、各前記検知機器群が何回目の検知処理で検知された検知機器群であるかに基づき、前記各検知機器群の第１位置を推定する推定処理を行う。 A position detection system according to an aspect of the present invention is a position detection system for detecting the positions of a plurality of objects, the first detection having a known position and performing at least one of transmission and reception of a wireless signal. Device, and a wireless slave device attached to each of the plurality of objects to transmit and receive a wireless signal, and the position detection system includes the first detection device and the plurality of wireless slave devices. A detection device that is one or more wireless slave devices located in a target range based on the reference device based on the communication status between the included reference device and a target device that is one or more wireless slave devices other than the reference device A first process of repeatedly performing a detection process of detecting a group is performed, and in the first detection process included in the first process, the reference device is a first detection device and is included in the first process. The above detection In principle, the reference device is included in the detection device group detected in the immediately preceding detection process, and the target device is included in the first process among the plurality of wireless slaves, from the detection process It is a wireless slave device excluding the detection device group detected in the previous detection processing, and the position detection system further includes the position of the first detection device and each of the detection device groups in the first process. An estimation process is performed to estimate the first position of each of the detection device groups based on the number of detection devices detected in the detection process.
　これによれば、当該位置検知システムは、位置が既知である第１検知用機器を基準として検知した無線子機を基準として、次の無線子機を検知できる。これにより、検知用機器の数を低減できる。 According to this, the position detection system can detect the next wireless slave device on the basis of the wireless slave device detected based on the first detection device whose position is known. This can reduce the number of detection devices.
　例えば、前記位置検知システムは、さらに、位置が既知であり、無線信号の送信及び受信の少なくとも一方を行う第２検知用機器を含み、前記位置検知システムは、前記第１処理において、前記第２検知用機器が前記対象範囲に含まれるまで、前記検知処理を繰り返し行い、前記推定処理において、前記第１検知用機器及び前記第２検知用機器の位置と、前記第１処理において、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、前記各検知機器群の前記第１位置を推定してもよい。 For example, the position detection system further includes a second detection device whose position is known and performs at least one of transmission and reception of a wireless signal, and the position detection system further includes the second processing in the first process. The detection process is repeated until the detection device is included in the target range, and in the estimation process, the positions of the first detection device and the second detection device, and each detection device in the first process The first position of each of the detection device groups may be estimated based on how many detection devices have been detected in the detection processing of the group.
　これによれば、２つの検知用機器を用いることで、検知の終了判定を容易に行うことができるとともに、位置検知の精度を向上できる。 According to this, by using two detection devices, it is possible to easily determine the end of detection and to improve the accuracy of position detection.
　例えば、前記位置検知システムは、さらに、前記第１検知用機器が前記対象範囲に含まれるまで、前記検知処理を繰り返し行う第２処理を行い、前記第２処理に含まれる１回目の前記検知処理では、前記基準機器は第２検知用機器であり、前記第２処理に含まれる２回目以降の前記検知処理では、前記基準機器は、直前の検知処理で検知された前記検知機器群に含まれ、前記対象機器は、前記複数の無線子機のうち、前記第２処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機であり、前記位置検知システムは、前記推定処理において、前記第１検知用機器及び前記第２検知用機器の位置と、前記第２処理において、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、前記各検知機器群の第２位置を推定し、前記第１位置と前記第２位置とに基づき、前記各検知機器群に含まれる各無線子機の位置を推定してもよい。 For example, the position detection system further performs a second process of repeatedly performing the detection process until the first detection device is included in the target range, and the first detection process included in the second process. In the above, the reference device is a second detection device, and in the second and subsequent detection processes included in the second process, the reference device is included in the detection device group detected in the immediately preceding detection process. The target device is a wireless slave device included in the second process among the plurality of wireless slave devices, excluding the group of detection devices detected in the detection process prior to the detection process, the position detection The system is a detection device group in which the positions of the first detection device and the second detection device are detected in the estimation process, and the detection device groups are detected in what number of detection processes in the second process. Based on heel Come, wherein estimating the second position of the sensing equipment group, on the basis of said first position and the second position, may estimate the position of each radio personal station included the each detection equipment group.
　これによれば、複数回の検知結果に基づき位置を推定することで位置検知の精度を向上できる。 According to this, it is possible to improve the accuracy of position detection by estimating the position based on a plurality of detection results.
　例えば、前記位置検知システムは、複数の前記第１検知用機器と、複数の前記第２検知用機器とを含み、前記位置検知システムは、異なる第１検知用機器を１回目の基準機器として用いた、複数回の前記第１処理を行い、前記複数回の第１処理の各々において、前記複数の第２検知用機器のいずれかが前記対象範囲に含まれるまで、前記検知処理を繰り返し行い、前記複数回の第１処理の各々に含まれる２回目以降の前記検知処理では、前記基準機器は、直前の検知処理で検知された前記検知機器群に含まれ、前記対象機器は、前記複数の無線子機のうち、当該第１処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機であり、前記推定処理において、前記複数回の第１処理の各々に対して、当該第１処理において１回目の基準機器として用いた第１検知用機器の位置と、前記対象範囲に含まれた第２検知用機器の位置と、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、前記各検知機器群の前記第１位置を推定し、前記複数回の第１処理に対して推定された、前記各検知機器群の複数の前記第１位置を用いて、前記各検知機器群に含まれる各無線子機の位置を推定してもよい。 For example, the position detection system includes a plurality of first detection devices and a plurality of second detection devices, and the position detection system uses different first detection devices as a first reference device. The first processing is performed a plurality of times, and in each of the plurality of first processes, the detection processing is repeatedly performed until any one of the plurality of second detection devices is included in the target range, In the second and subsequent detection processes included in each of the plurality of first processes, the reference device is included in the detection device group detected in the immediately preceding detection process, and the target device is the plurality of target devices. Among the wireless slaves, the wireless slaves excluding the group of detection devices detected in the detection processing prior to the detection processing, which are included in the first processing, and in the estimation processing, the plurality of first processings For each of In the first processing, the position of the first detection device used as the first reference device, the position of the second detection device included in the target range, and the number of detection processes performed by each detection device group The first position of each detection device group is estimated based on whether or not the detected detection device group is selected, and the plurality of first positions of the detection device groups are estimated for the plurality of first processes. The position may be used to estimate the position of each wireless slave included in each of the detection device groups.
　これによれば、複数回の検知結果に基づき位置を推定することで位置検知の精度を向上できる。また、広範囲に配置された対象物の位置を検知できる。 According to this, it is possible to improve the accuracy of position detection by estimating the position based on a plurality of detection results. Also, the position of an object placed in a wide range can be detected.
　例えば、前記位置検知システムは、さらに、１回目の検知処理の前記基準機器を、互いに異なる前記第２検知用機器に設定し、前記第１検知用機器のいずれかが前記対象範囲に含まれるまで、前記検知処理を繰り返し行う第２処理を複数回行い、前記複数回の第２処理の各々に含まれる２回目以降の前記検知処理では、前記基準機器は、直前の検知処理で検知された前記検知機器群に含まれ、前記対象機器は、前記複数の無線子機のうち、当該第２処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機であり、前記推定処理において、前記複数回の第２処理の各々に対して、当該第２処理において１回目の基準機器として用いた第２検知用機器の位置と、前記対象範囲に含まれた第１検知用機器の位置と、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、前記各検知機器群の前記第２位置を推定し、前記複数回の第１処理に対して推定された、前記各検知機器群の複数の前記第１位置と、前記複数回の第２処理に対して推定された、前記各検知機器群の複数の前記第２位置とを用いて、前記各検知機器群に含まれる各無線子機の位置を推定してもよい。 For example, the position detection system further sets the reference device of the first detection process to the second detection devices different from each other until one of the first detection devices is included in the target range. Performing the second process repeatedly performing the detection process a plurality of times, and in the second and subsequent detection processes included in each of the plurality of second processes, the reference device detects the reference device detected in the last detection process The target device is included in the detection device group, and among the plurality of wireless slave devices, the wireless slave device excluding the detection device group detected in the detection process prior to the detection process, which is included in the second process In the estimation process, the position of the second detection device used as the first reference device in the second process is included in the target range for each of the plurality of second processes. First detection machine The second position of each detection device group is estimated on the basis of the position of each detection device group and the detection device group detected in each detection process, and the second processing of the plurality of first processing is performed. Using the plurality of first positions of each of the detection device groups and the plurality of second positions of each of the detection device groups estimated for the plurality of second processes, The position of each wireless slave unit included in each of the detection device groups may be estimated.
　これによれば、複数回の検知結果に基づき位置を推定することで位置検知の精度を向上できる。 According to this, it is possible to improve the accuracy of position detection by estimating the position based on a plurality of detection results.
　例えば、前記位置検知システムは、各前記検知処理において、前記基準機器と前記対象機器との通信状況に基づき、前記対象機器のうち前記基準機器から第１距離内に位置する選択機器を検知し、前記選択機器と、前記選択機器以外の前記対象機器との通信状況に基づき、前記選択機器から第２距離内に位置する前記対象機器を特定し、特定した前記対象機器と、前記選択機器とを、前記検知機器群として検知してもよい。 For example, in each of the detection processes, the position detection system detects a selected device located within a first distance from the reference device among the target devices based on the communication status between the reference device and the target devices. The target device identified within the second distance from the selected device based on the communication status between the selected device and the target device other than the selected device, and the specified target device and the selected device And the detection device group may be detected.
　これによれば、近傍に位置する複数の対象物の位置を一括して管理できるとともに、位置検知の処理量を低減できる。 According to this, the positions of a plurality of objects located in the vicinity can be managed collectively, and the processing amount of position detection can be reduced.
　例えば、前記位置検知システムは、前記検知処理において、前記基準機器から前記第１距離内に位置する前記対象機器が存在しない場合、終了済みの検知処理における選択機器を変更し、再度、検知処理を行ってもよい。 For example, in the detection process, when there is no target device located within the first distance from the reference device, the position detection system changes the selected device in the detection process that has already been completed, and performs the detection process again. You may go.
　これによれば、位置検知が行えないケースの発生を低減できる。 According to this, it is possible to reduce the occurrence of the case where position detection can not be performed.
　例えば、前記位置検知システムは、前記第１処理に含まれる２回目以降の前記検知処理において、前記基準機器と前記対象機器との通信状況、及び前記第２検知用機器と前記対象機器との通信状況、に基づき、前記対象機器のうち、前記基準機器から第１距離内に位置し、かつ、前記第２検知用機器に最も近い選択機器を検知し、前記選択機器と、前記選択機器以外の前記対象機器との通信状況に基づき、前記選択機器から第２距離内に位置する前記対象機器を特定し、特定した前記対象機器と、前記選択機器とを、前記検知機器群として検知してもよい。 For example, in the second and subsequent detection processes included in the first process, the position detection system may communicate the communication state between the reference device and the target device, and the communication between the second detection device and the target device. Among the target devices, a selected device located within a first distance from the reference device and closest to the second detection device is detected based on the condition, and the selected device and the devices other than the selected device are detected. The target device located within a second distance from the selected device is specified based on the communication status with the target device, and the specified target device and the selected device are detected as the detection device group. Good.
　これによれば、位置検知が正しく終了しないケースの発生を低減できる。 According to this, it is possible to reduce the occurrence of the case where the position detection does not end properly.
　例えば、前記位置検知システムは、さらに、無線信号の送信及び受信を行うダミー子機を含み、前記位置検知システムは、前記第１処理において、前記第１検知用機器、前記複数の無線子機及び前記ダミー子機に含まれる前記基準機器と、複数の前記無線子機及び前記ダミー子機に含まれる前記基準機器以外の前記対象機器との通信状況に基づき、前記基準機器を基準とした対象範囲に位置する１以上の無線子機又はダミー子機である前記検知機器群を検知し、２回目以降の前記検知処理では、前記対象機器は、前記複数の無線子機及びダミー子機のうち、前記第１処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機又はダミー子機であってもよい。 For example, the position detection system further includes a dummy slave that transmits and receives a wireless signal, and the position detection system includes the first detection device, the plurality of wireless slaves, and the first slave in the first process. Target range based on the reference device based on the communication status between the reference device included in the dummy slave device and the target devices other than the plurality of wireless slave devices and the reference device included in the dummy slave device Among the plurality of wireless slaves and the dummy slaves in the second and subsequent detection processes, detecting the detection device group which is one or more wireless slaves or dummy slaves located in It may be a wireless slave unit or a dummy slave unit excluding the detection device group detected in the detection processing prior to the detection processing, which is included in the first processing.
　これによれば、対象物の数が少ない場合であっても位置検知ロジックを正常に動作させることができる。 According to this, even when the number of objects is small, the position detection logic can be operated normally.
　例えば、前記ダミー子機の位置は既知であり、前記位置検知システムは、前記推定処理において、前記第１検知用機器及び前記ダミー子機の位置と、前記第１処理において、各前記検知機器群が何回目の検知処理で検知された検知機器群であるかに基づき、前記各検知機器群の前記第１位置を推定してもよい。 For example, the position of the dummy slave unit is known, and in the estimation process, the position detection system determines the positions of the first detection device and the dummy slave unit, and the detection device groups in the first process. The first position of each of the detection device groups may be estimated based on how many times the detection device group is detected in the detection process.
　これによれば、位置検知の精度を向上できる。 According to this, the accuracy of position detection can be improved.
　例えば、前記位置検知システムは、さらに、各前記検知機器群に含まれる複数の無線子機のうち、両端に位置する無線子機である両端子機を特定し、特定した複数の両端子機、及び第１検知用機器の間の通信状況に基づき前記複数の両端子機の位置を推定し、処理対象の検知機器群に含まれる前記両端子機と、前記処理対象の検知機器群に含まれる他の無線子機との通信状況に基づき、当該他の無線子機の位置を推定してもよい。 For example, the position detection system further specifies both of the plurality of wireless slaves included in each of the detection device groups, and identifies both of the terminal devices that are wireless slaves located at both ends, And the positions of the plurality of terminal units based on the communication status between the first detection unit, and the terminal units included in the detection unit group to be processed and the detection unit group to be processed The position of the other wireless slave may be estimated based on the communication status with the other wireless slave.
　これによれば、検知機器群に含まれる各無線子機の位置を推定できる。 According to this, it is possible to estimate the position of each wireless handset included in the detection device group.
　また、本発明の一態様に係る位置検知方法は、複数の対象物の位置を検知するための位置検知システムにおける位置検知方法であって、前記位置検知システムは、位置が既知であり、無線信号の送信及び受信の少なくとも一方を行う第１検知用機器と、前記複数の対象物の各々に装着され、無線信号の送信及び受信を行う無線子機とを含み、前記位置検知方法は、前記第１検知用機器及び複数の前記無線子機に含まれる基準機器と、前記基準機器以外の１以上の無線子機である対象機器との通信状況に基づき、前記基準機器を基準とした対象範囲に位置する１以上の無線子機である検知機器群を検知する検知処理を繰り返し行う第１処理を行い、前記第１処理に含まれる１回目の前記検知処理では、前記基準機器は第１検知用機器であり、前記第１処理に含まれる２回目以降の前記検知処理では、前記基準機器は、直前の検知処理で検知された前記検知機器群に含まれ、前記対象機器は、前記複数の無線子機のうち、前記第１処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機であり、前記位置検知方法は、さらに、前記第１検知用機器の位置と、前記第１処理において、各前記検知機器群が何回目の検知処理で検知された検知機器群であるかに基づき、前記各検知機器群の第１位置を推定する推定処理を行う。 A position detection method according to an aspect of the present invention is a position detection method in a position detection system for detecting the positions of a plurality of objects, and the position detection system has a known position, and a wireless signal. A first detection device that performs at least one of transmission and reception, and a wireless slave device that is attached to each of the plurality of objects and that transmits and receives a wireless signal, the position detection method includes (1) Based on the communication status between the detection device and the reference device included in the plurality of wireless slaves and the target device which is one or more wireless slaves other than the reference device, the target range based on the reference device The first processing is repeatedly performed to perform detection processing for detecting a group of detection devices that are one or more wireless slaves located, and in the first detection processing included in the first processing, the reference device is for the first detection A device, In the second and subsequent detection processes included in the first process, the reference device is included in the detection device group detected in the immediately preceding detection process, and the target device is one of the plurality of wireless slave devices. A wireless slave device excluding the detection device group detected in detection processing prior to the detection processing, which is included in the first processing, and the position detection method further includes a position of the first detection device and In the first process, an estimation process of estimating a first position of each of the detection device groups is performed based on whether each of the detection device groups is a detection device group detected by a detection process.
　これによれば、当該位置検知方法は、位置が既知である第１検知用機器を基準として検知した無線子機を基準として、次の無線子機を検知できる。これにより、検知用機器の数を低減できる。 According to this, the position detection method can detect the next wireless slave device on the basis of the wireless slave device detected based on the first detection device whose position is known. This can reduce the number of detection devices.
　なお、これらの包括的または具体的な態様は、システム、方法、集積回路、コンピュータプログラムまたはコンピュータ読み取り可能なＣＤ－ＲＯＭなどの記録媒体で実現されてもよく、システム、方法、集積回路、コンピュータプログラム及び記録媒体の任意な組み合わせで実現されてもよい。 Note that these general or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer readable CD-ROM, a system, a method, an integrated circuit, a computer program And any combination of recording media.
