JP4132905B2 - System and method for detecting position of moving object - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a moving body position detection system and method, and more particularly to a moving body position detection system and method for detecting the location of each moving body in a building.
[0002]
[Prior art]
Conventionally, by detecting the location of each mobile body in a building (for example, each worker in a facility) and grasping the movement of each mobile body over time, the mobile body tries to be useful for efficient management of the mobile body. There is a position detection system. According to this system, the location data of each mobile unit can be captured in real time on a personal computer, and the movement of each mobile unit during work can be grasped in real time. Can be improved.
Examples of such a system include those using infrared rays and those using radio waves. In both systems, the first transmitter / receiver is provided in each of the plurality of mobile bodies, and the second transmitter / receiver is installed in each of the plurality of mobile bodies for each predetermined area. To detect the position of the moving object. First, request signals (infrared rays or radio waves) corresponding to a specific moving body are selectively transmitted from all second transmitters. Next, a detection signal (infrared ray or radio wave) is transmitted from the first transmitter / receiver of the specific mobile unit that has received the request signal to the second transmitter / receiver in the region to which the mobile unit belongs. And the area | region where a specific mobile body belongs is detected by recognizing the 2nd transmission receiver which receives this transmitted detection signal earliest.
By the way, when infrared rays are used as a detection signal, it is easily affected by the brightness of the work site, and communication is often disabled due to the influence of outdoor light. There are also many restrictions on the location of the infrared transmitter / receiver due to the directivity of infrared rays. On the other hand, when radio waves are used as detection signals, weak radio waves that do not require application are used due to their convenience, which may cause valleys due to resonance with reflected waves or the like in the building, making communication impossible. In addition, there is a drawback that it is difficult to obtain accurate information due to noise generated from devices in the facility.
Further, both the systems described above have a drawback that even if the region where the moving object to be detected is located can be confirmed, its coordinate position, that is, the exact location cannot be detected.
[0003]
Therefore, in recent years, a system using ultrasonic waves has been developed and spread as a system that is not easily influenced by the work environment and that can detect an accurate location, and is disclosed in, for example, Japanese Patent Application Laid-Open No. 08-226810. As shown in FIG. 5, this system includes an ultrasonic transmitter 1 provided in each of a plurality of mobile bodies (for example, a plurality of users in a facility) and an ultrasonic wave provided in a predetermined area on a ceiling in a building. Based on the receiver 2 and the ultrasonic waves received by these receivers 2, the transmitter 1 is specified, the location of each mobile object is calculated, and the information for specifying each mobile object can be queried The main part is constituted by the management computer 3 as a processing means.
The system operates as follows. That is, a certain transmitter 1 sequentially transmits ultrasonic waves to a plurality of receivers 2 based on division times set in advance in a time division manner. Then, several receivers 2 receive the transmitted ultrasonic waves, and the management computer 3 specifies the transmitter 1 based on the ultrasonic waves and calculates the location of each moving body. In addition, in order to adjust the internal clock of each transmitter 1, infrared light for clock adjustment is transmitted from each receiver 2.
Such a system using ultrasonic waves is less constrained by directivity, is not affected by strong light such as outdoor light, and has the excellent properties of ultrasonic waves that are less likely to interfere with each other. It can be said that it is effective even at work sites where the change occurs. In addition, there is an advantage that it is not easily affected by noise generated from surrounding electrical equipment.
[0004]
[Problems to be solved by the invention]
However, in the position detection system using ultrasonic waves, in order to ensure an ultrasonic reception period for each transmitter in advance, if the number of transmitters is large, a reference period for performing a measurement for each transmitter is set. become longer. For example, when 30 transmitters are set, the period becomes as long as about 10 seconds. Therefore, it cannot be said that the position detection of each moving body is performed in real time. This is a particular problem when it is desired to conduct an accurate survey on the movement of a specific moving object.
