JP2018194379A - Position determination system and learning system - Google Patents

Abstract

To provide a position determination system and a learning system with which it is possible to determine the position of a mobile entity with higher accuracy.SOLUTION: The present invention comprises: a wireless signal reception unit provided for a first mobile entity; a reception strength information output unit for transmitting, to other communication devices, reception strength information that indicates reception strength when the wireless signal reception unit received a wireless signal transmitted from a plurality of wireless signal transmitters each installed at a plurality of predetermined positions; a learning result storage unit for storing learning result information obtained by performing a learning process in advance on the basis of the position of a second mobile entity and a plurality of reception strength information obtained by a plurality of wireless signal reception units provided at positions differing in horizontal plane relative to the second mobile entity, the reception strength information being obtained when the second mobile entity exists at the positions; and a determination unit for determining the position of the first mobile entity on the basis of the reception strength information outputted by the reception strength information output unit and the learning result information stored in the learning result storage unit.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a technique for determining the position of a moving body.

Conventionally, a technique for determining the position of a person has been proposed (see, for example, Patent Document 1). The results of human position determination are accumulated and various analyzes are performed. In order to make these analyzes more effective, a more accurate position determination technique is required.
As one of highly accurate position determination techniques, there is a technique in which a wireless receiver is attached to a human body and a position is determined based on reception patterns of wireless signals transmitted from a plurality of wireless communication apparatuses.

JP 2017-0033148 A

However, in the determination based on the radio signal, the accuracy may be lowered due to a problem such as noise. Such a problem is not limited to a technique for determining the position of a person, but is a problem common to all techniques for determining the position of a moving object.
In view of the above circumstances, an object of the present invention is to provide a position determination technique with higher accuracy.

  According to one aspect of the present invention, a wireless signal receiver provided to a first mobile body and the wireless signal receiver transmitted from a plurality of wireless signal transmitters installed at a plurality of predetermined positions, respectively. Received intensity information, which is information indicating the received intensity when the received radio signal is received, a received intensity information output unit for transmitting to other communication devices, the position of the second mobile unit, and the second mobile unit A plurality of the reception intensity information obtained by a plurality of the radio signal reception units provided at different positions on the horizontal plane, and the reception intensity information obtained when the second moving body exists at the position And a learning result storage unit for storing learning result information obtained by performing a learning process in advance based on the received intensity information output by the reception intensity information output unit, and the learning result storage unit. The above study Results and information, and a judging section that judges the position of the first moving body on the basis of a position determination system comprising a.

  One aspect of the present invention is the above-described position determination system, in which the sub-region obtained by dividing the region where the first moving body is scheduled to move into a plurality of regions from one sub-region to another A movement availability information storage unit that stores movement availability information that stores information indicating whether or not the vehicle can move to the sub-area is further provided, and the determination unit corrects the determination result based on the movement availability information.

  In one embodiment of the present invention, a plurality of wireless signal receiving units provided at different positions on a horizontal plane with respect to the second moving body, and the wireless signal receiving units are respectively installed at a plurality of predetermined positions. A reception intensity information output unit for transmitting reception intensity information, which is information indicating reception intensity when receiving radio signals transmitted from a plurality of radio signal transmitters, to another communication device; and a position of the second mobile unit A learning process is performed based on the position information acquisition unit that acquires position information indicating the position information, the reception intensity information output by the reception intensity information output unit, and the position information acquired by the position information acquisition unit Thus, the learning system includes a learning unit that acquires learning result information used to determine the position information when the reception intensity information is obtained.

  According to the present invention, it is possible to perform position determination with higher accuracy.

It is a figure which shows the outline of the crop cultivation place 100 as a specific example of the area | region where a position determination is performed. It is the figure which looked at the crop cultivation field 100 from the horizontal direction. It is the schematic which cut out the one part area | region of the crop cultivation field. It is a figure which shows the example of installation of the radio signal receiver 60 with respect to the operator 50. FIG. 2 is a diagram illustrating a system configuration example of a position determination system 200. FIG. 3 is a schematic block diagram showing a functional configuration of a learning device 70. FIG. It is a figure which shows the specific example of the information which the log memory | storage part 704 memorize | stores. 3 is a schematic block diagram illustrating a functional configuration of a determination device 80. FIG. It is a figure which shows the specific example of the log record 81 acquired by the positional information determination part 803. FIG. It is a figure which shows the specific example of a heat map. It is a figure which shows the graph of the working time according to an operator. It is a figure which shows the graph of the work time according to skill level.