　本発明は、検知用機器の数を低減できる位置検知システム又は位置検知方法を提供できる。 The present invention can provide a position detection system or position detection method that can reduce the number of detection devices.
図１は、実施の形態１に係る位置検知システムの構成を示す図である。FIG. 1 is a diagram showing the configuration of a position detection system according to a first embodiment. 図２は、実施の形態１に係る無線子機のブロック図である。FIG. 2 is a block diagram of a wireless slave device according to the first embodiment. 図３は、実施の形態１に係る検知用機器のブロック図である。FIG. 3 is a block diagram of a detection device according to the first embodiment. 図４は、実施の形態１に係る位置検知装置のブロック図である。FIG. 4 is a block diagram of the position detection device according to the first embodiment. 図５は、実施の形態１に係る位置検知システムの動作を示すフローチャートである。FIG. 5 is a flowchart showing the operation of the position detection system according to the first embodiment. 図６は、実施の形態１に係る検知用信号の構成例を示す図である。FIG. 6 is a diagram showing a configuration example of a detection signal according to the first embodiment. 図７は、実施の形態１に係る通知信号の構成例を示す図である。FIG. 7 is a diagram showing an exemplary configuration of a notification signal according to the first embodiment. 図８は、実施の形態１に係る無線子機の配置例を示す図である。FIG. 8 is a diagram showing an example of arrangement of wireless slaves according to the first embodiment. 図９は、実施の形態１に係る各機器における受信電波強度の例を示す図である。FIG. 9 is a diagram showing an example of received radio wave strength in each device according to the first embodiment. 図１０は、実施の形態１に係る位置検知処理のフローチャートである。FIG. 10 is a flowchart of position detection processing according to the first embodiment. 図１１は、実施の形態１に係る位置検知処理を説明するための図である。FIG. 11 is a diagram for explaining position detection processing according to the first embodiment. 図１２は、実施の形態１に係る位置検知処理を説明するための図である。FIG. 12 is a diagram for explaining position detection processing according to the first embodiment. 図１３は、実施の形態１に係る位置検知処理を説明するための図である。FIG. 13 is a diagram for explaining position detection processing according to the first embodiment. 図１４は、実施の形態１に係る位置検知処理を説明するための図である。FIG. 14 is a diagram for explaining position detection processing according to the first embodiment. 図１５は、実施の形態１に係る位置検知処理を説明するための図である。FIG. 15 is a diagram for explaining position detection processing according to the first embodiment. 図１６は、実施の形態１に係る位置検知処理を説明するための図である。FIG. 16 is a diagram for explaining position detection processing according to the first embodiment. 図１７は、実施の形態１に係る位置検知結果の例を示す図である。FIG. 17 is a diagram showing an example of the position detection result according to the first embodiment. 図１８は、実施の形態２に係る位置検知システムの構成を示す図である。FIG. 18 is a diagram showing the configuration of a position detection system according to a second embodiment. 図１９は、実施の形態２に係る位置検知システムの動作を示すフローチャートである。FIG. 19 is a flowchart showing the operation of the position detection system according to the second embodiment. 図２０は、実施の形態２に係る位置検知処理のフローチャートである。FIG. 20 is a flowchart of position detection processing according to the second embodiment. 図２１は、実施の形態２に係る位置検知処理を説明するための図である。FIG. 21 is a diagram for explaining position detection processing according to the second embodiment. 図２２は、実施の形態２に係る位置検知処理を説明するための図である。FIG. 22 is a diagram for explaining position detection processing according to the second embodiment. 図２３は、実施の形態２に係る位置検知処理を説明するための図である。FIG. 23 is a diagram for explaining position detection processing according to the second embodiment. 図２４は、実施の形態２に係る位置検知処理を説明するための図である。FIG. 24 is a diagram for explaining position detection processing according to the second embodiment. 図２５は、実施の形態２に係る位置検知処理を説明するための図である。FIG. 25 is a diagram for explaining position detection processing according to the second embodiment.
　以下、実施の形態について、図面を参照しながら具体的に説明する。 Embodiments will be specifically described below with reference to the drawings.
　なお、以下で説明する実施の形態は、いずれも本発明の一具体例を示すものである。以下の実施の形態で示される数値、形状、材料、構成要素、構成要素の配置位置及び接続形態、ステップ、ステップの順序などは、一例であり、本発明を限定する主旨ではない。また、以下の実施の形態における構成要素のうち、最上位概念を示す独立請求項に記載されていない構成要素については、任意の構成要素として説明される。 Each embodiment described below shows one specific example of the present invention. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are merely examples, and the present invention is not limited thereto. Further, among the components in the following embodiments, components not described in the independent claim indicating the highest concept are described as arbitrary components.
　（実施の形態１）
　本実施の形態に係る位置検知システムでは、位置が既知の検知用機器を基準として無線子機の位置を検知し、検知された無線子機の位置を基準として次の無線子機の位置を検知する。これにより、当該位置検知システムは、検知用機器の数を低減できる。 Embodiment 1
In the position detection system according to the present embodiment, the position of the wireless slave is detected based on the detection device whose position is known, and the position of the next wireless slave is detected based on the detected position of the wireless slave Do. Thus, the position detection system can reduce the number of detection devices.
　まず、本実施の形態に係る位置検知システム１００の構成を説明する。図１は、本実施の形態に係る位置検知システム１００の概要を示す図である。 First, the configuration of the position detection system 100 according to the present embodiment will be described. FIG. 1 is a diagram showing an outline of a position detection system 100 according to the present embodiment.
　位置検知システム１００は、複数の対象物の位置（例えば保管位置）を検知するためのシステムである。位置検知システム１００は、検知用機器１０１及び１０２と、複数の無線子機１０３と、位置検知装置１０４とを備える。 The position detection system 100 is a system for detecting the positions (eg, storage positions) of a plurality of objects. The position detection system 100 includes detection devices 101 and 102, a plurality of wireless slaves 103, and a position detection device 104.
　複数の無線子機１０３の各々は、対象物に装着される。対象物は、例えば、非定型の大型物品であり、大型の重機、船舶、又は航空機等の部品用の金型等である。言い換えると、対象物は、例えば、標準化されていない物品である。例えば、対象物の大きさは数ｍ程度である。また、図１では簡略化しているが、対象物の個数（つまり無線子機１０３の数）は、例えば、数百個程度である。 Each of the plurality of wireless slaves 103 is attached to an object. The object is, for example, an atypical large-sized article, such as a large-sized heavy machine, a mold for a part such as a ship or an aircraft, or the like. In other words, the object is, for example, an unstandardized item. For example, the size of the object is about several meters. Moreover, although simplified in FIG. 1, the number of objects (that is, the number of wireless handsets 103) is, for example, several hundreds.
　なお、位置検知システム１００の使用用途は、上記に限定されず、任意の対象物の位置検知に利用できる。 The use application of the position detection system 100 is not limited to the above, and can be used for detecting the position of an arbitrary object.
　また、複数の対象物は、保管領域１０５に保管される。例えば、図１に示すように保管領域１０５は、ｘ方向に延びた領域である。また、本実施の形態では、複数の対象物の保管領域１０５におけるｘ方向の位置を検知する例を述べる。なお、保管領域１０５は、屋内に存在してもよいし、屋外に存在してもよい。 Also, a plurality of objects are stored in the storage area 105. For example, as shown in FIG. 1, the storage area 105 is an area extending in the x direction. Further, in the present embodiment, an example of detecting the position in the x direction in the storage area 105 of a plurality of objects will be described. In addition, the storage area 105 may exist indoors or may exist outdoors.
　また、図１では、簡単化のため、対象物がｘ方向に並んで配置されている例を示すが、その一部がｙ方向に並んで配置されてもよい。また、対象物は、直接、又は棚等を用いて、垂直方向（ｚ方向）に積載されてもよい。 Further, although FIG. 1 shows an example in which objects are arranged side by side in the x direction for simplification, a part of the objects may be arranged side by side in the y direction. Also, the objects may be loaded in the vertical direction (z direction) directly or by using a shelf or the like.
　図２は、無線子機１０３の構成を示すブロック図である。この無線子機１０３は、識別コード記憶部１１１と、制御部１１２と、無線通信部１１３と、電源部１１４とを備える。 FIG. 2 is a block diagram showing the configuration of the wireless slave device 103. As shown in FIG. The wireless slave device 103 includes an identification code storage unit 111, a control unit 112, a wireless communication unit 113, and a power supply unit 114.
　識別コード記憶部１１１は、当該無線子機１０３を一意に特定するための情報である識別コード１６１を記憶する。 The identification code storage unit 111 stores an identification code 161 which is information for uniquely identifying the wireless slave device 103.
　制御部１１２は、識別コード１６１を含む検知用信号１５１を、無線通信部１１３を介して、無線送信する。また、制御部１１２は、無線通信部１１３が他の無線子機１０３から送信された検知用信号１５１を受信した場合、受信した検知用信号１５１の受信電波強度を示す情報を含む通知信号１５２を生成し、無線通信部１１３を介して、送信する。また、制御部１１２は、他の無線子機１０３から送信された通知信号１５２を受信した場合、当該通知信号１５２を検知用機器１０１又は１０２に中継する機能を有する。 The control unit 112 wirelessly transmits the detection signal 151 including the identification code 161 via the wireless communication unit 113. Further, when the wireless communication unit 113 receives the detection signal 151 transmitted from the other wireless slave device 103, the control unit 112 transmits a notification signal 152 including information indicating the received radio wave strength of the received detection signal 151. It generates and transmits via the wireless communication unit 113. Further, the control unit 112 has a function of relaying the notification signal 152 to the detection device 101 or 102 when the notification signal 152 transmitted from the other wireless slave device 103 is received.
　無線通信部１１３は、検知用信号１５１及び通知信号１５２の送信及び受信を行う。検知用信号１５１及び通知信号１５２は、例えば、ＩＥＥＥ８０２．１５．４に準拠する無線信号であり、９２０ＭＨｚ帯、９５０ＭＨｚ帯又は２．４ＧＨｚ帯の無線信号である。なお、検知用信号１５１及び通知信号１５２に、ＬＰＷＡ（Ｌｏｗ　Ｐｏｗｅｒ，Ｗｉｄｅ　Ａｒｅａ）の無線信号が用いられてもよい。また、検知用信号１５１及び通知信号１５２は上記以外の任意の方式の無線信号であってもよい。また、検知用信号１５１と通知信号１５２とに異なる無線方式が用いられてもよい。 The wireless communication unit 113 transmits and receives the detection signal 151 and the notification signal 152. The detection signal 151 and the notification signal 152 are, for example, radio signals conforming to IEEE 802.15.4, and are radio signals of 920 MHz band, 950 MHz band or 2.4 GHz band. Note that radio signals of low power and wide area (LPWA) may be used for the detection signal 151 and the notification signal 152. Further, the detection signal 151 and the notification signal 152 may be wireless signals of any scheme other than the above. Also, different wireless schemes may be used for the detection signal 151 and the notification signal 152.
　電源部１１４は、当該無線子機１０３に電力を供給する電源であり、例えば、電池又はバッテリー等である。つまり、無線子機１０３は、外部からの電源供給を受けることなく、内部からの電源供給（又は内部で生成された電力）のみで動作可能である。 The power supply unit 114 is a power supply that supplies power to the wireless slave device 103, and is, for example, a battery or a battery. That is, the wireless slave device 103 can operate only with internal power supply (or internally generated power) without receiving external power supply.
　検知用機器１０１及び１０２は、位置が既知であり、例えば、図１に示すように保管領域１０５のｘ方向の両端に配置されている。図３は、検知用機器１０１及び１０２の構成を示すブロック図である。検知用機器１０１及び１０２は、識別コード記憶部１２１と、無線通信部１２２と、制御部１２３と、通信部１２４とを備える。 The detection devices 101 and 102 have known positions, and are disposed, for example, at both ends of the storage area 105 in the x direction as shown in FIG. FIG. 3 is a block diagram showing the configuration of the detection devices 101 and 102. As shown in FIG. The detection devices 101 and 102 each include an identification code storage unit 121, a wireless communication unit 122, a control unit 123, and a communication unit 124.
　識別コード記憶部１２１は、当該検知用機器１０１又は１０２を一意に特定するための情報である識別コード１６１を記憶する。 The identification code storage unit 121 stores an identification code 161 which is information for uniquely identifying the detection device 101 or 102.
　無線通信部１２２は、無線子機１０３から無線送信された検知用信号１５１及び通知信号１５２を受信するとともに、検知用信号１５１を送信する。 The wireless communication unit 122 receives the detection signal 151 and the notification signal 152 wirelessly transmitted from the wireless slave device 103, and transmits the detection signal 151.
　制御部１２３は、識別コード１６１を含む検知用信号１５１を、無線通信部１２２を介して、無線送信する。また、制御部１２３は、無線通信部１２２が他の無線子機１０３から送信された検知用信号１５１を受信した場合、受信した検知用信号１５１の受信電波強度を示す情報を含む通知信号１５３を生成し、通信部１２４を介して、位置検知装置１０４に送信する。また、制御部１２３は、無線子機１０３から送信された通知信号１５２を受信した場合、当該通知信号１５２を通知信号１５３として、通信部１２４を介して、位置検知装置１０４に送信する。 The control unit 123 wirelessly transmits the detection signal 151 including the identification code 161 via the wireless communication unit 122. In addition, when the wireless communication unit 122 receives the detection signal 151 transmitted from the other wireless slave device 103, the control unit 123 receives a notification signal 153 including information indicating the received radio wave strength of the received detection signal 151. It generates and transmits to the position detection device 104 via the communication unit 124. When the control unit 123 receives the notification signal 152 transmitted from the wireless slave device 103, the control unit 123 transmits the notification signal 152 as the notification signal 153 to the position detection device 104 via the communication unit 124.
　通信部１２４は、位置検知装置１０４と通信を行う。なお、検知用機器１０１及び１０２と位置検知装置１０４との通信方法は、特に限定されないが、例えば、公衆電話網、インターネット回線（無線或いは有線ＬＡＮ、又はＷｉ－Ｆｉ（登録商標）等を含む）、又は、独自の有線又は無線ネットワーク等を用いることができる。また、無線通信の方式は、検知用信号１５１の無線通信の方式と同一であってもよい。 The communication unit 124 communicates with the position detection device 104. The communication method between the detection devices 101 and 102 and the position detection device 104 is not particularly limited, but, for example, a public telephone network, an internet connection (including a wireless or wired LAN, Wi-Fi (registered trademark), etc.) Or, a unique wired or wireless network or the like can be used. Further, the wireless communication scheme may be the same as the wireless communication scheme of the detection signal 151.
　次に、位置検知装置１０４の構成を説明する。位置検知装置１０４は、対象物の位置を検知する。図４は、位置検知装置１０４の構成を示すブロック図である。位置検知装置１０４は、通信部１３１と、位置検知部１３２と、位置情報記憶部１３３と、表示部１３４とを備える。 Next, the configuration of the position detection device 104 will be described. The position detection device 104 detects the position of the object. FIG. 4 is a block diagram showing the configuration of the position detection device 104. As shown in FIG. The position detection device 104 includes a communication unit 131, a position detection unit 132, a position information storage unit 133, and a display unit 134.
　通信部１３１は、検知用機器１０１及び１０２から送信された通知信号１５３を受信する。 The communication unit 131 receives the notification signal 153 transmitted from the detection devices 101 and 102.
　位置情報記憶部１３３は、検知用機器１０１及び１０２の設置位置を示す位置情報１６２を記憶する。なお、この位置情報１６２は、ユーザの入力に基づき、予め設定されてもよいし、検知用機器１０１及び１０２がＧＰＳ等の位置検知部を備え、当該位置検知部で得られた位置情報が位置検知装置１０４に送信されてもよい。 The position information storage unit 133 stores position information 162 indicating the installation positions of the detection devices 101 and 102. The position information 162 may be set in advance based on the user's input, and the detection devices 101 and 102 each include a position detection unit such as a GPS, and the position information obtained by the position detection unit is a position. It may be sent to the sensing device 104.
　位置検知部１３２は、通知信号１５３に含まれる情報を用いて複数の対象物（無線子機１０３）の位置を検知する。表示部１３４は、検知された複数の対象物の位置を表示する。なお、複数の対象物の表示方法は任意でよい。例えば、二次元又は三次元のマップ配置図として複数の対象物の位置が表示されてもよい。 The position detection unit 132 detects the positions of a plurality of objects (wireless slaves 103) using the information included in the notification signal 153. The display unit 134 displays the positions of a plurality of detected objects. The display method of a plurality of objects may be arbitrary. For example, the positions of a plurality of objects may be displayed as a two-dimensional or three-dimensional map layout.