In addition, since the unidirectional communication method is adopted as the communication method, it is impossible to measure the distance of a specific transmitter without waiting for a preset measurement order. In other words, the transmitter could not transmit the ultrasonic wave unless the time allotted to it was received. Furthermore, the ultrasonic wave transmission / reception period could not be started due to the operation on the transmitter side.
The present invention has been made in order to solve the above-described problems, and the purpose of the present invention is to determine the position of each moving body accurately and in real time even if the number of moving bodies in the building is large. It is to provide a detection system and method.
In addition to the above object, another object of the present invention is to provide a position detection system and method capable of more easily detecting the position of a specific moving body.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, an invention according to claim 1 is directed to an ultrasonic transmitter provided in each of a plurality of moving bodies, and an ultrasonic reception provided in at least three locations for each predetermined area in a building. A position detection system for a moving body, and a calculation processing means for obtaining position information of the moving body based on distance information of the moving body , wherein the ultrasonic transmitter detects the position from the moving body. In accordance with the request, the ultrasonic wave transmission / reception request signal for designating the start time of the ultrasonic wave transmission / reception period in which both the ultrasonic wave transmission by the ultrasonic wave transmitter and the ultrasonic wave reception by the ultrasonic wave receiver are possible are specified. Ultrasonic wave transmission / reception request means for transmitting to the ultrasonic wave receiver, and at least three ultrasonic wave reception signals that have received the ultrasonic wave transmission / reception request signal among the at least three ultrasonic wave receivers. Machine Receiving the ultrasonic wave emission-reception set permission signal transmitted from only the in ultrasonic emission-reception set period has a ultrasonic wave transmission means for transmitting an ultrasonic wave, said ultrasonic receiver, the ultrasonic onset reception request signal Ultrasonic transmission / reception permission means for designating the start time of the ultrasonic transmission / reception period according to the reception and transmitting the ultrasonic transmission / reception permission signal to the ultrasonic transmitter, and the ultrasonic transmission / reception permission signal received by the ultrasonic transmission / reception permission signal Ultrasonic wave receiving means for receiving the ultrasonic wave transmitted from the ultrasonic wave transmitter in the ultrasonic wave transmission / reception period, wherein the arithmetic processing means is the ultrasonic wave receiver of the at least three or more ultrasonic wave receivers. Calculating the distance information of the moving body based on the time required from receiving the ultrasonic wave transmission / reception permission signal of only at least three ultrasonic receivers that have received the ultrasonic wave until receiving the ultrasonic wave; The transfer And a position detection system of a moving body and obtains the positional information of the movable body based on the distance information of the body.
[0008]
According to a second aspect of the present invention, in the first aspect of the present invention, the ultrasonic transmission / reception request means of the ultrasonic transmitter transmits an ultrasonic transmission / reception request signal to the ultrasonic receiver. However, when the ultrasonic wave transmission / reception permission signal from the ultrasonic wave receiver cannot be obtained, the ultrasonic wave transmission / reception request signal is transmitted again after a certain period of time.
[0009]
The invention according to claim 3 is the invention according to claim 1 or 2 , wherein the ultrasonic transmission / reception request signal transmitted from the ultrasonic transmission / reception request means of the ultrasonic transmitter, and the ultrasonic wave are transmitted. Each of the ultrasonic transmission / reception permission signals transmitted from the ultrasonic transmission / reception permission means of the receiver is characterized in that it is infrared data to which information for identifying the ultrasonic transmitter is attached. .
[0010]
The invention of claim 4 is the invention according to any one of the claims 1 to 3, wherein the processing means, receiving the ultrasonic wave of the at least three or more ultrasonic receivers The position information of the moving body is obtained based on the distance information of the moving body calculated based on the required time of only the ultrasonic receiver and the coordinate data of the installation position of the ultrasonic receiver. Is.