  FIG. 1 is a diagram illustrating an outline of a crop cultivation field 100 as a specific example of a region where position determination is performed. In the following description, the moving body (first moving body) whose position is to be determined is a person (worker 50) who performs work on the crop cultivation field 100. FIG. 1 is an overhead view of the crop cultivation field 100 as viewed from above. In the crop cultivation field 100, a horizontal plane area is divided into a plurality of sub-areas 10. In the specific example of FIG. 1, the horizontal plane area of the crop cultivation field 100 is divided into 36 sub-areas 10. Each sub-region 10 is assigned identification information (hereinafter referred to as “region identification information”) that uniquely indicates the sub-region 10. In the specific example of FIG. 1, a three-character string from A01 to F06 is the area identification information of each sub-area 10.

  A plurality of cultivation garters 20 are installed in the crop cultivation field 100. In the specific example of FIG. 1, the cultivation garter 20 is located around the left and right ends of each row, such as around the left end of row A (subregions A01 to A06), around the boundary between row A and row B (subregions B01 to B06). is set up.

  In the crop cultivation field 100, a plurality of wireless signal transmitters 30 are installed at predetermined positions. The radio signal transmitter 30 repeatedly transmits a predetermined radio signal (beacon) including identification information (hereinafter referred to as “transmitter identification information”) assigned in advance to the own device.

  In the crop cultivation field 100, one or a plurality of communication devices 40 are installed. When the communication device 40 receives data from another device, the communication device 40 relays the received data to the other device.

  FIG. 2 is a diagram of the crop cultivation field 100 viewed from the horizontal direction. In the crop cultivation field 100, cultivation garters 20 are installed at predetermined intervals. Each cultivation garter 20 is suspended from the beam 22 by a plurality of wires 21. A wireless signal transmitter 30 is attached to some of the wires 21. For example, each wire 21 may be provided at a predetermined interval Y1. For example, the radio signal transmitter 30 may be provided at a predetermined interval (Y1 × 2). The radio signal transmitter 30 may be attached to the wire 21 using, for example, a fixing portion and a binding band.

  FIG. 3 is a schematic view of a part of the crop cultivation field 100 cut out. In FIG. 3, the worker 50 is located in the sub-region 10 of B05. At this time, the wireless signal receiver 60 worn by the worker 50 is transmitted from the surrounding wireless signal transmitters 30 (for example, wireless signal transmitters 30-1, 30-2, 30-3 and 30-4). The received radio signal is received. The radio signal receiver 60 outputs reception intensity information indicating the reception intensity of each radio signal transmitted from the surrounding radio signal transmitter 30 to the communication device 40 via the transmitter 61 (reception intensity output unit). The reception strength information indicates transmitter identification information included in the received wireless signal and reception strength of the received wireless signal. In the example of FIG. 3, the wireless strength information includes transmitter identification information and reception strength related to wireless signals transmitted from the wireless signal transmitters 30-1, 30-2, 30-3 and 30-4. included. The wireless signal receiver 60 outputs identification information (hereinafter referred to as “receiver identification information”) and reception intensity information of its own device (wireless signal receiver 60).

  FIG. 4 is a diagram illustrating an installation example of the radio signal receiver 60 for the worker 50. FIG. 4A is an overhead view of the worker 50 as viewed from above. FIG. 4B is a view of the worker 50 as viewed from the right side. As is clear from FIG. 4A, a plurality of radio signal receivers 60 are provided at different positions on the horizontal plane with respect to the body of the worker 50. For example, as is apparent from FIGS. 4A and 4B, one radio signal receiver 60 is provided at each of the front, right, rear, and left sides at the height near the waist of the worker 50. (60-1, 60-2, 60-3 and 60-4) may be provided. Each radio signal receiver 60 transmits transmitter identification information, reception intensity, and receiver identification information of its own apparatus to the transmitter 61 of the received radio signal. Communication performed between the wireless signal receiver 60 and the transmitter 61 may be wireless communication such as Bluetooth (registered trademark). The transmitter 61 communicates received reception intensity information, receiver identification information, and identification information indicating the worker 50 to which the wireless signal receiver 60 is attached (hereinafter referred to as “worker identification information”). To the machine 40. The transmitter 61 may be incorporated in each radio signal receiver 60. In this case, each radio signal receiver 60 transmits reception intensity information, receiver identification information, and worker identification information to the communication device 40.