　なお、位置検知システム１００の構成は、図１に示す構成に限定されない。位置検知装置１０４の機能は、複数の装置により実現されてもよい。また、検知用機器１０１及び１０２の機能は、複数の装置により実現されてもよい。また、位置検知装置１０４の機能の少なくとも一部と、検知用機器１０１及び１０２の機能の少なくとも一部とが単一の装置により実現されてもよい。この場合、検知用機器１０１及び１０２と位置検知装置１０４との間の信号の伝達の少なくとも一部は、機器内で行われる。言い換えると、上述した通知信号１５３の伝達は、ネットワーク等を介した機器間の伝達に限らず、機器内の信号の伝達も含む。 The configuration of the position detection system 100 is not limited to the configuration shown in FIG. The function of the position detection device 104 may be realized by a plurality of devices. Also, the functions of the detection devices 101 and 102 may be realized by a plurality of devices. In addition, at least a part of the functions of the position detection device 104 and at least a part of the functions of the detection devices 101 and 102 may be realized by a single device. In this case, at least a portion of the transmission of signals between the sensing devices 101 and 102 and the position sensing device 104 takes place within the devices. In other words, the transmission of the notification signal 153 described above is not limited to the transmission between devices via a network or the like, but also includes the transmission of a signal in the device.
　以下、位置検知システム１００の動作を説明する。図５は、位置検知システム１００の動作を示すフローチャートである。 Hereinafter, the operation of the position detection system 100 will be described. FIG. 5 is a flowchart showing the operation of the position detection system 100.
　まず、位置検知装置１０４は、検知用機器１０１及び１０２、並びに複数の無線子機１０３間の通信状況を取得する。具体的には、位置検知装置１０４は、各機器における検知用信号１５１の受信電波強度を取得する（Ｓ１０１）。 First, the position detection device 104 acquires the communication status between the detection devices 101 and 102 and the plurality of wireless slaves 103. Specifically, the position detection device 104 acquires the received radio wave intensity of the detection signal 151 in each device (S101).
　各機器（検知用機器１０１及び１０２、並びに複数の無線子機１０３）は、例えば、所定の周期で検知用信号１５１を送信している。図６は、検知用信号１５１の構成を示す図である。図６に示すように検知用信号１５１は、当該検知用信号１５１の送信元の機器（無線子機１０３、検知用機器１０１又は１０２）を示す送信機器情報１６３を含む。送信機器情報１６３は、例えば、送信元の機器が保持する識別コード１６１である。 Each of the devices (the detection devices 101 and 102 and the plurality of wireless slave devices 103) transmits the detection signal 151 at a predetermined cycle, for example. FIG. 6 is a diagram showing the configuration of the detection signal 151. As shown in FIG. As shown in FIG. 6, the detection signal 151 includes transmission device information 163 indicating the device (the wireless slave device 103, the detection device 101 or 102) of the transmission source of the detection signal 151. The transmission device information 163 is, for example, an identification code 161 held by the transmission source device.
　他の機器から送信された検知用信号１５１を受信した無線子機１０３は、通知信号１５２を送信する。なお、無線子機１０３は、検知用信号１５１の受信電波強度が予め定められた閾値以上である場合に、通知信号１５２を送信してもよい。図７は、通知信号１５２の構成を示す図である。図７に示すように、通知信号１５２は、受信機器情報１６４と、受信情報１６５とを含む。 Upon receiving the detection signal 151 transmitted from another device, the wireless slave device 103 transmits a notification signal 152. The wireless slave device 103 may transmit the notification signal 152 when the received radio wave intensity of the detection signal 151 is equal to or greater than a predetermined threshold. FIG. 7 is a diagram showing the configuration of the notification signal 152. As shown in FIG. As shown in FIG. 7, the notification signal 152 includes receiving device information 164 and receiving information 165.
　受信機器情報１６４は、検知用信号１５１を受信した無線子機１０３を示し、例えば、当該無線子機１０３の識別コード１６１を示す。 The receiving device information 164 indicates the wireless slave device 103 that has received the detection signal 151, and indicates, for example, the identification code 161 of the wireless slave device 103.
　受信情報１６５は、受信した検知用信号１５１に関する情報であり、送信機器情報１６６と、受信電波強度情報１６７とを含む。送信機器情報１６６は、当該無線子機１０３で受信した検知用信号１５１の送信元の機器（無線子機１０３、検知用機器１０１又は１０２）を示し、例えば、送信元の機器の識別コード１６１である。受信電波強度情報１６７は、受信された検知用信号１５１の受信電波強度を示す。 The reception information 165 is information on the received detection signal 151, and includes transmission device information 166 and reception radio wave intensity information 167. The transmission device information 166 indicates the device (wireless slave device 103, detection device 101 or 102) of the transmission source of the detection signal 151 received by the wireless slave device 103; for example, the identification code 161 of the transmission source device is there. The received radio wave strength information 167 indicates the received radio wave strength of the received detection signal 151.
　また、無線子機１０３が複数の機器から送信された複数の検知用信号１５１を受信した場合には、通知信号１５２に、複数の受信情報１６５が含まれる。または、複数の通知信号１５２が送信される。 Further, when the wireless slave device 103 receives a plurality of detection signals 151 transmitted from a plurality of devices, the notification signal 152 includes a plurality of reception information 165. Alternatively, a plurality of notification signals 152 are transmitted.
　この通知信号１５２は、検知用機器１０１或いは１０２に直接、又は１以上の無線子機１０３を介して、伝達される。なお、複数の無線子機１０３により中継を行う手法は特に限定されず、任意の手法を用いてよい。例えば、ブロードキャスト送信を用いた中継処理が用いられてもよいし、複数の無線子機１０３に予め送信順序等が設定されていてもよい。また、この場合、通知信号１５２にはこれらの中継処理を実現するための制御情報等（図示せず）が含まれてもよい。 The notification signal 152 is transmitted to the detection device 101 or 102 directly or via one or more wireless slaves 103. The method of relaying by the plurality of wireless slaves 103 is not particularly limited, and any method may be used. For example, relay processing using broadcast transmission may be used, or a transmission order or the like may be set in advance for the plurality of wireless slave devices 103. Also, in this case, the notification signal 152 may include control information (not shown) for realizing the relay process.
　また、無線子機１０３は、中継の際に、受信した通知信号１５２をそのまま中継してもよいし、受信した通知信号１５２と自身が作成した通知信号１５２とを結合して送信してもよい。 Also, at the time of relaying, the wireless slave device 103 may relay the received notification signal 152 as it is, or may transmit the received notification signal 152 and the notification signal 152 generated by itself in combination. .
　また、検知用機器１０１及び１０２で生成される通知信号１５３の構成も同様である。 The configuration of the notification signal 153 generated by the detection devices 101 and 102 is also the same.
　また、ここでは、検知用機器１０１及び１０２のうち少なくとも一方が位置検知装置１０４との通信機能を有すればよい。例えば、検知用機器１０１が位置検知装置１０４との通信機能を有し、検知用機器１０２は、無線子機１０３と同様に、他の機器を介して、検知用機器１０１に通知信号１５３を伝達してもよい。 Furthermore, here, at least one of the detection devices 101 and 102 may have a communication function with the position detection device 104. For example, the detection device 101 has a communication function with the position detection device 104, and the detection device 102 transmits the notification signal 153 to the detection device 101 via the other device, similarly to the wireless slave device 103. You may
　また、通知信号１５２及び１５３の少なくとも一方は、専用の中継器（図示せず）を介して、位置検知装置１０４に送信されてもよい。この場合、無線子機１０３は、通知信号１５２を受信（中継）する機能を有さなくてもよい。また、通知信号１５２が検知用信号１５１として用いられてもよい。 Also, at least one of the notification signals 152 and 153 may be transmitted to the position detection device 104 via a dedicated relay (not shown). In this case, the wireless slave device 103 may not have the function of receiving (relaying) the notification signal 152. Also, the notification signal 152 may be used as the detection signal 151.
　図８は、無線子機１０３の配置例を示す図である。図９は、この場合において、位置検知装置１０４で取得される受信電波強度の一例を示す図である。図９に示すように、位置検知装置１０４は、各機器において、他の機器の各々から送信された検知用信号１５１の受信電波強度を示す情報を取得する。なお、図９において、受信電波強度＝０は、検知用信号１５１を受信できなかったことを示す。 FIG. 8 is a view showing an arrangement example of the wireless slave device 103. As shown in FIG. FIG. 9 is a diagram showing an example of the received radio wave intensity acquired by the position detection device 104 in this case. As shown in FIG. 9, the position detection device 104 acquires, in each device, information indicating the received radio wave intensity of the detection signal 151 transmitted from each of the other devices. In FIG. 9, received radio wave intensity = 0 indicates that the detection signal 151 could not be received.
　また、図９に示す受信電波強度は一例であり、受信電波強度は、単に受信できたか否かを示す情報であってもよいし、強い、弱い等、数段階の強度を示す情報であってもよい。 Also, the received radio wave strength shown in FIG. 9 is an example, and the received radio wave strength may be information simply indicating whether or not it could be received, or information indicating strengths of several levels such as strong or weak. It is also good.
　図５の説明に戻る。位置検知装置１０４は、受信電波強度を取得した後、順方向の位置検知処理を行う（Ｓ１０２）。 It returns to the explanation of FIG. After acquiring the received radio wave intensity, the position detection device 104 performs position detection processing in the forward direction (S102).
　図１０は、この位置検知処理のフローチャートである。まず、位置検知装置１０４は、開始機器（検知用機器１０１）に最も近い無線子機１０３を選択機器として選択する（Ｓ１１１）。つまり、選択機器は、検知用機器１０１における受信電波強度が最も高い検知用信号１５１の送信元の無線子機１０３である。具体的には、位置検知装置１０４は、検知用機器１０１から所定の距離内の範囲１０６内に含まれる無線子機１０３のうち、検知用機器１０１における受信電波強度が最も高い検知用信号１５１の送信元の無線子機１０３を選択する。つまり、検知用機器１０１における受信電波強度が閾値ＶＴ１以上の検知用信号１５１の送信元の無線子機１０３のうち、当該受信電波強度が最も高い検知用信号１５１の送信元の無線子機１０３が選択される。例えば、図１１に示す例では、無線子機ＩＤ１が選択機器として選択される。 FIG. 10 is a flowchart of this position detection process. First, the position detection device 104 selects the wireless slave device 103 closest to the start device (the detection device 101) as a selected device (S111). That is, the selected device is the wireless slave device 103 of the transmission source of the detection signal 151 having the highest received radio wave intensity in the detection device 101. Specifically, the position detection device 104 is configured such that among the wireless slaves 103 included in the range 106 within a predetermined distance from the detection device 101, the detection signal 151 having the highest received radio wave intensity in the detection device 101 is used. The wireless handset 103 of the transmission source is selected. That is, among the wireless slave devices 103 of the transmission source of the detection signal 151 having the received radio wave intensity at the threshold VT1 or more in the detection device 101, the wireless slave device 103 of the transmission source of the detection signal 151 having the highest received radio wave intensity is It is selected. For example, in the example shown in FIG. 11, the wireless slave device ID1 is selected as the selected device.
　なお、原理的に受信電波強度は距離の二乗に反比例することを用いて２つの機器間の距離が求められる。よって、２つの機器の一方における他方からの信号の受信電波強度と、２つの機器の他方における一方からの信号の受信電波強度とのいずれかを用いても距離を判定できる。ここでは、いずれか一方における受信電波強度を用いる例を説明するが、他方の受信電波強度を用いて同様の判定が行えることは言うまでもない。例えば、上記では検知用機器１０１における受信電波強度を用いる例を述べているが、検知用機器１０１から送信された検知用信号１５１の無線子機１０３における受信電波強度を用いても同様の判定が行える。 In principle, the distance between the two devices can be obtained using the fact that the received radio wave intensity is inversely proportional to the square of the distance. Therefore, the distance can be determined using either the received radio wave intensity of the signal from the other of the two devices or the received radio wave intensity of the signal from the other of the two devices. Here, although the example which uses the received radio wave intensity in any one is demonstrated, it can not be overemphasized that the same judgment can be performed using the other received radio wave intensity. For example, although an example in which the received radio wave intensity in the detection device 101 is used is described above, the same determination can be made using the received radio wave intensity in the wireless slave device 103 of the detection signal 151 transmitted from the detection device 101. It can do.
　ただし実際には、電波を反射する物体が周囲に存在することで原理通りにはならない。よって、両方の受信電波強度を用いて判定を行うことで、より正確な距離を判定できる。 However, in practice, the presence of an object that reflects radio waves around does not follow the principle. Therefore, a more accurate distance can be determined by performing determination using both received radio wave intensities.
　次に、位置検知装置１０４は、選択機器から所定の距離内の範囲１０７に含まれる無線子機１０３を検知機器群としてグループ化する（Ｓ１１２）。つまり、検知機器群は、選択機器における受信電波強度が閾値ＶＴ２以上の検知用信号１５１の送信元の無線子機１０３である。例えば、図１２に示す例では、無線子機ＩＤ１とＩＤ２とがグループ１に分類される。 Next, the position detection device 104 groups the wireless slaves 103 included in the range 107 within a predetermined distance from the selected device as a detection device group (S112). That is, the detection device group is the wireless child device 103 of the transmission source of the detection signal 151 having the received radio wave intensity at the selected device equal to or higher than the threshold VT2. For example, in the example shown in FIG. 12, the wireless slaves ID1 and ID2 are classified into group 1.
　次に、位置検知装置１０４は、範囲１０７内に終了機器（検知用機器１０２）が存在するかを判定する（Ｓ１１３）。つまり、検知用機器１０２から送信された検知用信号１５１の選択機器における受信電波強度が閾値ＶＴ２以上であるかを判定する。 Next, the position detection device 104 determines whether an end device (detection device 102) exists in the range 107 (S113). That is, it is determined whether the received radio wave intensity in the selected device of the detection signal 151 transmitted from the detection device 102 is equal to or higher than the threshold VT2.
　範囲１０７内に終了機器（検知用機器１０２）が存在しない場合（Ｓ１１３でＮｏ）、位置検知装置１０４は、グループ化されていない未グループ化機器のうち、直前に選択されたグループに含まれる機器に最も近い機器を選択機器として選択する（Ｓ１１４）。つまり、選択機器は、グループ１に含まれる機器における受信電波強度のうち最も高い受信器電波強度の検知用信号１５１の送信元の無線子機１０３である。具体的には、図１３に示すように、位置検知装置１０４は、グループ１に含まれる無線子機ＩＤ１及びＩＤ２から所定の距離内の範囲１０８内に含まれる無線子機ＩＤ３及びＩＤ４のうち、無線子機ＩＤ１又はＩＤ２における受信電波強度が最も高い無線子機ＩＤ３を選択する。つまり、無線子機ＩＤ１又はＩＤ２における受信電波強度が閾値ＶＴ３以上の検知用信号１５１の送信元の無線子機１０３のうち、当該受信電波強度が最も高い検知用信号１５１の送信元の無線子機ＩＤ３が選択される。 When the end device (detection device 102) does not exist in the range 107 (No in S113), the position detection device 104 is a device included in the group selected immediately before among the ungrouped devices that are not grouped. The device closest to is selected as the selected device (S114). That is, the selected device is the wireless slave device 103 of the transmission source of the detection signal 151 of the receiver radio wave intensity among the received radio wave intensities in the devices included in the group 1. Specifically, as shown in FIG. 13, the position detection device 104 is configured to set the wireless slaves ID3 and ID4 included in the range 108 within a predetermined distance from the wireless slaves ID1 and ID2 included in the group 1 The wireless slave device ID3 having the highest received radio wave strength in the wireless slave device ID1 or ID2 is selected. That is, among the wireless slave devices 103 of the transmission source of the detection signal 151 with the received radio wave intensity in the wireless slave device ID1 or ID2 of the threshold VT3 or more, the wireless slave device of the transmission source of the detection signal 151 with the highest received radio wave intensity ID3 is selected.
　次に、位置検知装置１０４は、選択機器（無線子機ＩＤ３）から所定の距離内の範囲１０７に含まれる未グループ化機器を検知機器群としてグループ化する（Ｓ１１２）。例えば、図１４に示す例では、無線子機ＩＤ３～ＩＤ５がグループ２に分類される。 Next, the position detection device 104 groups the ungrouped devices included in the range 107 within a predetermined distance from the selected device (wireless slave device ID 3) as a detected device group (S112). For example, in the example shown in FIG. 14, the wireless slaves ID3 to ID5 are classified into group 2.
　なお、ここでは、図１１及び図１２に示すように、選択機器を選択する処理（図１１）と、グループ化処理（図１２）とを個別に行っているが、これらを一括して行ってもよい。例えば、図１１に示す範囲１０６に含まれる無線子機１０３をグループ１としてグループ化してもよい。同様に、図１３及び図１４に示す処理を一括して行ってもよい。例えば、図１３に示す範囲１０８に含まれる未グループ化機器をグループ２としてグループ化してもよい。 Here, as shown in FIGS. 11 and 12, the process of selecting a selected device (FIG. 11) and the grouping process (FIG. 12) are separately performed, but these are collectively performed. It is also good. For example, the wireless slaves 103 included in the range 106 illustrated in FIG. 11 may be grouped as a group 1. Similarly, the processes shown in FIGS. 13 and 14 may be performed collectively. For example, ungrouped devices included in the range 108 illustrated in FIG. 13 may be grouped as a group 2.