[0011]
According to a fifth aspect of the present invention, there is provided an ultrasonic transmitter provided in each of a plurality of moving bodies, an ultrasonic receiver provided in at least three locations for each predetermined area in a building, and a moving body. A position detection method for detecting a position of the moving object using an arithmetic processing unit that obtains position information of the moving object based on distance information , wherein the ultrasonic transmitter transmits the moving object from the moving object. An ultrasonic transmission / reception request for designating the start time of an ultrasonic transmission / reception period in which both the transmission of ultrasonic waves by the ultrasonic transmitter and the reception of ultrasonic waves by the ultrasonic receiver are possible according to the request for position detection A step of transmitting a signal to the ultrasonic receiver, and at least three ultrasonic receivers that have received the ultrasonic transmission request signal among the at least three ultrasonic receivers. From Receiving the ultrasonic wave emission-reception set permission signal, the in ultrasonic emission-reception set period comprises the step of transmitting ultrasonic waves, the ultrasonic receiver, the ultrasonic onset accordance reception of the ultrasonic wave emission-reception set request signal A step of designating a start time of a reception period and transmitting the ultrasonic transmission / reception permission signal to the ultrasonic transmitter; and the ultrasonic wave transmitted from the ultrasonic transmitter that has received the ultrasonic transmission / reception permission signal. Receiving in the ultrasonic wave transmission and reception period, wherein the arithmetic processing means is at least three ultrasonic receivers receiving the ultrasonic wave among the at least three ultrasonic receivers provided. Calculating the distance information of the mobile body based on the time required from the transmission of the ultrasonic wave transmission / reception permission signal to the reception of the ultrasonic wave, and the mobile body based on the distance information of the mobile body Having a step of obtaining position information and a position detection method for a mobile body according to claim.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a block diagram schematically showing a configuration of a position detection system for a moving body according to an embodiment of the present invention. The system according to the present embodiment is mainly composed of an ultrasonic transmitter 1, an ultrasonic receiver 2, a junction box 4, a controller 5, a management computer 3, and a cable for connecting and communicating them.
[0013]
As shown in FIG. 2A, the ultrasonic transmitter 1 is attached to a part (such as a helmet or a hat) where a plurality of workers (moving bodies) can easily receive the ultrasonic waves U. As shown in FIG. 2 (b), the transmitter 1 includes an ultrasonic transmission unit 1 a that transmits the ultrasonic wave U, and the start time of the ultrasonic wave transmission / reception period in which the ultrasonic wave U can be transmitted and received. Is provided with an ultrasonic transmission / reception requesting means. The ultrasonic wave transmission / reception request means in the present embodiment is mainly composed of a position notification switch 1b and an infrared light transmission / reception unit 1c.
[0014]
At least three ultrasonic receivers 2 are installed on the ceiling in the building for each predetermined area (FIG. 4). The receiver 2 includes ultrasonic receiving means (not shown) for receiving the ultrasonic wave U from the transmitter 1, and is designated by the ultrasonic transmission / reception request means (1b, 1c) of the transmitter 1. An ultrasonic transmission / reception permission unit (not shown) that determines whether or not the start time of the ultrasonic transmission / reception period is valid and, if valid, permits the start of the ultrasonic transmission / reception period from the start time; ing.
[0015]
The receiver 2 is communicatively connected to a management computer 3 such as a personal computer via a junction box 4 and a controller 5.
Each receiver 2 is communicatively connected to a junction box 4 installed for each predetermined area via two non-polar wires.
Each junction box 4 is communicatively connected to the controller 5 via an 8-core modular cable, and supplies power to the communication chip and converts the data from the controller 5 into a data format of a two-wire power transmission / reception communication method. Or a function of performing the inverse conversion.
The controller 5 is communicatively connected to the management computer 3 via an RS-232C cable, has a function of converting a command from the management computer 3 into a predetermined data format, and adjusts and controls the internal clock of the receiver 2. It has a function to do.
[0016]
The receiver 2 and the controller 5 incorporate a predetermined arithmetic chip (not shown), and the management computer 3 has a predetermined arithmetic program installed therein. These calculation chips and calculation programs have a function as calculation processing means for performing calculation processing related to position detection. Here, the delay time (required time) until the ultrasonic wave U transmitted from the transmitter 1 is received by the receiver 2 includes information indicating how far the transmitters 1 and 2 are separated. Therefore, based on this, the calculation processing means performs a predetermined calculation process, whereby the position information can be calculated.