  FIG. 5 is a diagram illustrating a system configuration example of the position determination system 200. The position determination system 200 includes a plurality of radio signal receivers 60 (for example, 60-1, 60-2, 60-3, and 60-4), a communication device 40, a learning device 70, a determination device 80, and a user terminal 90. Since the radio signal receiver 60 and the communication device 40 have already been described, further description is omitted.

  FIG. 6 is a schematic block diagram illustrating a functional configuration of the learning device 70. The learning device 70 includes a CPU (Central Processing Unit), a memory, an auxiliary storage device, and the like connected by a bus. The learning device 70 functions as a device including a position information acquisition unit 702, a log management unit 703, and a learning unit 705 by executing a learning program. The learning device 70 further includes a communication unit 701 and a log storage unit 704. Note that all or a part of the functions of the position information acquisition unit 702, log management unit 703, and learning unit 705 are ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), FPGA (Field Programmable Gate Array), etc. It may be realized using hardware. The learning program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk built in the computer system. The learning program may be transmitted via a telecommunication line.

  The communication unit 701 is configured using a communication interface. The communication unit 701 performs data communication with other devices via a network such as the Internet. In the present embodiment, the communication unit 701 receives reception intensity information, receiver identification information, and worker identification information transmitted from the communication device 40. Note that the reception intensity information acquired by the communication unit 701 may be obtained by movement of a moving object performed for performing the learning process. Thus, the moving body (second moving body) that moves for the learning process may be the same moving body (for example, the worker 50) as the moving body (first moving body) whose position is to be determined. However, it may be a moving body (for example, a self-propelled vehicle) different from the moving body (first moving body) whose position is to be determined.

  The position information acquisition unit 702 acquires position information indicating the position of the worker 50 when the reception intensity information received via the communication unit 701 is obtained. The position information may be, for example, information indicating the latitude and longitude of the worker 50, or may be region identification information of the sub-region 10 where the worker 50 is located. The position information acquisition unit 702 may acquire the position information by any method. For example, the position information may be acquired by receiving position information transmitted from another device via the communication unit 701. As a specific example of such a configuration, the worker 50 transmits position information indicating his / her position by operating a communication device such as a smartphone, and the position information acquisition unit 702 transmits the position information via the communication unit 701. There is a configuration to receive. In addition, when a self-propelled device (for example, a radio controlled car) to which a plurality of wireless signal receivers 60 are attached is used instead of the worker 50, the self-propelled device transmits position information indicating the position of the self-device. It may be. In this case, the self-propelled device includes, for example, a camera, acquires position information by imaging information such as a bar code indicating the position displayed on the floor surface of each sub-region 10, and learns the acquired position information. You may transmit to the apparatus 70. For example, the position information acquisition unit 702 may acquire the position information by adding position information to a log information already recorded in the learning device 70 by a user such as an administrator.

  The log management unit 703 records reception intensity information and receiver identification information received via the communication unit 701 in association with the position information acquired by the position information acquisition unit 702 in the log storage unit 704. .

  The log storage unit 704 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The log storage unit 704 stores reception intensity information and receiver identification information recorded by the log management unit 703 in association with position information acquired by the position information acquisition unit 702. FIG. 7 is a diagram illustrating a specific example of information stored in the log storage unit 704. The log storage unit 704 stores a plurality of teacher records 71. The teacher record 71 stores reception intensity information acquired by the four radio signal receivers 60 at a certain position. As illustrated in FIG. 7, the teacher record 71 includes position information, a plurality of receiver identification information, and a plurality of reception intensity information (reception intensity information 1 to 4). The position information is information indicating the position where each received intensity information is acquired. The receiver identification information is identification information of the radio signal receiver 60 from which the reception strength information is acquired. A plurality of reception intensity information is recorded for each receiver identification information. Each reception intensity information is reception intensity information of a plurality of radio signals acquired at the position indicated by the position information by the radio signal receiver 60 indicated by the receiver identification information. In the example of FIG. 7, four pieces of reception intensity information are recorded for each piece of receiver identification information. For example, four pieces of received intensity information may be selected in order from the largest received intensity. This selection may be performed by the log management unit 703 of the learning device 70, the radio signal receiver 60, the transmitter 61, or another device. Also good.