　この一連の処理が、範囲１０７内に終了機器（検知用機器１０２）が含まれるまで繰り返される。例えば、上記の処理が繰り返されることで、図１５に示すようにグループ１～グループ５が設定される。また、図１５に示す状態において、範囲１０７内に終了機器（検知用機器１０２）が含まれる（Ｓ１１３でＹｅｓ）。 This series of processing is repeated until the end device (the detection device 102) is included in the range 107. For example, by repeating the above process, groups 1 to 5 are set as shown in FIG. Further, in the state shown in FIG. 15, the end device (the detection device 102) is included in the range 107 (Yes in S113).
　次に、位置検知装置１０４は、各グループ１～５の位置を推定する（Ｓ１１５）。具体的には、位置検知装置１０４は、開始機器（検知用機器１０１）と終了機器（検知用機器１０２）との間に、複数のグループが検知された順にｘ方向に等間隔で配置されているものと仮定し、各グループの位置を算出する。つまり、位置検知装置１０４は、開始機器と終了機器との間に、各グループの中心が等間隔に配置されるように、各グループの位置を決定する。 Next, the position detection device 104 estimates the positions of the groups 1 to 5 (S115). Specifically, the position detection devices 104 are arranged at equal intervals in the x direction in the order in which a plurality of groups are detected between the start device (the detection device 101) and the end device (the detection device 102). Calculate the position of each group, assuming that That is, the position detection device 104 determines the position of each group so that the centers of the groups are equally spaced between the start device and the end device.
　図１７に示す位置（順方向）は、この場合の各グループの位置の推定結果の一例を示す図である。なお、図１７では、ｘ方向の位置のみが推定されている。また、検知用機器１０１の位置が「０」であり、検知用機器１０２の位置が「１００」である場合の例を示す。図１７に示すように、グループに含まれる複数の無線子機１０３には同一の位置が推定される。 The position (forward direction) illustrated in FIG. 17 is a diagram illustrating an example of the estimation result of the position of each group in this case. In FIG. 17, only the position in the x direction is estimated. Further, an example in which the position of the detection device 101 is “0” and the position of the detection device 102 is “100” is shown. As shown in FIG. 17, the same position is estimated for the plurality of wireless slaves 103 included in the group.
　なお、ここでは、位置検知装置１０４は、複数のグループが等間隔に配置されていると仮定し、各グループの位置を算出しているが、これ以外の方法が用いられてもよい。例えば、受信電波強度に基づき、グループ間の距離を補正してもよい。例えば、位置検知装置１０４は、選択機器の受信電波強度に応じて、受信電波強度が強いほど、グループ間の距離が短くなるように補正を行ってもよい。 Here, the position detection device 104 calculates the positions of each group on the assumption that a plurality of groups are arranged at equal intervals, but other methods may be used. For example, the distance between groups may be corrected based on the received radio wave strength. For example, the position detection device 104 may perform the correction so that the distance between the groups becomes shorter as the received radio wave strength becomes stronger according to the received radio wave strength of the selected device.
　このように、位置検知装置１０４は、開始機器及び終了機器の位置と、各グループ（検知機器群）が何回目の検知処理で検知されたグループであるかとに基づき、各グループの位置を推定する。 As described above, the position detection device 104 estimates the position of each group based on the positions of the start device and the end device and the number of times each group (detection device group) is a detected group. .
　なお、ここでは、選択機器を基準とした範囲１０７内に終了機器が含まれる場合には処理を終了する例を述べたが、範囲１０８内に終了機器のみが含まれる場合に処理を終了してもよい。また、範囲１０８内又は範囲１０７内に終了機器が含まれる場合には、位置検知装置１０４は、範囲１０８内又は範囲１０７に含まれる無線子機１０３をグループ化してもよし、グループ化しなくてもよい。例えば、位置検知装置１０４は、範囲１０８に終了機器と１以上の未グループ化機器とが含まれる場合に、当該１以上の未グループ化機器をグループ化したうえで、処理を終了してもよい。また、後述するように対象物が行列状に配置されている場合には、終了機器の周辺において他の行の対象物が検知される可能性がある。終了機器が検知された場合にグループ化を行わないことで、他の行の対象物が検知されることを抑制できる。 Here, an example is described in which the processing is ended when the ending device is included in the range 107 based on the selected device, but the processing is ended when only the ending device is included in the range 108. It is also good. In addition, when the end device is included in the range 108 or 107, the position detection device 104 may group the wireless slaves 103 included in the range 108 or 107 without the grouping. Good. For example, when the range 108 includes an end device and one or more ungrouped devices, the position detection device 104 may end the process after grouping the one or more ungrouped devices. . Further, as described later, when the objects are arranged in a matrix, there is a possibility that objects in another row may be detected around the end device. By not performing grouping when an end device is detected, it is possible to suppress detection of objects in other rows.
　図５の説明に戻る。位置検知装置１０４は、ステップＳ１０２において順方向の位置検知処理を行った後、逆方向の位置検知処理を行う（Ｓ１０３）。逆方向の位置検知処理では、順方向の位置検知処理とは逆に、検知用機器１０２が開始機器であり、検知用機器１０１が終了機器として用いられる。なお、位置検知処理の詳細はステップＳ１０２と同様であり説明は省略する。 It returns to the explanation of FIG. After performing position detection processing in the forward direction in step S102, the position detection device 104 performs position detection processing in the reverse direction (S103). In the reverse position detection process, the detection device 102 is the start device and the detection device 101 is the end device, contrary to the forward position detection process. The details of the position detection process are the same as in step S102, and the description thereof is omitted.
　この逆方向の検知処理により、例えば、図１６に示すようにグループ６～グループ１０が設定される。また、図１７の位置（逆方向）に示すように、各グループの位置が推定される。なお、図１７では、順方向のグループ化により得られたグループ数と、逆方向のグループ化により得られたグループ数とが等しい例を示すが、これらは異なってもよい。 In the reverse direction detection process, for example, groups 6 to 10 are set as shown in FIG. Also, as shown in the position (reverse direction) of FIG. 17, the position of each group is estimated. Although FIG. 17 illustrates an example in which the number of groups obtained by the forward grouping is equal to the number of groups obtained by the reverse grouping, these may be different.
　最後に、位置検知装置１０４は、ステップＳ１０２で推定した順方向の位置と、ステップＳ１０３で推定した逆方向の位置とを用いて、各無線子機１０３の位置を算出する（Ｓ１０４）。例えば、位置検知装置１０４は、図１７の位置（最終）に示すように、順方向の位置と逆方向の位置との平均値を最終の位置として算出する。 Finally, the position detection device 104 calculates the position of each wireless slave unit 103 using the position in the forward direction estimated in step S102 and the position in the reverse direction estimated in step S103 (S104). For example, as illustrated in the position (final) of FIG. 17, the position detection device 104 calculates an average value of the forward position and the reverse position as the final position.
　以上により、本実施の形態に係る位置検知システム１００は、２つの検知用機器１０１及び１０２を用いて複数の対象物（無線子機１０３）の位置を検知できる。ここで、例えば、複数の無線子機１０３のうち少なくとも一つは、検知用機器１０１の無線通信範囲と検知用機器１０２の無線通信範囲とのいずれにも含まれない。言い換えると、保管領域１０５は、検知用機器１０１の無線通信範囲と検知用機器１０２の無線通信範囲とのいずれにも含まれない区間が存在する。例えば、図８に示すように、検知用機器１０１と検知用機器１０２との距離をＬとし、検知用機器１０１及び１０２の無線通信可能距離をＤとすると、Ｌは２×Ｄよりも長い。 As described above, the position detection system 100 according to the present embodiment can detect the positions of a plurality of objects (wireless slaves 103) using the two detection devices 101 and 102. Here, for example, at least one of the plurality of wireless slave devices 103 is not included in any of the wireless communication range of the detection device 101 and the wireless communication range of the detection device 102. In other words, the storage area 105 includes a section which is not included in either the wireless communication range of the detection device 101 or the wireless communication range of the detection device 102. For example, as shown in FIG. 8, assuming that the distance between the detecting device 101 and the detecting device 102 is L and the wireless communicable distance of the detecting devices 101 and 102 is D, L is longer than 2 × D.
　このように、検知用機器１０１及び１０２の両方と通信不可な無線子機１０３が存在する場合であっても、本実施の形態の手法を用いることで、当該無線子機１０３の位置を他の無線子機１０３を介して間接的に検知することができる。 As described above, even when there is a wireless slave device 103 that can not communicate with both of the detection devices 101 and 102, the position of the wireless slave device 103 can be changed by using the method according to the present embodiment. It can be detected indirectly via the wireless handset 103.
　なお、上述したように、非定型の大型物品等を管理する場合には、各対象物の位置を高精度に管理しておく必要は必ずしもなく、大まかな位置が管理できればよい。本実施の形態の手法を用いることで、例えば、このようなシステムにおいて、検知用機器の数を削減しつつ、各対象物の位置を検知できる。 Note that, as described above, in the case of managing atypical large articles, etc., it is not necessary to manage the position of each object with high accuracy, and it is sufficient to manage a rough position. By using the method of the present embodiment, for example, in such a system, it is possible to detect the position of each object while reducing the number of detection devices.
　なお、上記説明では、順方向の検知処理と逆方向の検知処理とが行われる例を述べたが、いずれか一方のみが行われてもよい。 In the above description, although the example in which the forward detection process and the reverse detection process are performed has been described, only one of them may be performed.
　また、上記説明では、終了機器が検知された場合に検知処理のループを終了する例を述べたが、他の方法により検知処理を終了してもよい。例えば、位置検知装置１０４は、選択機器が存在しない場合（受信電波強度が閾値ＶＴ２以上の機器が存在しない場合）に、処理を終了してもよい。または、位置検知装置１０４は、配置されている全ての無線子機１０３の数又は識別コード１６１等を予め把握しており、全ての無線子機１０３がグループ化された場合に処理を終了してもよい。また、このように終了機器を用いた判定を行わない場合には、位置検知システム１００に含まれる検知用機器は１つでもよい。 In the above description, although the example in which the detection processing loop is ended when the end device is detected, the detection processing may be ended by another method. For example, the position detection device 104 may end the process when there is no selected device (when there is no device whose received radio wave intensity is higher than or equal to the threshold VT2). Alternatively, the position detection device 104 grasps in advance the number of all the wireless slaves 103 or the identification code 161 etc., and ends the process when all the wireless slaves 103 are grouped. It is also good. When the determination using the end device is not performed as described above, the number of detection devices included in the position detection system 100 may be one.
　また、上記説明では、選択機器を基準としてグループ化を行う例を述べたが、対象物が比較的離れて配置される場合等には、グループ化を行わなくてもよい。つまり、位置検知装置１０４は、選択機器に最も近い未グループ化機器を次の選択機器として選択してもよい。 Further, although the example in which grouping is performed based on the selected device has been described in the above description, grouping may not be performed when objects are relatively separated and disposed. That is, the position detection device 104 may select an ungrouped device closest to the selected device as the next selected device.
　また、図１１～図１３等に示す範囲１０６～１０８は同じ広さであってもよいし、異なる広さであってもよい。つまり、上述した閾値ＶＴ１～ＶＴ３は、同一の値であってもよいし、異なってもよい。 Further, the ranges 106 to 108 shown in FIGS. 11 to 13 may be the same size or different sizes. That is, the above-described threshold values VT1 to VT3 may be the same value or different values.
　また、図１０に示すステップＳ１１１～Ｓ１１４の処理は、検知用機器１０１及び複数の無線子機１０３に含まれる基準機器と、検知用機器１０１及び複数の無線子機１０３に含まれる基準機器以外の１以上の対象機器との通信状況に基づき、基準機器を基準とした対象範囲に位置する１以上の無線子機１０３である検知機器群を検知する検知処理を繰り返し行う処理である。ここで通信状況とは、２つの機器間における一方の機器における他方の機器から送信された無線信号（検知用信号１５１）の受信電波強度、及び、他方の機器における一方の機器から送信された無線信号（検知用信号１５１）の受信電波強度の少なくとも一方である。 Further, the processing in steps S111 to S114 shown in FIG. 10 is performed using the reference device included in the detection device 101 and the plurality of wireless slave devices 103 and the reference device included in the detection device 101 and the plurality of wireless slave devices 103. This is processing for repeatedly performing detection processing for detecting a group of detection devices, which are one or more wireless slave devices 103 located in a target range based on the reference device, based on the communication status with the one or more target devices. Here, the communication status refers to the received radio wave intensity of the wireless signal (the detection signal 151) transmitted from the other device in one device between the two devices, and the wireless signal transmitted from the one device in the other device. This is at least one of the received radio wave intensities of the signal (signal for detection 151).
　この場合、１回目の検知処理（Ｓ１１１からＳ１１２）では、基準機器は検知用機器１０１である。また、２回目以降の検知処理（Ｓ１１４からＳ１１２）では、基準機器は、直前の検知処理で検知された検知機器群に含まれ、１以上の対象機器は、複数の無線子機１０３のうち当該検知処理より前の検知処理において検知された検知機器群を除く無線子機１０３（未グループ化機器）である。 In this case, in the first detection process (S111 to S112), the reference device is the detection device 101. In the second and subsequent detection processes (S114 to S112), the reference device is included in the detection device group detected in the immediately preceding detection process, and one or more target devices are relevant among the plurality of wireless slave devices 103. It is the wireless slave device 103 (ungrouped device) excluding the detection device group detected in the detection process prior to the detection process.
　位置検知装置１０４は、検知用機器１０１の位置と、各検知機器群が何回目の検知処理で検知された検知機器群であるかに基づき、各検知機器群の第１位置を推定する。 The position detection device 104 estimates the first position of each detection device group based on the position of the detection device 101 and on which detection device group each detection device group has been detected in the detection process.
　これにより、位置検知システム１００は、位置が既知である検知用機器１０１を基準として検知した無線子機１０３を基準として、次の無線子機１０３を検知できる。これにより、検知用機器の数を低減できる。 Thus, the position detection system 100 can detect the next wireless slave device 103 based on the wireless slave device 103 detected based on the detection device 101 whose position is known. This can reduce the number of detection devices.
　また、終了機器（検知用機器１０２）が対象範囲１０７に含まれるまで、検知処理が繰り返し行われる。位置検知装置１０４は、検知用機器１０１及び１０２の位置と、各検知機器群が何回目の検知処理で検知された検知機器群であるかに基づき、各検知機器群の第１位置を推定する推定処理を行う。 Further, the detection processing is repeatedly performed until the end device (the detection device 102) is included in the target range 107. The position detection device 104 estimates the first position of each detection device group based on the positions of the detection devices 101 and 102 and on which detection device group each detection device group has been detected in the detection process. Perform estimation processing.
　これにより、２つの検知用機器１０１及び１０２を用いることで、検知の終了判定を容易に行うことができるとともに、位置検知の精度を向上できる。 Thus, by using the two detection devices 101 and 102, it is possible to easily determine the end of detection and improve the accuracy of position detection.
　また、位置検知装置１０４は、順方向の位置検知処理（第１処理）と、逆方向の位置検知処理（第２処理）とを行う。第１処理では、１回目の検知処理の基準機器は検知用機器１０１（第１検知用機器）であり、位置検知装置１０４は、検知用機器１０２（第２検知用機器）が対象範囲１０７に含まれるまで、検知処理を繰り返し行う。第２処理では、１回目の検知処理の基準機器は検知用機器１０２（第２検知用機器）であり、位置検知装置１０４は、検知用機器１０１（第１検知用機器）が対象範囲１０７に含まれるまで、検知処理を繰り返し行う。また、第１処理に含まれる２回目以降の検知処理では、１以上の対象機器は、複数の無線子機１０３のうち、当該第１処理に含まれる、当該検知処理より前の検知処理において検知された検知機器群を除く無線子機１０３（未グループ化機器）である。また、第２処理に含まれる２回目以降の検知処理では、１以上の対象機器は、複数の無線子機１０３のうち、当該第２処理に含まれる、当該検知処理より前の検知処理において検知された検知機器群を除く無線子機１０３（未グループ化機器）である。 The position detection device 104 also performs forward position detection processing (first processing) and reverse position detection processing (second processing). In the first process, the reference device of the first detection process is the detection device 101 (first detection device), and in the position detection device 104, the detection device 102 (second detection device) is in the target range 107. Repeat detection process until it is included. In the second process, the reference device of the first detection process is the detection device 102 (second detection device), and in the position detection device 104, the detection device 101 (first detection device) is in the target range 107. Repeat detection process until it is included. In the second and subsequent detection processes included in the first process, one or more target devices are detected in the detection process before the detection process included in the first process among the plurality of wireless slave devices 103. It is a wireless slave device 103 (ungrouped device) excluding the detected device group. In the second and subsequent detection processes included in the second process, one or more target devices are detected in the detection process prior to the detection process included in the second process among the plurality of wireless slave devices 103. It is a wireless slave device 103 (ungrouped device) excluding the detected device group.