[0017]
FIG. 3 shows a timing chart for explaining the procedure for detecting the position of the moving object by the system having the above-described configuration. Hereinafter, this figure will be described with emphasis on the fact that the transmittable / receivable period T during which the ultrasonic wave U can be transmitted and received can be designated from the transmitter 1 side.
[0018]
When receiving a request from the operator, the ultrasonic transmitter 1 transmits an ultrasonic transmission / reception request signal R for designating the start time t0 of the transmission / reception period T. Specifically, when the operator presses the position notification switch 1b, infrared data to which information for identifying the transmitter 1 is attached is transmitted from the infrared transmission / reception unit 1c to the ultrasonic transmitter 2. .
As described above, since the position detection due to the operation from the moving body side is possible, the position detection for the specific moving body can be performed in real time even when the number of the moving bodies is large. Further, by using infrared data with information for specifying the transmitter 1 as the request signal R, the adaptability to changes in the measurement environment (for example, the number of moving objects) and the degree of freedom in system design are improved. Can do.
[0019]
Next, when receiving the request signal R from the transmitter 1, the ultrasonic transmission / reception permission means of the receiver 2 receives the request signal R from the transmitter 1 except when a predetermined process is performed on another receiver 2. At the same time as starting T from the start time t0, an ultrasonic transmission / reception permission signal P (infrared data to which information for specifying the transmitter 1 that has transmitted the request signal R is added) is transmitted to the transmitter 1.
Thus, by excluding the case where the predetermined processing is performed on the other receivers 2, it is possible to cope with the case where the position notification switches 1b of a plurality of transmitters 1 are pressed almost simultaneously. In addition, by starting the ultrasonic reception period T and transmitting the permission signal P, the load of the execution process is reduced. Furthermore, by using infrared data with information for specifying the transmitter 1 as the permission signal P, it is possible to improve the adaptability of environmental changes and the diversity of system design.
The transmission / reception period T may be started after a certain time has elapsed since the permission signal P is transmitted, or the permission signal P includes information on the start time t0 of the transmission / reception period T. The transmission / reception period T may be started from the start time t0.
[0020]
Next, the transmitter 1 receives the permission signal P from the receiver 2 by the infrared transmission / reception unit 1c and simultaneously transmits the ultrasonic wave U from the ultrasonic transmission unit 1a. FIG. 4 shows how the ultrasonic wave U is transmitted from the transmitter 1 to the receiver 2 at this time.
As described above, by using the ultrasonic wave as the detection signal, various advantages in the conventional system as shown in FIG. 5 can be secured.
Note that the timing of transmitting the ultrasonic wave U may be changed as appropriate in accordance with the setting of the receiver 2. For example, the ultrasonic wave U may be transmitted after a certain time has elapsed after receiving the permission signal P. Good.
[0021]
Next, when receiving the ultrasonic wave U transmitted from the transmitter 1, the receiver 2 measures a delay time D from when the permission signal P is transmitted until the ultrasonic wave U is received. Based on the above, distance information from the transmitter 1 to the receiver 2 is calculated. This distance information is collected at a constant time interval I by the controller 5.
By such arithmetic processing based on the delay time D and the collective processing by the controller 5, accurate position detection can be performed while keeping the processing load low.
[0022]
Then, the management computer 3 executes a calculation process for obtaining the position information of each moving body based on the distance information calculated by at least three receivers 2 and the coordinate data of the installation positions of the receivers 2. Further, the management computer 3 processes the calculated position information into mapping information that allows the movement of each moving body to be grasped at a glance. Here, the coordinate data is numerical data stored as a database in the storage medium of the management computer 3.