  The learning unit 705 performs a learning process based on information recorded in the log storage unit 704. Specifically, the learning unit 705 performs machine learning processing by using, as teacher data, a combination of reception intensity information and position information indicating the position of the worker 50 when the reception intensity information is obtained. . If the example of FIG. 7 is used, the learning part 705 will perform a machine learning process by using the some teacher record 71 as teacher data. Machine learning technology for generating or updating a discriminator by supervised learning may be applied to the learning unit 705. Specific examples of the machine learning technique include SVM (Support Vector Machine) and DL (Deep Learning). The learning unit 705 acquires data (learning result information) such as a parameter representing a classifier by performing machine learning processing based on a plurality of teacher data. Such learning result information is used to determine the position information of the worker 50 when reception intensity information is newly obtained.

  When there is a plurality of pieces of reception intensity information having the same transmitter identification information in one teacher record 71, the learning unit 705 performs machine learning processing using reception intensity information having a large reception intensity among them. You may go. At this time, the learning unit 705 may use only the highest received intensity, or may use a predetermined number (for example, two) of received intensity of 2 or more. By performing such processing, the learning processing is based on the reception strength of the radio signal that is not attenuated by the moving body, not the reception strength of the radio signal that is attenuated by the moving body such as the human body of the worker 50. Can be performed. Therefore, the learning process can be performed using the reception intensity that more accurately represents the distance between the radio signal receiver 60 and the radio signal transmitter 30. The learning unit 705 records the acquired learning result information in the learning result storage unit 706.

  The learning result storage unit 706 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The learning result storage unit 706 stores learning result information obtained by the learning unit 705.

  FIG. 8 is a schematic block diagram illustrating a functional configuration of the determination device 80. The determination device 80 includes a CPU, a memory, an auxiliary storage device, and the like connected by a bus. The determination device 80 functions as a device including a position information determination unit 803 and an output information generation unit 805 by executing a determination program. The determination device 80 further includes a communication unit 801, a movement availability information storage unit 802, and a position information storage unit 804. Note that all or part of the functions of the position information determination unit 803 and the output information generation unit 805 may be realized using hardware such as an ASIC, PLD, or FPGA. The determination program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk built in the computer system. The determination program may be transmitted via a telecommunication line.

  The communication unit 801 is configured using a communication interface. The communication unit 801 performs data communication with other apparatuses via a network such as the Internet. In the present embodiment, the communication unit 801 receives reception intensity information, receiver identification information, and worker identification information transmitted from the communication device 40. Further, the communication unit 801 receives learning result information stored in the learning device 70. In addition, the communication unit 801 transmits the output information generated by the output information generation unit 805 to the user terminal 90.

  The mobility information storage unit 802 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The movement availability information storage unit 802 stores movement availability information. The movement availability information is information indicating whether or not movement from one sub-area 10 to another sub-area 10 is possible. For example, in the example of FIG. 1, it is possible to avoid the cultivation garter 20 and move from the sub-region A06 to the sub-region B06. On the other hand, the sub-region A04 to the sub-region B04 are in contact with each other, but cannot move because the cultivation garter 20 is present. Therefore, the movement availability information storage unit 802 may store that the combination of the sub area A06 and the sub area B06 is movable, for example. For example, the movement availability information storage unit 802 may store that the combination of the sub area A04 and the sub area B04 is not movable.

  The position information determination unit 803 is based on the reception intensity information transmitted from the communication device 40 and the learning result information stored in the learning device 70, and the worker 50 serving as the transmission source of the received reception intensity information. Determine the current position of. For example, the position information determination unit 803 may acquire the reception intensity information as the log record 81 in association with the receiver identification information, the date information, and the worker identification information. For example, the position information determination unit 803 may acquire the identification information of the sub area 10 as a determination result. For example, the position information determination unit 803 may acquire latitude and longitude values as determination results.

  FIG. 9 is a diagram illustrating a specific example of the log record 81 acquired by the position information determination unit 803. As illustrated in FIG. 9, the log record 81 includes date and time information, a plurality of receiver identification information, and a plurality of reception intensity information (reception intensity information 1 to 4). The date and time information is information indicating the date and time when each reception intensity information is acquired. The worker identification information is identification information of the worker 50 wearing the wireless signal receiver 60 from which each reception intensity information is acquired. The receiver identification information is identification information of the radio signal receiver 60 from which the reception strength information is acquired. A plurality of reception intensity information is recorded for each receiver identification information. Each reception strength information is reception strength information of a plurality of radio signals acquired at the date and time indicated by the date and time information by the radio signal receiver 60 indicated by the receiver identification information. In the example of FIG. 9, four pieces of reception intensity information are recorded for each piece of receiver identification information. For example, four pieces of received intensity information may be selected in order from the largest received intensity. This selection may be performed by the position information determination unit 803 of the determination device 80, may be performed by the radio signal receiver 60, may be performed by the transmitter 61, or may be performed by another device. May be.