　位置検知装置１０４は、検知用機器１０１及び１０２の位置と、第１処理において、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、各検知機器群の第１位置（順方向の位置）を推定する。位置検知装置１０４は、検知用機器１０１及び１０２の位置と、第２処理において、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、各検知機器群の第２位置（逆方向の位置）を推定する。そして、位置検知装置１０４は、第１位置と第２位置とに基づき、各検知機器群に含まれる各無線子機１０３の位置（最終の位置）を推定する。 The position detection device 104 detects the positions of the detection devices 101 and 102 and the number of detection devices detected in the first processing in the first processing. 1 Estimate the position (forward position). The position detection device 104 detects the positions of the detection devices 101 and 102 and the number of detection devices detected in the second processing in the second processing. 2 Estimate the position (position in the reverse direction). Then, the position detection device 104 estimates the position (final position) of each wireless slave device 103 included in each detection device group based on the first position and the second position.
　これによれば、複数回の検知結果に基づき位置を推定することで位置検知の精度を向上できる。 According to this, it is possible to improve the accuracy of position detection by estimating the position based on a plurality of detection results.
　また、各検知処理において、位置検知装置１０４は、基準機器と対象機器との通信状況に基づき、対象機器のうち基準機器から第１距離内（範囲１０６又は１０８内）に位置する選択機器を検知する。例えば、位置検知装置１０４は、基準機器から第１距離内に位置する最も基準機器に近い対象機器を選択機器として選択する。位置検知装置１０４は、選択機器と、選択機器以外の対象機器との通信状況に基づき、選択機器から第２距離内（範囲１０７内）に位置する対象機器を特定し、特定した対象機器と、選択機器とを、検知機器群として検知する。 In each detection process, the position detection device 104 detects a selected device located within a first distance (within the range 106 or 108) from the reference device among the target devices based on the communication status between the reference device and the target device. Do. For example, the position detection device 104 selects, as a selected device, a target device located closest to the reference device and located within a first distance from the reference device. The position detection device 104 identifies the target device located within the second distance (within the range 107) from the selected device based on the communication status between the selected device and the target device other than the selected device, and the specified device; The selected device is detected as a detection device group.
　これにより、近傍に位置する複数の対象物の位置を一括して管理できるとともに、位置検知の処理量を低減できる。 Thereby, while being able to manage collectively the position of the several target object located in the vicinity, the processing amount of position detection can be reduced.
　（実施の形態２）
　本実施の形態では、対象物がｘｙ方向に配置される場合の動作について説明する。 Second Embodiment
In the present embodiment, an operation when an object is arranged in the xy direction will be described.
　図１８は、本実施の形態に係る位置検知システム１００Ａの構成例を示す図である。図１８に示すように位置検知システム１００Ａでは、複数行の保管領域１０５（１０５Ａ～１０５Ｃ）が設けられており、各保管領域１０５に複数の対象物（無線子機１０３）が配置されている。なお、図１８では、保管領域１０５が３行からなる例を示すが、行の数は任意でよい。 FIG. 18 is a diagram showing a configuration example of a position detection system 100A according to the present embodiment. As shown in FIG. 18, in the position detection system 100A, a plurality of rows of storage areas 105 (105A to 105C) are provided, and in each storage area 105, a plurality of objects (wireless slaves 103) are arranged. Although FIG. 18 shows an example in which the storage area 105 includes three lines, the number of lines may be arbitrary.
　また、各行の保管領域１０５に対して、検知用機器１０１（１０１Ａ～１０１Ｃ）と１０２（１０２Ａ～１０２Ｃ）とが設けられている。なお、図１８では、位置検知装置１０４の記載を省略している。 Further, for the storage area 105 of each row, detection devices 101 (101A to 101C) and 102 (102A to 102C) are provided. In FIG. 18, the position detection device 104 is omitted.
　図１９は、本実施の形態に係る位置検知システム１００Ａの動作を示すフローチャートである。位置検知システム１００Ａでは、行単位で繰り返し、実施の形態１で説明した検知処理が行われる。ただし、検知処理において他の行の無線子機１０３が選択されるケースがあるため、実施の形態１で説明した処理に加え、この場合に対する動作が追加されている。なお、図１８に示すように各行の保管領域１０５の間には、通路等の空間が設けられている。これにより、対象物が密に配置されている場合には同一行内の無線子機１０３が順次選択されることになる。また、無線子機１０３が同一方向側（例えば通路側）に配置されるように、複数の対象物が保管されてもよい。これにより、位置検知の精度を向上できる。 FIG. 19 is a flowchart showing the operation of the position detection system 100A according to the present embodiment. In the position detection system 100A, the detection process described in the first embodiment is performed repeatedly on a row basis. However, since there is a case where the wireless slave device 103 in another row is selected in the detection process, an operation for this case is added to the process described in the first embodiment. As shown in FIG. 18, a space such as a passage is provided between the storage areas 105 of each row. As a result, when the objects are densely arranged, the wireless slaves 103 in the same row are sequentially selected. In addition, a plurality of objects may be stored such that the wireless slaves 103 are arranged in the same direction (for example, the aisle side). This can improve the accuracy of position detection.
　まず、実施の形態１と同様に、位置検知装置１０４は、検知用機器１０１Ａ～１０１Ｃ及び１０２Ａ～１０２Ｃ、並びに複数の無線子機１０３間の通信状況を取得する。具体的には、位置検知装置１０４は、各機器における検知用信号１５１の受信電波強度を取得する（Ｓ１２１）。 First, as in the first embodiment, the position detection device 104 acquires the communication status between the detection devices 101A to 101C and 102A to 102C and the plurality of wireless slaves 103. Specifically, the position detection device 104 acquires the received radio wave intensity of the detection signal 151 in each device (S121).
　次に、位置検知装置１０４は、処理対象の行を選択する（Ｓ１２２）。そして、位置検知装置１０４は、選択した行に対して順方向の位置検知処理を行う（Ｓ１２３）。 Next, the position detection device 104 selects a row to be processed (S122). Then, the position detection device 104 performs position detection processing in the forward direction on the selected row (S123).
　図２０は、位置検知処理（Ｓ１２３）のフローチャートである。まず、位置検知装置１０４は、開始機器（検知用機器１０１）から第１範囲１０６内に無線子機１０３が存在するかを判定する（Ｓ１３１）。位置検知装置１０４は、第１範囲１０６内に無線子機１０３が存在する場合（Ｓ１３１でＹｅｓ）、実施の形態１と同様に、開始機器に最も近い無線子機１０３を選択機器として選択する（Ｓ１３２）。 FIG. 20 is a flowchart of the position detection process (S123). First, the position detection device 104 determines whether the wireless slave device 103 exists in the first range 106 from the start device (the detection device 101) (S131). When the wireless slave device 103 exists in the first range 106 (Yes in S131), the position detection device 104 selects the wireless slave device 103 closest to the start device as the selected device, as in the first embodiment ( S132).
　一方、第１範囲１０６内に無線子機１０３が存在しない場合（Ｓ１３１でＮｏ）、位置検知装置１０４は、開始機器（検知用機器１０１）から第２範囲１０６Ａ内に他の行で未選択の機器が存在するかを判定する（Ｓ１３３）。ここで、第２範囲１０６Ａは第１範囲１０６より広い。つまり、第２範囲１０６Ａの判定には、第１範囲１０６の判定よりも低い閾値が用いられる。 On the other hand, when the wireless slave device 103 does not exist in the first range 106 (No in S131), the position detection device 104 has not been selected in another row in the second range 106A from the start device (device 101 for detection). It is determined whether there is a device (S133). Here, the second range 106A is wider than the first range 106. That is, for the determination of the second range 106A, a threshold lower than the determination of the first range 106 is used.
　第２範囲１０６Ａ内に他の行で未選択の機器が存在する場合（Ｓ１３３でＹｅｓ）、位置検知装置１０４は、該当機器のうち、開始機器に最も近い無線子機１０３を選択機器として選択する（Ｓ１３４）。 When there is an unselected device in another row in the second range 106A (Yes in S133), the position detection device 104 selects the wireless slave device 103 closest to the start device as the selected device among the corresponding devices. (S134).
　図２１は、この動作を説明するための図であり、２行目の検知処理の開始時の例を示す。この場合、開始機器（検知用機器１０１Ｂ）の第１範囲１０６には無線子機１０３が存在せず、第２範囲１０６Ａに無線子機１０３Ａ、１０３Ｂ及び１０３Ｃの３つの機器が存在する。また、検知用機器１０１Ｂからの距離は、無線子機１０３Ａ、１０３Ｂ、１０３Ｃの順に遠くなっている（受信電波強度が低くなっている）。また、１行目の検知処理において、無線子機１０３Ａは選択済み（グループ化済み）である。よって、他の行で選択されていない無線子機１０３Ｂ及び１０３Ｃのうち、より検知用機器１０１Ｂに近い無線子機１０３Ｂが選択される。 FIG. 21 is a diagram for explaining this operation, and shows an example at the start of the detection process on the second line. In this case, the wireless slave device 103 does not exist in the first range 106 of the start device (the detection device 101B), and three devices of the wireless slave devices 103A, 103B and 103C exist in the second range 106A. Further, the distances from the detection device 101B are greater in the order of the wireless slaves 103A, 103B, and 103C (the received radio wave strength is lower). Further, in the detection processing of the first line, the wireless slave device 103A is already selected (grouped). Therefore, the wireless slave device 103B closer to the detection device 101B is selected among the wireless slave devices 103B and 103C not selected in the other row.
　この処理により、位置検知装置１０４は、第１範囲１０６内に無線子機１０３が存在しない場合であっても、選択機器を選択することができる。よって、検知処理が完了しないケースの発生を抑制できる。また、他の行で選択済みの機器を除外することで、既に検知済みの処理と同じ処理が繰り返し実行されることを抑制できる。 By this processing, the position detection device 104 can select the selected device even when the wireless slave device 103 does not exist in the first range 106. Therefore, the occurrence of the case where the detection process is not completed can be suppressed. Further, by excluding the device selected in another row, it is possible to suppress repeated execution of the same processing as the processing already detected.
　なお、第１範囲１０６内に無線子機１０３が存在しない場合に、一旦当該行の処理を終了し、全ての行の処理が終了した後に、再度当該行の処理を行ってもよい。これにより、後続の行で選択された機器が、対象行の選択機器として選択されることを回避できるので、より、対象行の機器が選択されやすくなる。 When the wireless slave device 103 does not exist in the first range 106, the processing of the row may be ended once, and after the processing of all the rows is ended, the processing of the row may be performed again. This prevents the device selected in the subsequent row from being selected as the selected device in the target row, and thus makes it easier to select the device in the target row.
　次に、実施の形態１と同様に、位置検知装置１０４は、選択機器から所定の距離内の範囲１０７に含まれる無線子機１０３を検知機器群としてグループ化する（Ｓ１３５）。次に、位置検知装置１０４は、範囲１０７内に終了機器（検知用機器１０２）が存在するかを判定する（Ｓ１３６）。範囲１０７内に終了機器（検知用機器１０２）が存在する場合（Ｓ１３６でＹｅｓ）、実施の形態１と同様に、位置検知装置１０４は、各グループの位置を推定する（Ｓ１４２）。なお、終了機器は、開始機器と同一行に配置されている検知用機器１０２に限らず、検知用機器１０２Ａ～１０２Ｃのいずれかが検知された場合に、検知処理が終了する。なお、範囲１０７内に複数の終了機器（検知用機器１０２）が含まれる場合には、位置検知装置１０４は、当該複数の終了機器のうち、受信電波強度が閾値以上であり、かつ、最も受信電波強度が高い終了機器を終端側の機器として用いて、各グループの位置を推定する。 Next, as in the first embodiment, the position detection device 104 groups the wireless slaves 103 included in the range 107 within a predetermined distance from the selected device as a detection device group (S135). Next, the position detection device 104 determines whether the end device (the detection device 102) exists in the range 107 (S136). If there is an end device (detection device 102) in the range 107 (Yes in S136), the position detection device 104 estimates the position of each group (S142) as in the first embodiment. The end device is not limited to the detection device 102 arranged in the same row as the start device, and the detection process ends when any of the detection devices 102A to 102C is detected. When a plurality of end devices (detection devices 102) are included in the range 107, the position detection device 104 has a received radio wave strength equal to or higher than the threshold among the plurality of end devices, and is most received. The position of each group is estimated using an end device with high radio field intensity as the end device.
　一方、範囲１０７内に終了機器が存在しない場合（Ｓ１３６でＮｏ）、範囲１０７内に他の行の開始機器（検知用機器１０１）が存在するかを判定する（Ｓ１３７）。範囲１０７内に他の行の開始機器が存在する場合（Ｓ１３７でＹｅｓ）、位置検知装置１０４は、対象行の検知処理を終了する。このケースは、検知対象が他の行に移行し、かつ、開始機器側に戻るように検知が進んだ場合である。この場合には、検知用機器１０１の位置を用いて、各グループの位置を正しく推定できないので、位置推定の処理は行われない。 On the other hand, when there is no end device in the range 107 (No in S136), it is determined whether there is a start device (detection device 101) in another row in the range 107 (S137). If there is a start device of another row in the range 107 (Yes in S137), the position detection device 104 ends the detection process of the target row. In this case, the detection target is shifted to another row, and detection proceeds to return to the start device. In this case, since the position of each group can not be correctly estimated using the position of the detection device 101, the process of position estimation is not performed.
　一方、範囲１０７内に他の行の開始機器が存在しない場合（Ｓ１３７でＮｏ）、位置検知装置１０４は、直前に選択されたグループに含まれる機器から所定の距離内の第３範囲１０８内に、対象行の検知処理においてグループ化されていない未グループ化機器が存在するかを判定する（Ｓ１３８）。第３範囲１０８内に未グループ機器が存在する場合（Ｓ１３８でＹｅｓ）、実施の形態１と同様に、位置検知装置１０４は、該当機器のうち直前に選択されたグループに含まれる機器に最も近い機器を選択機器として選択する（Ｓ１３９）。 On the other hand, when there is no start device of another row in the range 107 (No in S137), the position detection device 104 is in the third range 108 within a predetermined distance from the devices included in the group selected immediately before. It is determined whether there is an ungrouped device that is not grouped in the target row detection process (S138). When there are ungrouped devices in the third range 108 (Yes in S138), as in the first embodiment, the position detection device 104 is closest to the devices included in the group selected immediately before among the corresponding devices. The device is selected as the selected device (S139).
　一方、第３範囲１０８内に未グループ機器が存在しない場合（Ｓ１３８でＮｏ）、位置検知装置１０４は、直前の検知処理の選択機器を変更可能かを判定する（Ｓ１４０）。変更可能と判定された場合（Ｓ１４０でＹｅｓ）、位置検知装置１０４は、直前のグループを解除し、直前の選択機器を変更する（Ｓ１４１）。一方、変更可能でない場合（Ｓ１４０でＮｏ）、位置検知装置１０４は処理を終了する。 On the other hand, when there is no ungrouped device in the third range 108 (No in S138), the position detection device 104 determines whether the selected device of the immediately preceding detection process can be changed (S140). If it is determined that the change is possible (Yes in S140), the position detection device 104 cancels the group immediately before and changes the selected device immediately before (S141). On the other hand, when the change is not possible (No in S140), the position detection device 104 ends the process.
　例えば、図２２に示す例では、無線子機１０３Ｃが選択機器として選択され、グループ３が設定される。しなしながら、グループ３に対する範囲１０８には未グループ化機器が含まれない。この場合、位置検知装置１０４は、グループ３を解除し、選択機器を再選択する。具体的には、図２３に示すように、グループ２に対する範囲１０８に含まれる機器のうち、選択済みの選択機器（無線子機１０３Ｃ）の次にグループ２に含まれる機器に近い無線子機１０３Ｄが選択機器として選択される。 For example, in the example illustrated in FIG. 22, the wireless slave device 103C is selected as a selection device, and group 3 is set. However, the range 108 for group 3 does not include ungrouped devices. In this case, the position detection device 104 cancels group 3 and reselects the selected device. Specifically, as shown in FIG. 23, among the devices included in the range 108 for group 2, the wireless handset 103D closer to the device included in group 2 next to the selected device (wireless handset 103C) that has already been selected Is selected as the selected device.
　このように選択機器の選択をやり直すことで、検知処理が完了しないケースの発生を低減できる。なお、選択機器のやり直しを行った状態において、選択機器を選択できないケースが発生した場合には、位置検知装置１０４は、過去に選択した選択機器以外を新たな選択機器として選択する。また、位置検知装置１０４は、直前の選択機器を変更できない場合には、さらに前の処理まで遡り、新たな選択機器を選択する。なお、位置検知装置１０４は、過去に選択機器を選択できないケースが発生した全ての状態において、受信電波強度が最も高い機器を選択機器として選択しなおしてもよい。 By reselecting the selected device in this manner, it is possible to reduce the occurrence of cases in which the detection process is not completed. When a case where the selected device can not be selected occurs in a state where the selected device is redone, the position detection device 104 selects a device other than the selected device selected in the past as a new selected device. When the position detection device 104 can not change the last selected device, the position detection device 104 further traces back to the previous process and selects a new selected device. Note that the position detection device 104 may reselect the device with the highest received radio wave intensity as the selected device in all the cases where the case where the selected device can not be selected has occurred in the past.