Note that the arithmetic processing by the receiver 2, the controller 5, and the management computer 3 may all be performed collectively in the management computer 3. In addition, it is most effective to execute each arithmetic processing continuously and in real time, but it may be executed at regular time intervals in consideration of the load of each arithmetic processing.
[0023]
In addition to the above configuration, when the transmitter 1 does not obtain the permission signal P from the receiver 2 even if it transmits the request signal R to the receiver 2, it again sends the request signal R after a certain period of time. Trying to send. As a result, even when the position notification switches 1b of a plurality of transmitters are pressed almost simultaneously, it is possible to ensure accurate position detection.
That is, in the lower part of FIG. 3, as shown in the case where the position notification switch 1b of the transmitter 1-2 is pressed shortly after the position notification switch 1b of the transmitter 1-1 is pressed, 1 by the transmitter 1-2 is shown. Although the permission signal for the second request signal R1 was not obtained, it can be seen that the permission signal P2 for the second request signal R2 transmitted after a certain period of time was obtained.
Even in such a case, the calculation processing by the management computer 3 is executed only when distance information of at least 3 or more is obtained, so that the accuracy of detecting the position of the moving object can be ensured.
[0024]
The moving body position detection system according to the present embodiment described above has a characteristic in a so-called arbitrary measurement mode in which ultrasonic measurement can be performed at an arbitrary timing in response to a request from the transmitter side. In the conventional system shown in FIG. 5, the position detection may be performed by using both the so-called automatic measurement mode and the arbitrary measurement mode. In this case, the position detection is usually performed in the automatic measurement mode, and the mode is preferably switched to the arbitrary measurement mode by interruption from the transmitter side.
[0025]
In addition, although the request signal R and the permission signal P in the present embodiment are both optical signals, the present invention is not limited to this, and either one or both may be electrical signals.
[0026]
【The invention's effect】
As described above, in the mobile body position detection system and method of the present invention, the ultrasonic transmitters provided in each of the plurality of mobile bodies and the ultrasonic waves provided in at least three locations for each predetermined area in the building. Position of the moving body comprising a receiver and arithmetic processing means for obtaining position information of the moving body based on a time required until the ultrasonic wave transmitted from the ultrasonic transmitter is received by the ultrasonic receiver In the detection system, the position of the moving body can be detected due to the operation from the moving body side (ultrasonic transmitter side). As a result, the location of each moving body can be accurately grasped in real time even when the number of moving bodies in the building is large, while securing the advantages of the conventional position detection system using ultrasonic waves. The body position can be detected more easily.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a concept of a position detection system for a moving body according to the present invention.
2 is an external perspective view showing a mounting form (a) and a configuration (b) of the ultrasonic transmitter shown in FIG. 1 to a moving body. FIG.
FIG. 3 is a timing chart for explaining a procedure for detecting the position of a moving object by the system of FIG. 1;
4 is a schematic perspective view showing the ultrasonic transmitter and the ultrasonic receiver of FIG. 1. FIG.