  When there is a plurality of reception intensity information having the same transmitter identification information in one log record 81, the position information determination unit 803 performs determination processing using reception intensity information having a large reception intensity among them. May be performed. At this time, the position information determination unit 803 may use only the highest received intensity, or may use two or more predetermined (for example, two) received intensity. By performing such processing, determination processing is based on the reception strength of the radio signal that is not attenuated by the moving body, not the reception strength of the radio signal that is attenuated by the moving body such as the human body of the worker 50. Can be performed. Therefore, the position determination process can be performed using the reception intensity that more accurately represents the distance between the radio signal receiver 60 and the radio signal transmitter 30.

  The position information determination unit 803 cannot move the combination of the sub area 10 indicated by the acquired position information and the sub area 10 in which the same worker 50 was positioned immediately before in the movement availability information storage unit 802. Is not stored. If the combination is stored as being immovable, the position information determination unit 803 discards the position information newly acquired as the determination result, and displays the determination result immediately before the sub-region. Correction to 10. Since it is difficult to move directly to a location that is stored as being unmovable, a new determination result may be incorrect if the combination is stored as being unmovable. This is because the nature is high. By performing the correction in this way, it is possible to improve the accuracy of the determination result. In addition, when the same sub-region 10 that cannot be moved continuously a predetermined number of times is obtained as a determination result, the position information determination unit 803 may output the determination result obtained continuously as a correct determination result. Good. The position information determination unit 803 records the determination result in the position information storage unit 804.

  The position information storage unit 804 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The position information storage unit 804 stores the determination result by the position information determination unit 803. For example, the position information storage unit 804 stores position information that is a determination result, date and time information, and worker identification information in association with each other. Based on the information stored in the position information storage unit 804, it can be determined which worker 50 is working at which position at which time.

  The output information generation unit 805 generates output information based on the information recorded in the position information storage unit 804. The output information generation unit 805 transmits the generated output information to the user terminal 90.

  10 to 12 are diagrams illustrating specific examples of output information. FIG. 10 is a diagram illustrating a specific example of the heat map. The output information generation unit 805 may generate information indicating a heat map as shown in FIG. 10 as output information. The heat map shown in FIG. 10 indicates the time during which the processing target worker 50 has stayed in different display modes for each sub-region 10. For example, the length of the staying time may be graphically expressed by a difference in color (a difference in hue, a difference in shading, etc.). For example, the sub-region 10 represented by a darker color is a sub-region having a longer stay time. For example, the sub-region 10 represented by a lighter color is a sub-region having a shorter stay time. FIG. 11 is a diagram illustrating a graph of work time by worker. The output information generation unit 805 may generate, as output information, information indicating a graph of the work time by worker as illustrated in FIG. The graph shown in FIG. 11 is a graph that represents the time required for work (hereinafter referred to as “work time”) on the horizontal axis for each worker 50 represented by, for example, worker identification information. FIG. 12 is a diagram showing a graph of work time by skill level. The output information generation unit 805 may generate, as output information, information indicating a graph of work time by skill level as shown in FIG. The graph shown in FIG. 12 is a graph that represents work time on the horizontal axis for each skill level of the worker 50 represented by, for example, worker identification information. The skill level of each worker 50 is stored in advance in association with a storage unit (not shown).

  The user terminal 90 is an information processing apparatus capable of communication. The user terminal 90 is an information processing apparatus such as a personal computer, a smartphone, or a tablet. The user terminal 90 receives the output information transmitted from the determination device 80. The user terminal 90 displays the received output information on the display device.

  In the position determination system 200 configured as described above, the radio signal receiver 60 is installed at a plurality of different positions on the horizontal plane with respect to the worker 50. Then, learning processing and position determination processing are performed based on information indicating the reception intensity in each radio signal receiver 60. For this reason, it is possible to perform position determination with higher accuracy. Hereinafter, this point will be described in detail.