　また、ステップＳ１３９又はＳ１４１の後、新たに選択された選択機器に対してステップＳ１３５以降の処理が行われる。 Also, after step S139 or S141, the processing of step S135 and thereafter is performed on the newly selected selected device.
　以上により、複数のグループが設定されるとともに、各グループの位置が検知される。 Thus, a plurality of groups are set, and the position of each group is detected.
　なお、図２０では、開始機器を基準として選択機器が選択できない場合に、検知範囲を広げる（Ｓ１３３、Ｓ１３４）例を述べたが、同様の処理を、直前の選択グループを基準として選択機器を選択する場合に用いてもよい。 In FIG. 20, when the selected device can not be selected based on the starting device, an example is described in which the detection range is expanded (S133, S134). However, similar processing is performed based on the previous selected group. You may use it when you
　また、図２０では、他の開始機器が検知された場合（Ｓ１３７でＹｅｓ）に、処理を終了するとしたが、処理を終了するのではなく、ステップＳ１４０と同様に、選択機器の選択をやり直してもよい。 Further, in FIG. 20, the processing is ended when another starting device is detected (Yes in S137), but the processing is not ended, but the selection of the selected device is redone as in step S140. It is also good.
　また、図２０では、選択機器を基準とした範囲１０７内に終了機器が含まれる場合には処理を終了する例を述べたが、終了機器のみが範囲１０８に含まれる場合に処理を終了してもよい。同様に、他の行の開始機器が範囲１０８に含まれる場合に処理を終了してもよい。 Further, in FIG. 20, an example is described in which the process is ended when the end apparatus is included in the range 107 based on the selected apparatus, but the process is ended when only the end apparatus is included in the range 108. It is also good. Similarly, the process may end when the starting device of another row is included in the range 108.
　また、本実施の形態では、図２４に示すように、開始機器（検知用機器１０１Ａ）と異なる行の終了機器（検知用機器１０２Ｂ）が検知され、検知処理が終了する場合がある。この場合、位置検知装置１０４は、例えば、複数のグループ１～６が検知用機器１０１Ａと検知用機器１０２Ｂとの間に位置すると仮定して、各グループの位置を推定する。よって、図２４に示す位置Ａ～Ｆのように各グループの位置は、二次元位置を示す。 Further, in the present embodiment, as shown in FIG. 24, an end device (detection device 102B) in a row different from the start device (detection device 101A) may be detected, and the detection process may end. In this case, the position detection device 104 estimates the position of each group, for example, assuming that the plurality of groups 1 to 6 are located between the detection device 101A and the detection device 102B. Therefore, the position of each group indicates a two-dimensional position, as in positions A to F shown in FIG.
　図１９の説明に戻る。順方向の位置検知処理（Ｓ１２３）の後、位置検知装置１０４は、逆方向の位置検知処理（Ｓ１２４）を行う。つまり、開始機器として検知用機器１０２Ａが用いられる。なお、この処理の詳細は、ステップＳ１２３と同様であるため省略する。 It returns to the explanation of FIG. After the forward direction position detection process (S123), the position detection device 104 performs a reverse direction position detection process (S124). That is, the detection device 102A is used as the start device. The details of this process are the same as those in step S123 and thus will not be described.
　また、順方向の位置検知処理（Ｓ１２３）と逆方向の位置検知処理（Ｓ１２４）とが、全ての行に対して行われる（Ｓ１２５）。 In addition, forward position detection processing (S123) and reverse position detection processing (S124) are performed on all the rows (S125).
　全ての行に対する位置検知処理が終了すると（Ｓ１２５でＹｅｓ）、位置検知装置１０４は、複数の位置検知処理で推定された各無線子機１０３の位置を用いて、最終の無線子機１０３の位置を算出する（Ｓ１２６）。例えば、位置検知装置１０４は、実施の形態１と同様に、複数の位置の平均値を最終の位置として算出する。なお、位置検知装置１０４は、複数の位置の中央値を用いてもよいし、重み付け加算平均を用いてもよい。例えば、位置検知装置１０４は、検知処理の繰り返し回数が少ない推定位置ほど重みを大きくしてもよいし、開始機器と同じ行の終了機器が検知された場合の推定位置の重みを大きくてもよい。 When the position detection process for all the rows is completed (Yes in S125), the position detection device 104 uses the positions of the respective wireless slaves 103 estimated by the plurality of position detection processes to determine the final position of the wireless slave 103 Is calculated (S126). For example, as in the first embodiment, the position detection device 104 calculates an average value of a plurality of positions as the final position. The position detection device 104 may use a median of a plurality of positions or may use a weighted average. For example, the position detection device 104 may increase the weight as the estimated position decreases the number of repetitions of the detection process, or may increase the weight of the estimated position when the end device in the same row as the start device is detected. .
　以上により、位置検知装置１０４は、二次元状に配置された複数の無線子機１０３の位置を検知できる。 As described above, the position detection device 104 can detect the positions of the plurality of wireless slaves 103 arranged in a two-dimensional manner.
　なお、上記説明では、他の行の終了機器が検知された場合にも位置推定を行う例を述べたが、位置検知装置１０４は、他の行の終了機器が検知された場合には、検知処理を終了し、位置推定を行わなくてもよい。または、位置検知装置１０４は、上述した選択機器の選択をやり直す処理を行ってもよい。 In the above description, although an example in which position estimation is performed even when an end device in another row is detected, the position detection device 104 detects when an end device in another row is detected. It is not necessary to finish the process and to perform position estimation. Alternatively, the position detection device 104 may perform the process of reselecting the selected device described above.
　また、位置検知処理が完了した際に、位置推定ができていない無線子機１０３である未確定子機が存在する場合には、位置検知装置１０４は、以下の処理により、未確定子機の位置を推定してもよい。例えば、位置検知装置１０４は、未確定子機から送信された検知用信号１５１に対する最も高い受信電波強度が閾値以上である場合には、当該最も高い受信電波強度の無線子機１０３と同一グループに未確定子機を割り当てる。また、位置検知装置１０４は、上記最も高い受信電波強度が閾値未満の場合には、未確定子機から送信された検知用信号１５１を受信した１又は複数の無線子機１０３の推定位置に基づき、未確定子機の位置を推定する。例えば、位置検知装置１０４は、未確定子機が、検知用信号１５１を受信した３つの無線子機１０３の位置と受信電波強度とを用いて未確定子機の位置を推定する。または、位置検知装置１０４は、未確定子機が、検知用信号１５１を受信した１つの無線子機１０３から所定の距離範囲であり、かつ、他の無線子機１０３が存在しない範囲に位置すると推定する。 When the position detection process is completed, if there is an undetermined slave device which is the wireless slave device 103 for which the position estimation has not been performed, the position detection device 104 performs the following process to obtain the undetermined slave device. The position may be estimated. For example, when the highest received radio wave intensity for the detection signal 151 transmitted from the undetermined child device is equal to or greater than the threshold, the position detection device 104 is in the same group as the wireless child device 103 with the highest received radio wave intensity. Assign an indeterminate handset. Also, when the highest received radio wave intensity is less than the threshold, the position detection device 104 is based on the estimated position of the one or more wireless slaves 103 that have received the detection signal 151 transmitted from the undetermined slave. , Estimate the position of the undetermined handset. For example, the position detection device 104 uses the positions of the three wireless slaves 103 that have received the detection signal 151 and the received radio wave intensities to estimate the position of the undetermined slave. Alternatively, it is assumed that the position detection device 104 is positioned within a predetermined distance range from one wireless slave device 103 which has received the detection signal 151 and there is no other wireless slave device 103 present. presume.
　このように、位置検知装置１０４は、異なる検知用機器１０１を１回目の基準機器として用いた、複数回の第１処理（例えば行毎の位置検知処理）を行う。位置検知装置１０４は、複数回の第１処理の各々において、複数の検知用機器１０２のいずれかが対象範囲１０７に含まれるまで、検知処理を繰り返し行う。各第１処理に含まれる２回目以降の検知処理では、１以上の対象機器は、複数の無線子機１０３のうち、当該第１処理に含まれる、当該検知処理より前の検知処理において検知された検知機器群を除く無線子機１０３（未グループ化機器）である。また、各第２処理に含まれる２回目以降の検知処理では、１以上の対象機器は、複数の無線子機１０３のうち、当該第２処理に含まれる、当該検知処理より前の検知処理において検知された検知機器群を除く無線子機１０３（未グループ化機器）である。位置検知装置１０４は、各第１処理に対して、当該第１処理において１回目の基準機器（開始機器）として用いた検知用機器１０１の位置と、対象範囲１０７に含まれた検知用機器１０２の位置と、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、各検知機器群の第１位置を推定する。位置検知装置１０４は、複数回の第１処理に対して推定された、各検知機器群の複数の第１位置を用いて、各検知機器群に含まれる各無線子機１０３の位置を推定する。 As described above, the position detection device 104 performs a plurality of first processing (for example, position detection processing for each row) using different detection devices 101 as the first reference device. The position detection device 104 repeatedly performs the detection process until any of the plurality of detection devices 102 is included in the target range 107 in each of the plurality of first processes. In the second and subsequent detection processes included in each first process, one or more target devices are detected in the detection process prior to the detection process included in the first process among the plurality of wireless slave devices 103 It is a wireless slave device 103 (ungrouped device) excluding the detected device group. In the second and subsequent detection processes included in each second process, one or more target devices are included in the second process among the plurality of wireless slave devices 103 in the detection process prior to the detection process. It is a wireless slave device 103 (ungrouped device) excluding the detected detection device group. The position detection device 104 detects, for each first process, the position of the detection device 101 used as the first reference device (starting device) in the first process and the detection device 102 included in the target range 107. The first position of each detection device group is estimated on the basis of the position of each detection device group and the detection device group detected in the second detection process. The position detection device 104 estimates the position of each wireless slave unit 103 included in each detection device group using the plurality of first positions of each detection device group estimated for the plurality of first processes. .
　これにより、複数回の検知結果に基づき位置を推定することで位置検知の精度を向上できる。また、広範囲に配置された対象物の位置を検知できる。 Thus, the position detection accuracy can be improved by estimating the position based on a plurality of detection results. Also, the position of an object placed in a wide range can be detected.
　また、位置検知装置１０４は、１回目の検知処理の基準機器を、互いに異なる検知用機器１０２に設定し、検知用機器１０１のいずれかが対象範囲１０７に含まれるまで、検知処理を繰り返し行う第２処理を複数回行う。位置検知装置１０４は、各第２処理に対して、当該第２処理において１回目の基準機器として用いた検知用機器１０２の位置と、対象範囲１０７に含まれた検知用機器１０１の位置と、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、各検知機器群の第２位置を推定する。位置検知装置１０４は、複数回の第１処理に対して推定された、各検知機器群の複数の第１位置と、複数回の第２処理に対して推定された、各検知機器群の複数の第２位置とを用いて、各検知機器群に含まれる各無線子機１０３の位置を推定する。 Further, the position detection device 104 sets the reference device of the first detection process as different detection devices 102, and repeatedly performs the detection process until any of the detection devices 101 is included in the target range 107. 2 Perform the process multiple times. For each second process, the position detection apparatus 104 detects the position of the detection apparatus 102 used as the first reference apparatus in the second process, the position of the detection apparatus 101 included in the target range 107, and The second position of each detection device group is estimated based on how many detection devices are detected in the detection processing of each detection device group. The position detection device 104 detects a plurality of first positions of each detection device group estimated for a plurality of first processes and a plurality of detection device groups estimated for a plurality of second processes. The position of each wireless slave unit 103 included in each detection device group is estimated using the second position of.
　これにより、複数回の検知結果に基づき位置を推定することで位置検知の精度を向上できる。 Thus, the position detection accuracy can be improved by estimating the position based on a plurality of detection results.
　また、位置検知装置１０４は、基準機器から第１距離内（範囲１０８内）に位置する対象機器が存在しない場合、終了済みの検知処理における選択機器を変更し、再度、検知処理を行う。これによれば、位置検知が行えないケースの発生を低減できる。 Further, when there is no target device located within the first distance (within the range 108) from the reference device, the position detection device 104 changes the selected device in the detection processing that has been completed, and performs the detection processing again. According to this, it is possible to reduce the occurrence of the case where position detection can not be performed.
　また、上記説明（図１０のＳ１１１、Ｓ１１４、図２０のＳ１３２及びＳ１３９）では、範囲１０８内に位置する対象機器のうち、開始機器又は直前の選択グループに最も近い対象機器を選択機器として選択する例を述べたが、位置検知装置１０４は、範囲１０８内に位置する対象機器のうち、終了機器に最も近い対象機器を選択機器として選択してもよい。具体的には、位置検知装置１０４は、範囲１０８内に位置する対象機器と終了機器との通信状況に基づき、終了機器に最も近い対象機器を判定する。 Further, in the above description (S111 and S114 in FIG. 10, and S132 and S139 in FIG. 20), the target device closest to the starting device or the immediately preceding selected group is selected as the selected device among the target devices located within the range 108. Although the example has been described, the position detection device 104 may select the target device closest to the end device among the target devices located in the range 108 as the selected device. Specifically, the position detection device 104 determines the target device closest to the end device based on the communication status between the target device located in the range 108 and the end device.
　これにより、終了機器に近づくようにグループ化処理を進めることができる。これにより、処理が正しく終了しないケースの発生を抑制できる。また、検知領域内にランダムに対象物が配置されている場合においても、正しく処理を完了しやすくできる。 Thereby, the grouping process can be advanced to approach the end device. This makes it possible to suppress the occurrence of the case in which the process is not completed properly. In addition, even when an object is randomly arranged in the detection area, the processing can be easily completed correctly.
　なお、終了機器が複数存在する場合には、複数の終了機器との複数の距離のうち最も近い距離が、上記判定に用いられてもよいし、指定された一つの終了機器（例えば、開始機器と同一の行に配置されている終了機器）との距離が用いられてもよい。 When there are a plurality of end devices, the closest distance among the plurality of distances to the plurality of end devices may be used for the determination, or one specified end device (for example, the start device) And the distance between the end equipment and the end equipment arranged in the same row may be used.
　また、範囲１０８内に、終了機器と通信可能な対象機器が存在しない場合、又は、終了機器との通信状況が予め定められた基準以上の対象機器が存在しない場合には、位置検知装置１０４は、範囲１０８内に位置する対象機器のうち、開始機器又は直前の選択グループに最も近い対象機器を選択機器として選択してもよい。 If there is no target device in the range 108 that can communicate with the end device, or if there is no target device whose communication status with the end device is equal to or above a predetermined level, the position detection device 104 Among the target devices located in the range 108, the target device closest to the starting device or the immediately preceding selected group may be selected as the selected device.
　また、位置検知装置１０４は、１回目の検知処理（Ｓ１１１、Ｓ１３２）では、上述した実施の形態と同様に、開始機器に最も近い対象機器を選択機器として選択し、２回目以降の検知処理（Ｓ１１４、Ｓ１３９）において、範囲１０８内に位置する対象機器のうち、終了機器に最も近い対象機器を選択機器として選択してもよい。 Further, in the first detection process (S111, S132), the position detection apparatus 104 selects the target device closest to the start device as the selected device as in the embodiment described above, and performs the second and subsequent detection processes ( In S114 and S139), among the target devices located in the range 108, the target device closest to the end device may be selected as the selected device.
　また、位置検知装置１０４は、直前の選択グループに含まれる複数の無線子機１０３を基準とした範囲１０８に含まれる対象機器から選択機器を選択する代わりに、直前の選択機器を基準とした範囲に含まれる対象機器から選択機器を選択してもよい。つまり、位置検知装置１０４は、直前の選択機器から所定の範囲内に位置する対象機器のうち、終了機器に最も近い対象機器を選択機器として選択してもよい。 In addition, instead of selecting the selected device from the target devices included in the range 108 based on the plurality of wireless slaves 103 included in the immediately preceding selection group, the position detection device 104 performs the range based on the immediately preceding selected device. The selected device may be selected from the target devices included in. That is, the position detection device 104 may select the target device closest to the end device as the selected device among the target devices located within the predetermined range from the immediately preceding selected device.
　また、位置検知装置１０４は、選択機器を選択する処理と、グループ化処理とを一括して行ってもよい。例えば、図１３に示す範囲１０８に含まれる未グループ化機器をグループ２としてグループ化してもよい。この場合、次に、位置検知装置１０４は、グループ２に含まれる無線子機１０３のうち、終了機器に最も近い無線子機１０３を基準した所定範囲（例えば範囲１０８）内の未グループ化機器を、次のグループ３としてグループ化する。位置検知装置１０４は、以降同様の処理を繰り返し、複数のグループを設定する。 In addition, the position detection device 104 may collectively perform the process of selecting a selected device and the grouping process. For example, ungrouped devices included in the range 108 illustrated in FIG. 13 may be grouped as a group 2. In this case, next, the position detection device 104 sets ungrouped devices within a predetermined range (for example, the range 108) based on the wireless slave device 103 closest to the end device among the wireless slave devices 103 included in the group 2. , Group as the next group 3. The position detection device 104 repeats the same processing thereafter to set a plurality of groups.