FIG. 5 is a block diagram showing the concept of a conventional mobile object position detection system.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Ultrasonic transmitter 1a Ultrasonic transmitter 1b Position notification switch 1c Infrared transmitter / receiver 2 Ultrasonic receiver 3 Management computer 4 Junction box 5 Controller I Data collection period T Ultrasonic transmission / reception period D Time required (delay time)
R Ultrasonic transmission / reception request signal (infrared data)
P Ultrasonic transmission / reception permission signal (infrared data)
U ultrasound

Claims (5)

Position information of the moving body based on distance information of the ultrasonic transmitter provided in each of the plurality of moving bodies, at least three ultrasonic receivers provided for each predetermined area in the building A position detection system for a moving body comprising arithmetic processing means for obtaining
In accordance with the position detection request from the moving body, the ultrasonic transmitter has an ultrasonic transmission / reception period in which both the ultrasonic transmission by the ultrasonic transmitter and the ultrasonic reception by the ultrasonic receiver are possible. Ultrasonic transmission / reception request means for transmitting an ultrasonic transmission / reception request signal for designating a start time to the ultrasonic receiver, and the ultrasonic wave among the at least three ultrasonic receivers provided receiving the ultrasonic wave emission-reception set permission signals transmitted origination reception request signal from only the ultrasonic receiver that has received, it has the ultrasonic wave transmission means for transmitting ultrasonic waves in the ultrasonic emission-reception set period,
The ultrasonic receiver transmits and receives the ultrasonic transmission and reception permission signal to the ultrasonic transmitter by designating a start time of the ultrasonic transmission and reception period in accordance with reception of the ultrasonic transmission and reception request signal. An ultrasonic receiving means for receiving the ultrasonic wave transmitted from the ultrasonic transmitter that has received the ultrasonic transmission / reception permission signal in the ultrasonic transmission / reception period;
The arithmetic processing means transmits the ultrasonic transmission / reception permission signal of only at least three ultrasonic receivers that have received the ultrasonic wave among the ultrasonic receivers provided at least three or more. A position detection system for a moving body, wherein distance information of the moving body is calculated based on a required time until the ultrasonic wave is received, and position information of the moving body is obtained based on the distance information of the moving body. . When the ultrasonic transmission / reception request means of the ultrasonic transmitter does not obtain the ultrasonic transmission / reception permission signal from the ultrasonic receiver even if the ultrasonic transmission / reception request signal is transmitted to the ultrasonic receiver. 2. The position detection system for a moving body according to claim 1, wherein the ultrasonic wave transmission / reception request signal is transmitted again after a predetermined time.   The ultrasonic transmission / reception request signal transmitted from the ultrasonic transmission / reception request unit of the ultrasonic transmitter and the ultrasonic transmission / reception permission signal transmitted from the ultrasonic transmission / reception permission unit of the ultrasonic receiver are both The position detection system for a moving body according to claim 1 or 2, wherein the data is infrared data to which information for specifying the ultrasonic transmitter is attached.   The arithmetic processing means includes the distance information of the moving body calculated based on the required time of only the ultrasonic receiver that has received the ultrasonic wave among the at least three ultrasonic receivers, and the ultrasonic reception. The position detection system of the moving body according to any one of claims 1 to 3, wherein position information of the moving body is obtained based on coordinate data of an installation position of the machine. Position information of the moving body based on distance information of the ultrasonic transmitter provided in each of the plurality of moving bodies, at least three ultrasonic receivers provided for each predetermined area in the building A position detection method for a moving body that detects a position of the moving body using an arithmetic processing means for obtaining
Said ultrasonic transmitter is, according to the location request detection from the moving body, the ultrasonic transmitter with ultrasonic waves received by the ultrasonic transmitter and the ultrasonic receiver are both possible ultrasonic onset reception period Transmitting an ultrasonic transmission / reception request signal for designating a start time to the ultrasonic receiver;
The ultrasonic wave transmission / reception permission signal transmitted only from the ultrasonic wave receiver that has received the ultrasonic wave transmission / reception request signal among the ultrasonic wave receivers provided at least at three or more locations is received, and the ultrasonic wave transmission / reception signal is received. a step of transmitting an ultrasonic wave in the period,
A step wherein the ultrasonic receiver, which transmits the ultrasonic onset receive enable signal specifying the start time of the ultrasonic wave emission-reception set time as reception of the ultrasonic wave emission-reception set request signal to the ultrasonic transmitter,
And receiving the ultrasonic wave transmitted from the ultrasonic transmitter that has received the ultrasonic onset reception permit signal in the ultrasound emission-reception set period,
Said arithmetic processing means, after transmitting the ultrasonic wave emission-reception set permission signal of the at least three locations receiving the ultrasonic wave of the ultrasonic receiver only of the ultrasonic receivers provided for the at least three or more movement and having the steps of: obtaining positional information of the movable body based on the calculated distance information of the moving object based on the time required to receive ultrasonic waves, the distance information of the movable body Body position detection method.

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