  The human body attenuates radio signals because it contains a lot of moisture. Therefore, for example, among the radio signals reaching the radio signal receiver 60-1 attached to the front of the human body, the radio signal reaching from the rear of the worker 50 is attenuated in the human body. For this reason, the reception intensity of the radio signal becomes lower than a value that should be originally determined according to the distance between the radio signal transmitter 30 and the radio signal receiver 60. Such a phenomenon may be caused by being shielded by an object that does not contain moisture. That is, such a phenomenon is not limited to the worker 50 and is a phenomenon common to mobile objects whose positions are to be determined. For this reason, even if the worker 50 (moving body) exists at the same position, the reception intensity information by each radio signal receiver 60 differs depending on the direction in which the worker 50 (moving body) is facing. If the worker 50 (moving body) is wearing only one radio signal receiver 60, the accuracy of the determination result of the position information obtained based on the reception intensity information may be reduced due to the above-described cause. is there. With respect to such a problem, in the position determination system 200 of the present embodiment, the wireless signal receiver 60 is provided at a plurality of different positions on the horizontal plane for the moving body represented by the worker 50. Therefore, any one of the radio signal receivers 60 can acquire the reception intensity information of the received radio signal without being affected by the main body of the moving body. The reception intensity information acquired in this way more accurately indicates a value corresponding to the distance between the radio signal receiver 60 and the radio signal transmitter 30. Therefore, it is possible to perform position determination with higher accuracy by performing learning processing and position determination processing using the reception intensity information acquired in this way.

(Modification)
The position information acquisition unit 702 and the log management unit 703 of the learning device 70 do not acquire each information via the communication of the communication unit 701, but are recorded in advance on a portable recording medium such as a USB memory or a CD-ROM. You may acquire by reading information. For example, information in which position information, receiver identification information, and reception intensity information are associated with each other is recorded in advance on a portable recording medium, and the position information acquisition unit 702 and the log management unit 703 each read the information. You may acquire position information and reception intensity information.
The worker 50 is not necessarily equipped with a plurality of radio signal receivers 60 when it is not the timing for acquiring the teacher record 71 in the learning device 70, in other words, when the timing is determined by the determination device 80. It does not have to be. For example, the worker 50 may include only one radio signal receiver 60 at the above timing. Even in such a case, at least the learning process in the learning device 70 can use the teacher records 701 obtained by a plurality of radio signal receivers 60, so that a highly accurate learning result can be obtained. Can do. For this reason, it is possible to perform position determination with higher accuracy.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Sub area | region, 20 ... Cultivation garter, 21 ... Wire, 22 ... Beam, 30 ... Radio signal transmitter, 40 ... Communication device, 50 ... Worker, 60 ... Radio signal receiver, 61 ... Transmitter, 70 ... Learning apparatus 701: Communication unit 702 Location information acquisition unit 703 Log management unit 704 Log storage unit 705 Learning unit 706 Learning result storage unit 71 Teacher record 80 Determination device 801 Communication 802... Movement information storage unit 803 Position information determination unit 804 Position information storage unit 805 Output information generation unit 81 Log record 90 User terminal

Claims (3)

A radio signal receiver provided for the first mobile unit;
The wireless signal receiving unit receives reception strength information, which is information indicating reception strength when receiving wireless signals transmitted from a plurality of wireless signal transmitters respectively installed at a plurality of predetermined positions, A reception intensity information output unit to be transmitted to the communication device;
A plurality of reception intensity information obtained by a plurality of the radio signal reception units provided at different positions on the horizontal plane with respect to the position of the second moving body and the second moving body at the second position A learning result storage unit that stores learning result information obtained by performing a learning process in advance based on the reception intensity information obtained when a mobile object exists;
A determination unit that determines the position of the first moving body based on the reception intensity information output by the reception intensity information output unit and the learning result information stored in the learning result storage unit;
A position determination system comprising: With respect to the sub-region obtained by dividing the region where the first moving body is scheduled to move into a plurality of regions, information indicating whether or not the first mobile body can move from one sub-region to another sub-region is stored. A movement information storage unit that stores information;
The position determination system according to claim 1, wherein the determination unit corrects a determination result based on the movement availability information. A plurality of radio signal receiving units provided at different positions on the horizontal plane with respect to the second moving body,
The wireless signal receiving unit receives reception strength information, which is information indicating reception strength when receiving wireless signals transmitted from a plurality of wireless signal transmitters respectively installed at a plurality of predetermined positions, A reception intensity information output unit to be transmitted to the communication device;
A position information acquisition unit that acquires position information indicating the position of the second moving body;
When the reception intensity information is obtained by performing a learning process based on the reception intensity information output by the reception intensity information output unit and the position information acquired by the position information acquisition unit. A learning unit for acquiring learning result information used to determine the position information;
A learning system comprising

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