　このように、位置検知システム１００は、第１処理に含まれる２回目以降の検知処理において、基準機器と対象機器との通信状況、及び終了機器（第２検知用機器）と対象機器との通信状況、に基づき、対象機器のうち、基準機器から第１距離内に位置し、かつ、第終了機器に最も近い選択機器を検知し、選択機器と、選択機器以外の対象機器との通信状況に基づき、選択機器から第２距離内に位置する対象機器を特定し、特定した対象機器と、選択機器とを、検知機器群として検知する。 Thus, in the second and subsequent detection processes included in the first process, the position detection system 100 communicates the communication status between the reference device and the target device, and the communication between the termination device (second detection device) and the target device. Based on the situation, among the target devices, the selected device located within the first distance from the reference device and closest to the end device is detected, and the communication status between the selected device and the target devices other than the selected device is detected. Based on the selected device, the target device located within the second distance is specified, and the specified target device and the selected device are detected as a detection device group.
　なお、対象物に装着される無線子機１０３とは別に、無線子機１０３と同機能を有するダミー子機が用いられてもよい。ダミー子機を用いることで、対象物の数が少ない場合でもあっても位置検知ロジックを正常に動作させることができる。 A dummy slave having the same function as the wireless slave 103 may be used separately from the wireless slave 103 attached to the object. By using the dummy slave unit, it is possible to operate the position detection logic normally even when the number of objects is small.
　つまり、位置検知システム１００は、さらに、無線信号の送信及び受信を行うダミー子機を含む。位置検知装置１０４は、第１処理において、検知用機器１０１、複数の無線子機１０３及びダミー子機に含まれる基準機器と、検知用機器１０１、複数の無線子機１０３及びダミー子機に含まれる基準機器以外の１以上の対象機器との通信状況に基づき、基準機器を基準とした対象範囲に位置する１以上の無線子機１０３又はダミー子機である検知機器群を検知する。２回目以降の検知処理では、１以上の対象機器は、複数の無線子機１０３及びダミー子機のうち当該検知処理より前の検知処理において検知された検知機器群を除く無線子機１０３又はダミー子機である。 That is, the position detection system 100 further includes a dummy slave that transmits and receives a wireless signal. The position detection device 104 is included in the detection device 101, the plurality of wireless slave devices 103 and the reference device included in the dummy slave device, and the detection device 101, the plurality of wireless slave devices 103 and the dummy slave device in the first process. Based on the communication status with one or more target devices other than the reference device to be detected, the detection device group which is one or more wireless slave devices 103 or dummy slave devices located in the target range based on the reference device is detected. In the second and subsequent detection processes, one or more target devices are the wireless child device 103 or the dummy excluding the detection device group detected in the detection process prior to the detection process among the plurality of wireless child devices 103 and dummy child devices It is a child machine.
　さらに、ダミー子機の位置が既知であってもよい。これにより、ダミー子機を含むグループの位置を高精度に推定できるので、位置検知の精度を向上できる。具体的には、位置検知装置１０４は、開始機器の位置とダミー子機の位置とを用いて、開始機器からダミー子機までの間に検知された各グループの位置を推定する。また、位置検知装置１０４は、ダミー子機の位置と終了機器の位置とを用いて、ダミー子機から終了機器までの間に検知された各グループの位置を推定する。 Furthermore, the position of the dummy slave may be known. Thus, the position of the group including the dummy slaves can be estimated with high accuracy, so that the accuracy of position detection can be improved. Specifically, the position detection device 104 estimates the position of each group detected between the start device and the dummy slave device, using the position of the start device and the position of the dummy slave device. Further, the position detection device 104 estimates the position of each group detected between the dummy slave and the finisher using the position of the dummy slave and the position of the finisher.
　つまり、ダミー子機の位置は既知であり、位置検知装置１０４は、推定処理において、検知用機器１０１及びダミー子機の位置と、各検知機器群が何回目の検知処理で検知された検知機器群であるかに基づき、各検知機器群の第１位置を推定する。また、位置が既知のダミー子機が検知用機器として用いられてもよい。 That is, the position of the dummy slave unit is known, and the position detection device 104 detects the positions of the detection device 101 and the dummy slave unit in the estimation process, and the detection devices detected in each detection device group in the first detection process The first position of each detection device group is estimated based on whether it is a group. In addition, a dummy slave device whose position is known may be used as a detection device.
　また、位置検知装置１０４は、検知機器群のグループ化処理の完了後に、検知機器群内での各無線子機１０３の詳細な位置を推定してもよい。例えば、位置検知装置１０４は、処理対象の検知機器群、及び当該検知機器群に隣接する検知機器群に含まれる複数の無線子機１０３間の通信状況（受信電波強度）に基づき、処理対象の検知機器群内の無線子機１０３の詳細な位置を推定する。 In addition, the position detection device 104 may estimate the detailed position of each wireless slave device 103 in the detection device group after the grouping process of the detection device group is completed. For example, the position detection device 104 may process the target device based on the detection device group to be processed and the communication status (received radio wave strength) between the plurality of wireless slaves 103 included in the detection device group adjacent to the detection device group. The detailed position of the wireless handset 103 in the detection device group is estimated.
　例えば、位置検知装置１０４は、処理対象の検知機器群に含まれる無線子機１０３と、当該検知機器群に隣接する検知機器群に含まれる複数の無線子機１０３との間の通信状況に基づき、処理対象の検知機器群内の両端の無線子機１０３である両端子機を判定する。具体的には、隣接する検知機器群との受信電波強度が最も高い無線子機１０３が端部に位置すると判定される。これにより、各検知機器群の両端子機が判定される。 For example, the position detection device 104 is based on the communication status between the wireless slave device 103 included in the processing target detection device group and the plurality of wireless slave devices 103 included in the detection device group adjacent to the detection device group. Then, both terminals which are wireless slaves 103 at both ends in the processing target detection device group are determined. Specifically, it is determined that the wireless slave device 103 having the highest received signal strength with the adjacent detection device group is located at the end. Thereby, both terminals of each detection device group are determined.
　次に、位置検知装置１０４は、複数の検知機器群に含まれる複数の両端子機、及び位置が既知の機器（検知用機器１０１或いは１０２、又は詳細な位置を推定済み或いは位置が既知の無線子機１０３等）における受信電波強度の比に基づき、各両端子機の位置を推定する。例えば、図２５に示すように、位置検知装置１０４は、互いに隣接する両端子機又は検知用機器１０１或いは１０２の間の通信状況（受信電波強度Ｖ０１～０９）と、検知用機器１０１と検知用機器１０２との間の距離Ｌとを用いて、各両端子機が検知用機器１０１と検知用機器１０２との間のどの場所に位置するかを推定する。具体的には、上述したように、原理的には受信電波強度は距離の二乗に反比例する。また、複数の両端子機、及び検知用機器１０１並びに１０２のうち、互いに隣接する機器の間の距離の合計は、検知用機器１０１と検知用機器１０２との間の距離Ｌに等しいと仮定する。位置検知装置１０４は、これらの関係を用いて、隣接する機器間の距離、及び、各両端子機の位置を推定できる。 Next, the position detection device 104 includes a plurality of terminals included in a plurality of detection device groups, and a device whose position is known (the detection device 101 or 102, or a wireless device whose detailed position has been estimated or whose position is known). The position of each terminal is estimated based on the ratio of the received radio wave intensity in the child device 103). For example, as shown in FIG. 25, the position detection device 104 is used to detect communication conditions (received radio wave strengths V01 to 09) between two adjacent terminal devices or detection devices 101 or 102 adjacent to each other, and for detection devices 101 and By using the distance L to the device 102, it is estimated where each of the terminals is located between the detection device 101 and the detection device 102. Specifically, as described above, in principle the received radio wave intensity is inversely proportional to the square of the distance. In addition, it is assumed that the sum of the distances between the plurality of both terminals and the devices adjacent to each other among the detection devices 101 and 102 is equal to the distance L between the detection device 101 and the detection device 102. . The position detection device 104 can use these relationships to estimate the distance between adjacent devices and the position of each terminal.
　なお、位置検知装置１０４は、隣接しない機器間の通信状況（例えば、受信電波強度Ｖ１０、Ｖ１１等）を用いることで、位置検知の精度を向上できる。例えば、上記推定において、検知用機器１０１とグループ１の左端の無線子機１０３との間の受信電波強度Ｖ０１、及びグループ１の左端の無線子機１０３と右端の無線子機１０３との間の受信電波強度Ｖ０２の代わりに、検知用機器１０１とグループ１の右端の無線子機１０３との間の受信電波強度Ｖ１０を用いることもできる。よって、位置検知装置１０４は、複数の受信電波強度の組み合わせを用いて、各両端子機の位置を複数回推定する。そして、位置検知装置１０４は、得られた複数の推定位置を用いて最終の位置を推定する。例えば、位置検知装置１０４は、得られた複数の推定位置の平均を最終の位置として算出する。 The position detection device 104 can improve the accuracy of position detection by using the communication status (for example, received radio wave intensity V10, V11, etc.) between non-adjacent devices. For example, in the above estimation, the received radio wave intensity V01 between the detection device 101 and the wireless handset 103 at the left end of group 1, and between the wireless handset 103 at the left end of group 1 and the wireless handset 103 at the right end. Instead of the received radio wave intensity V02, the received radio wave intensity V10 between the detection device 101 and the wireless slave device 103 at the right end of the group 1 can also be used. Therefore, the position detection device 104 estimates the position of each of the terminal units a plurality of times using a combination of a plurality of received radio wave intensities. Then, the position detection device 104 estimates the final position using the plurality of estimated positions obtained. For example, the position detection device 104 calculates the average of the plurality of obtained estimated positions as the final position.
　次に、位置検知装置１０４は、検知機器群内の両端の無線子機１０３の各々と、当該検知機器群に含まれる他の無線子機１０３との受信電波強度の比に基づき、当該検知機器群内の他の無線子機１０３の位置を推定する。 Next, the position detection device 104 detects the detection device based on the ratio of the received radio wave intensity between each of the wireless handsets 103 at both ends in the detection device group and the other wireless handsets 103 included in the detection device group. The position of the other wireless handset 103 in the group is estimated.
　このように、位置検知装置１０４は、各検知機器群に含まれる複数の無線子機のうち、両端に位置する無線子機である両端子機を特定する。次に、位置検知装置１０４は、特定した複数の両端子機、及び検知用機器１０１並びに１０２の間の通信状況に基づき複数の両端子機の位置を推定する。次に、位置検知装置１０４は、処理対象の検知機器群に含まれる両端子機と、処理対象の検知機器群に含まれる他の無線子機との通信状況に基づき、当該他の無線子機の位置を推定する。そして、位置検知装置１０４は、上記の複数の位置検知処理（例えば行毎の位置検知処理）で推定された無線子機１０３の各位置を用いて、無線子機１０３の最終の各位置を算出する。 As described above, the position detection device 104 identifies both of the plurality of wireless slaves included in each of the detection device groups, that is, both terminals that are wireless slaves located at both ends. Next, the position detection device 104 estimates the positions of the plurality of terminals based on the identified communication terminals between the plurality of terminals and the detection devices 101 and 102. Next, based on the communication status between both terminals included in the processing target detection device group and the other wireless slave devices included in the processing target detection device group, the position detection device 104 Estimate the position of Then, the position detection device 104 calculates each final position of the wireless slave device 103 using each position of the wireless slave device 103 estimated by the plurality of position detection processing (for example, position detection processing for each row). Do.
　なお、位置が既知のダミー子機が用いられる場合には、当該ダミー子機を上記位置が既知の機器として用いることで、さらに位置推定の精度を向上できる。 When a dummy slave unit whose position is known is used, the accuracy of position estimation can be further improved by using the dummy slave unit as a device whose position is known.
　以上、本発明の実施の形態に係る位置検知システムについて説明したが、本発明は、この実施の形態に限定されるものではない。 As mentioned above, although the position detection system which concerns on embodiment of this invention was demonstrated, this invention is not limited to this embodiment.
　また、上記実施の形態に係る位置検知システムに含まれる各装置に含まれる各処理部は典型的には集積回路であるＬＳＩとして実現される。これらは個別に１チップ化されてもよいし、一部又は全てを含むように１チップ化されてもよい。 In addition, each processing unit included in each device included in the position detection system according to the above embodiment is typically realized as an LSI which is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include some or all.
　また、集積回路化はＬＳＩに限るものではなく、専用回路又は汎用プロセッサで実現してもよい。ＬＳＩ製造後にプログラムすることが可能なＦＰＧＡ（Ｆｉｅｌｄ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）、又はＬＳＩ内部の回路セルの接続や設定を再構成可能なリコンフィギュラブル・プロセッサを利用してもよい。 Further, the circuit integration is not limited to LSI's, and implementation using dedicated circuitry or general purpose processors is also possible. A field programmable gate array (FPGA) that can be programmed after LSI fabrication, or a reconfigurable processor that can reconfigure connection and setting of circuit cells inside the LSI may be used.
　また、上記実施の形態に係る位置検知システムに含まれる各装置の機能の一部又は全てを、ＣＰＵ等のプロセッサがプログラムを実行することにより実現してもよい。 In addition, some or all of the functions of the devices included in the position detection system according to the above embodiment may be realized by a processor such as a CPU executing a program.
　さらに、本発明は上記プログラムであってもよいし、上記プログラムが記録された非一時的なコンピュータ読み取り可能な記録媒体であってもよい。また、上記プログラムは、インターネット等の伝送媒体を介して流通させることができるのは言うまでもない。 Furthermore, the present invention may be the above program or a non-transitory computer readable recording medium in which the above program is recorded. Further, it goes without saying that the program can be distributed via a transmission medium such as the Internet.
　また、本発明は位置検知システムとして実現できるだけでなく、位置検知システムに含まれる各種機器として実現してもよい。また、本発明は、このような位置検知システムに含まれる特徴的な手段をステップとする位置検知方法として実現したり、そのような特徴的なステップをコンピュータに実行させるプログラムとして実現したりすることもできる。 Further, the present invention can be realized not only as a position detection system but also as various devices included in the position detection system. In addition, the present invention can be realized as a position detection method in which the characteristic means included in such a position detection system is taken as a step, or as a program that causes a computer to execute such a characteristic step. You can also.
　また、上記で用いた数字は、全て本発明を具体的に説明するために例示するものであり、本発明は例示された数字に制限されない。 In addition, all the numerals used above are illustrated to specifically explain the present invention, and the present invention is not limited to the illustrated numerals.
　また、ブロック図における機能ブロックの分割は一例であり、複数の機能ブロックを一つの機能ブロックとして実現したり、一つの機能ブロックを複数に分割したり、一部の機能を他の機能ブロックに移してもよい。また、類似する機能を有する複数の機能ブロックの機能を単一のハードウェア又はソフトウェアが並列又は時分割に処理してもよい。 Also, division of functional blocks in the block diagram is an example, and a plurality of functional blocks may be realized as one functional block, one functional block may be divided into a plurality of parts, or some functions may be transferred to another function block. May be Also, a single piece of hardware or software may process the functions of a plurality of functional blocks having similar functions in parallel or in time division.
　また、上記フローチャートで示すステップが実行される順序は、本発明を具体的に説明するために例示するためのものであり、上記以外の順序であってもよい。また、上記ステップの一部が、他のステップと同時（並列）に実行されてもよい。 In addition, the order in which the steps shown in the flowchart are performed is for illustrating the present invention specifically, and may be an order other than the above. Also, some of the above steps may be performed simultaneously (in parallel) with other steps.
　以上、一つまたは複数の態様に係る位置検知システムについて、実施の形態に基づいて説明したが、本発明は、この実施の形態に限定されるものではない。本発明の趣旨を逸脱しない限り、当業者が思いつく各種変形を本実施の形態に施したものや、異なる実施の形態における構成要素を組み合わせて構築される形態も、一つまたは複数の態様の範囲内に含まれてもよい。 As mentioned above, although the position detection system which concerns on one or several aspect was demonstrated based on embodiment, this invention is not limited to this embodiment. Without departing from the spirit of the present invention, various modifications that can be conceived by those skilled in the art may be applied to the present embodiment, and modes configured by combining components in different embodiments may also be in the scope of one or more aspects. May be included within.
　本発明は、位置検知システムに適用できる。 The present invention is applicable to position detection systems.
　１００、１００Ａ　位置検知システム
　１０１、１０１Ａ、１０１Ｂ、１０１Ｃ、１０２、１０２Ａ、１０２Ｂ、１０２Ｃ　検知用機器
　１０３　無線子機
　１０４　位置検知装置
　１０５、１０５Ａ、１０５Ｂ、１０５Ｃ　保管領域
　１１１、１２１　識別コード記憶部
　１１２、１２３　制御部
　１１３、１２２　無線通信部
　１１４　電源部
　１２４、１３１　通信部
　１３２　位置検知部
　１３３　位置情報記憶部
　１３４　表示部
　１５１　検知用信号
　１５２、１５３　通知信号
　１６１　識別コード
　１６２　位置情報
　１６３、１６６　送信機器情報
　１６４　受信機器情報
　１６５　受信情報
　１６７　受信電波強度情報 100, 100A position detection system 101, 101A, 101B, 101C, 102, 102A, 102B, 102C detection device 103 wireless slave 104 position detection device 105, 105A, 105B, 105C storage area 11, 121 identification code storage unit 112, 123 control unit 113, 122 wireless communication unit 114 power supply unit 124, 131 communication unit 132 position detection unit 133 position information storage unit 134 display unit 151 detection signal 152, 153 notification signal 161 identification code 162 position information 163, 166 transmission device information 164 Receiver information 165 Received information 167 Received signal strength information

Claims (12)

  1. 　複数の対象物の位置を検知するための位置検知システムであって、
    　位置が既知であり、無線信号の送信及び受信の少なくとも一方を行う第１検知用機器と、
    　前記複数の対象物の各々に装着され、無線信号の送信及び受信を行う無線子機とを含み、
    　前記位置検知システムは、
    　前記第１検知用機器及び複数の前記無線子機に含まれる基準機器と、前記基準機器以外の１以上の無線子機である対象機器との通信状況に基づき、前記基準機器を基準とした対象範囲に位置する１以上の無線子機である検知機器群を検知する検知処理を繰り返し行う第１処理を行い、
    　前記第１処理に含まれる１回目の前記検知処理では、前記基準機器は第１検知用機器であり、
    　前記第１処理に含まれる２回目以降の前記検知処理では、前記基準機器は、直前の検知処理で検知された前記検知機器群に含まれ、前記対象機器は、前記複数の無線子機のうち、前記第１処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機であり、
    　前記位置検知システムは、さらに、
    　前記第１検知用機器の位置と、前記第１処理において、各前記検知機器群が何回目の検知処理で検知された検知機器群であるかに基づき、前記各検知機器群の第１位置を推定する推定処理を行う
    　位置検知システム。     A position detection system for detecting the positions of a plurality of objects, the system comprising:
    A first detection device whose position is known and performs at least one of transmission and reception of radio signals;
    And a wireless handset attached to each of the plurality of objects to transmit and receive wireless signals.
    The position detection system
    A target based on the reference device based on the communication status between the first detection device and a reference device included in the plurality of wireless slaves and a target device which is one or more wireless slaves other than the reference device Performing a first process of repeatedly performing a detection process of detecting a group of detection devices which are one or more wireless slaves located in the range;
    In the first detection process included in the first process, the reference device is a first detection device,
    In the second and subsequent detection processes included in the first process, the reference device is included in the detection device group detected in the immediately preceding detection process, and the target device is one of the plurality of wireless slave devices. Wireless handsets excluding the detection device group detected in detection processing prior to the detection processing, which are included in the first processing;
    The position detection system further comprises
    The first position of each of the detection device groups is determined based on the position of the first detection device and on which detection device group each detection device group is detected in the first process. Position detection system that performs estimation processing to estimate.
  2. 　前記位置検知システムは、さらに、
    　位置が既知であり、無線信号の送信及び受信の少なくとも一方を行う第２検知用機器を含み、
    　前記位置検知システムは、
    　前記第１処理において、前記第２検知用機器が前記対象範囲に含まれるまで、前記検知処理を繰り返し行い、
    　前記推定処理において、前記第１検知用機器及び前記第２検知用機器の位置と、前記第１処理において、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、前記各検知機器群の前記第１位置を推定する
    　請求項１記載の位置検知システム。     The position detection system further comprises
    Including a second sensing device whose position is known and which transmits and / or receives radio signals;
    The position detection system
    In the first process, the detection process is repeatedly performed until the second detection device is included in the target range,
    In the estimation process, based on the positions of the first detection device and the second detection device, and in the first process, the number of detection devices detected by each detection device group in the first processing. The position detection system according to claim 1, wherein the first position of each of the detection device groups is estimated.
  3. 　前記位置検知システムは、さらに、
    　前記第１検知用機器が前記対象範囲に含まれるまで、前記検知処理を繰り返し行う第２処理を行い、
    　前記第２処理に含まれる１回目の前記検知処理では、前記基準機器は第２検知用機器であり、
    　前記第２処理に含まれる２回目以降の前記検知処理では、前記基準機器は、直前の検知処理で検知された前記検知機器群に含まれ、前記対象機器は、前記複数の無線子機のうち、前記第２処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機であり、
    　前記位置検知システムは、前記推定処理において、
    　前記第１検知用機器及び前記第２検知用機器の位置と、前記第２処理において、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、前記各検知機器群の第２位置を推定し、
    　前記第１位置と前記第２位置とに基づき、前記各検知機器群に含まれる各無線子機の位置を推定する
    　請求項２記載の位置検知システム。     The position detection system further comprises
    Performing a second process of repeatedly performing the detection process until the first detection device is included in the target range;
    In the first detection process included in the second process, the reference device is a second detection device,
    In the second and subsequent detection processes included in the second process, the reference device is included in the detection device group detected in the immediately preceding detection process, and the target device is one of the plurality of wireless slave devices. Wireless handsets excluding the group of detection devices detected in detection processing prior to the detection processing, which are included in the second processing;
    In the position estimation system, in the estimation process,
    Each detection device based on the position of the first detection device and the second detection device, and the number of detection devices detected in the second processing in each detection device group. Estimate the second position of the group,
    The position detection system according to claim 2, wherein a position of each wireless slave unit included in each of the detection device groups is estimated based on the first position and the second position.
  4. 　前記位置検知システムは、複数の前記第１検知用機器と、複数の前記第２検知用機器とを含み、
    　前記位置検知システムは、
    　異なる第１検知用機器を１回目の基準機器として用いた、複数回の前記第１処理を行い、
    　前記複数回の第１処理の各々において、前記複数の第２検知用機器のいずれかが前記対象範囲に含まれるまで、前記検知処理を繰り返し行い、
    　前記複数回の第１処理の各々に含まれる２回目以降の前記検知処理では、前記基準機器は、直前の検知処理で検知された前記検知機器群に含まれ、前記対象機器は、前記複数の無線子機のうち、当該第１処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機であり、
    　前記推定処理において、
    　前記複数回の第１処理の各々に対して、当該第１処理において１回目の基準機器として用いた第１検知用機器の位置と、前記対象範囲に含まれた第２検知用機器の位置と、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、前記各検知機器群の前記第１位置を推定し、
    　前記複数回の第１処理に対して推定された、前記各検知機器群の複数の前記第１位置を用いて、前記各検知機器群に含まれる各無線子機の位置を推定する
    　請求項２記載の位置検知システム。     The position detection system includes a plurality of first detection devices and a plurality of second detection devices.
    The position detection system
    Performing the first processing a plurality of times using different first detection devices as a first reference device;
    In each of the plurality of first processes, the detection process is repeatedly performed until any one of the plurality of second detection devices is included in the target range,
    In the second and subsequent detection processes included in each of the plurality of first processes, the reference device is included in the detection device group detected in the immediately preceding detection process, and the target device is the plurality of target devices. Among the wireless slaves, the wireless slaves excluding the group of detection devices detected in the detection process prior to the detection process, which are included in the first process,
    In the estimation process,
    For each of the plurality of first processes, the position of the first detection apparatus used as the first reference apparatus in the first process, and the position of the second detection apparatus included in the target range And estimating the first position of each detection device group based on whether the detection device group is a detection device group detected in what number of detection processing,
    The positions of the wireless slaves included in each of the detection device groups are estimated using the plurality of first positions of the detection device groups estimated for the plurality of first processes. Position detection system as described.
  5. 　前記位置検知システムは、さらに、
    　１回目の検知処理の前記基準機器を、互いに異なる前記第２検知用機器に設定し、前記第１検知用機器のいずれかが前記対象範囲に含まれるまで、前記検知処理を繰り返し行う第２処理を複数回行い、
    　前記複数回の第２処理の各々に含まれる２回目以降の前記検知処理では、前記基準機器は、直前の検知処理で検知された前記検知機器群に含まれ、前記対象機器は、前記複数の無線子機のうち、当該第２処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機であり、
    　前記推定処理において、
    　前記複数回の第２処理の各々に対して、当該第２処理において１回目の基準機器として用いた第２検知用機器の位置と、前記対象範囲に含まれた第１検知用機器の位置と、各検知機器群が何回目の検知処理で検知された検知機器群であるかとに基づき、前記各検知機器群の前記第２位置を推定し、
    　前記複数回の第１処理に対して推定された、前記各検知機器群の複数の前記第１位置と、前記複数回の第２処理に対して推定された、前記各検知機器群の複数の前記第２位置とを用いて、前記各検知機器群に含まれる各無線子機の位置を推定する
    　請求項４記載の位置検知システム。     The position detection system further comprises
    A second process in which the reference device of the first detection process is set to different second detection devices, and the detection process is repeated until any of the first detection devices is included in the target range. Do several times,
    In the second and subsequent detection processes included in each of the plurality of second processes, the reference device is included in the detection device group detected in the immediately preceding detection process, and the target device is the plurality of target devices. Among the wireless slaves, the wireless slaves excluding the group of detection devices detected in the detection process prior to the detection process, which are included in the second process,
    In the estimation process,
    For each of the plurality of second processes, the position of the second detection apparatus used as the first reference apparatus in the second process, and the position of the first detection apparatus included in the target range The second position of each detection device group is estimated based on whether the detection device group is the detection device group detected in what number of detection processing;
    A plurality of first positions of the respective detection device groups estimated for the plurality of first processings, and a plurality of the plurality of detection device groups estimated for the plurality of second processings The position detection system according to claim 4, wherein the position of each wireless slave unit included in each of the detection device groups is estimated using the second position.
  6. 　前記位置検知システムは、各前記検知処理において、
    　前記基準機器と前記対象機器との通信状況に基づき、前記対象機器のうち前記基準機器から第１距離内に位置する選択機器を検知し、
    　前記選択機器と、前記選択機器以外の前記対象機器との通信状況に基づき、前記選択機器から第２距離内に位置する前記対象機器を特定し、
    　特定した前記対象機器と、前記選択機器とを、前記検知機器群として検知する
    　請求項１～５のいずれか１項に記載の位置検知システム。     In each of the detection processes, the position detection system
    Detecting a selected device located within a first distance from the reference device among the target devices based on the communication status between the reference device and the target devices;
    Identifying the target device located within a second distance from the selected device based on the communication status between the selected device and the target device other than the selected device;
    The position detection system according to any one of claims 1 to 5, wherein the specified target device and the selected device are detected as the detection device group.
  7. 　前記位置検知システムは、前記第１処理に含まれる２回目以降の前記検知処理において、
    　前記基準機器と前記対象機器との通信状況、及び前記第２検知用機器と前記対象機器との通信状況、に基づき、前記対象機器のうち、前記基準機器から第１距離内に位置し、かつ、前記第２検知用機器に最も近い選択機器を検知し、
    　前記選択機器と、前記選択機器以外の前記対象機器との通信状況に基づき、前記選択機器から第２距離内に位置する前記対象機器を特定し、
    　特定した前記対象機器と、前記選択機器とを、前記検知機器群として検知する
    　請求項２～５のいずれか１項に記載の位置検知システム。     In the position detection system, in the second and subsequent detection processes included in the first process,
    The target device is located within a first distance from the reference device among the target devices based on the communication state of the reference device and the target device and the communication state of the second detection device and the target device. Detecting the selected device closest to the second detection device,
    Identifying the target device located within a second distance from the selected device based on the communication status between the selected device and the target device other than the selected device;
    The position detection system according to any one of claims 2 to 5, wherein the specified target device and the selected device are detected as the detection device group.
  8. 　前記位置検知システムは、
    　前記検知処理において、前記基準機器から前記第１距離内に位置する前記対象機器が存在しない場合、終了済みの検知処理における選択機器を変更し、再度、検知処理を行う
    　請求項６又は７記載の位置検知システム。     The position detection system
    In the detection processing, when there is no target device located within the first distance from the reference device, the selected device in the detection processing that has been completed is changed, and the detection processing is performed again. Position detection system.
  9. 　前記位置検知システムは、さらに、無線信号の送信及び受信を行うダミー子機を含み、
    　前記位置検知システムは、前記第１処理において、前記第１検知用機器、前記複数の無線子機及び前記ダミー子機に含まれる前記基準機器と、複数の前記無線子機及び前記ダミー子機に含まれる前記基準機器以外の前記対象機器との通信状況に基づき、前記基準機器を基準とした対象範囲に位置する１以上の無線子機又はダミー子機である前記検知機器群を検知し、
    　２回目以降の前記検知処理では、前記対象機器は、前記複数の無線子機及びダミー子機のうち、前記第１処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機又はダミー子機である
    　請求項１記載の位置検知システム。     The position detection system further includes a dummy slave that transmits and receives a wireless signal.
    The position detection system includes, in the first process, the first detection device, the plurality of wireless slaves, and the reference devices included in the dummy slaves, and the plurality of wireless slaves and the dummy slaves. Based on the communication status with the target device other than the reference device included, the detection device group which is one or more wireless slave devices or dummy slave devices located in a target range based on the reference device is detected;
    In the second and subsequent detection processes, the target device is the detection device detected in the detection process prior to the detection process, which is included in the first process among the plurality of wireless slaves and the dummy slaves. The position detection system according to claim 1, which is a wireless slave unit or a dummy slave unit excluding the group.
  10. 　前記ダミー子機の位置は既知であり、
    　前記位置検知システムは、前記推定処理において、前記第１検知用機器及び前記ダミー子機の位置と、前記第１処理において、各前記検知機器群が何回目の検知処理で検知された検知機器群であるかに基づき、前記各検知機器群の前記第１位置を推定する
    　請求項９記載の位置検知システム。     The position of the dummy slave is known,
    The position detection system includes, in the estimation process, a position of the first detection device and the dummy slave, and a detection device group in which each of the detection device groups is detected in a first detection process in the first process. The position detection system according to claim 9, wherein the first position of each of the detection device groups is estimated based on whether
  11. 　前記位置検知システムは、さらに、
    　各前記検知機器群に含まれる複数の無線子機のうち、両端に位置する無線子機である両端子機を特定し、
    　特定した複数の両端子機、及び第１検知用機器の間の通信状況に基づき前記複数の両端子機の位置を推定し、
    　処理対象の検知機器群に含まれる前記両端子機と、前記処理対象の検知機器群に含まれる他の無線子機との通信状況に基づき、当該他の無線子機の位置を推定する
    　請求項１記載の位置検知システム。     The position detection system further comprises
    Among the plurality of wireless handsets included in each of the detection device groups, both terminal devices that are wireless handsets located at both ends are specified;
    The positions of the plurality of terminals are estimated based on the communication status between the identified plurality of terminals and the first detection device,
    The position of the other wireless slave device is estimated on the basis of the communication status between the two terminal devices included in the processing target detection device group and the other wireless slave devices included in the processing target detection device group. The position detection system according to 1).
  12. 　複数の対象物の位置を検知するための位置検知システムにおける位置検知方法であって、
    　前記位置検知システムは、
    　位置が既知であり、無線信号の送信及び受信の少なくとも一方を行う第１検知用機器と、
    　前記複数の対象物の各々に装着され、無線信号の送信及び受信を行う無線子機とを含み、
    　前記位置検知方法は、
    　前記第１検知用機器及び複数の前記無線子機に含まれる基準機器と、前記基準機器以外の１以上の無線子機である対象機器との通信状況に基づき、前記基準機器を基準とした対象範囲に位置する１以上の無線子機である検知機器群を検知する検知処理を繰り返し行う第１処理を行い、
    　前記第１処理に含まれる１回目の前記検知処理では、前記基準機器は第１検知用機器であり、
    　前記第１処理に含まれる２回目以降の前記検知処理では、前記基準機器は、直前の検知処理で検知された前記検知機器群に含まれ、前記対象機器は、前記複数の無線子機のうち、前記第１処理に含まれる、当該検知処理より前の検知処理において検知された前記検知機器群を除く無線子機であり、
    　前記位置検知方法は、さらに、
    　前記第１検知用機器の位置と、前記第１処理において、各前記検知機器群が何回目の検知処理で検知された検知機器群であるかに基づき、前記各検知機器群の第１位置を推定する推定処理を行う
    　位置検知方法。     A position detection method in a position detection system for detecting the positions of a plurality of objects, comprising:
    The position detection system
    A first detection device whose position is known and performs at least one of transmission and reception of radio signals;
    And a wireless handset attached to each of the plurality of objects to transmit and receive wireless signals.
    The position detection method is
    A target based on the reference device based on the communication status between the first detection device and a reference device included in the plurality of wireless slaves and a target device which is one or more wireless slaves other than the reference device Performing a first process of repeatedly performing a detection process of detecting a group of detection devices which are one or more wireless slaves located in the range;
    In the first detection process included in the first process, the reference device is a first detection device,
    In the second and subsequent detection processes included in the first process, the reference device is included in the detection device group detected in the immediately preceding detection process, and the target device is one of the plurality of wireless slave devices. Wireless handsets excluding the detection device group detected in detection processing prior to the detection processing, which are included in the first processing;
    The position detection method further includes
    The first position of each of the detection device groups is determined based on the position of the first detection device and on which detection device group each detection device group is detected in the first process. A position detection method that performs estimation processing to estimate.
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