Information processing device, information processing system, and information processing method

Abstract

To provide an information processing device capable of executing positioning of a movable node without using anchor.SOLUTION: An information processing device 10 is provided with a control unit 13 for executing: first processing of estimating at least one position of a plurality of first nodes 20 for mutually performing radio communication for measuring mutual distances on the basis of a second node 30 as a movable body; and second processing of estimating a position of a different first node 20 on the basis of at least one of the first node 20 having its position estimated on the basis of the second node 30 and being a stationary first node 20, and the second node 30.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to an information processing device, an information processing system, and an information processing method. [Background technology]

[0002] Conventionally, there is known a wireless tag capable of measuring the distance to a target by wireless communication using radio waves, ultrasonic waves, etc. Technology related to a positioning system having a plurality of such wireless tags is also known. For example, Patent Document 1 discloses a method for determining the position of a wireless terminal. This method utilizes the fact that in most typical deployment examples, a mobile node is closer to a target mobile node than an access point, thus eliminating the need to deploy more access points or fixed anchors for position determination. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2014-509381 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the deployment example described in Patent Document 1, in addition to the server and multiple mobile nodes, a fixed node is additionally deployed. In conventional technologies including the technology described in Patent Document 1, a fixed node that has already been positioned and functions as an anchor is additionally required in addition to the mobile node in order to estimate the position of a movable node such as a mobile node after it has moved. The position of the mobile node is determined by using such an anchor in a triangulation manner.

[0005] An object of the present disclosure is to provide an information processing device, an information processing system, and an information processing method that are capable of performing positioning of a movable node without using an anchor. [Means for solving the problem]

[0006] According to a first aspect of the present invention, there is provided an information processing device comprising: a control unit that executes a first process of estimating a position of at least one of a plurality of first nodes that perform wireless communication with each other to measure distances to each other, based on a second node as a moving body, and a second process of estimating a position of another of the first nodes, based on at least one of the first node and the second node, the first node being stationary and the position of which has been estimated based on the second node; Equipped with.

[0007] An information processing system according to a second aspect of the present invention comprises: The above information processing device; A plurality of the first nodes; the second node as the moving body; Equipped with.

[0008] An information processing method according to a third aspect comprises: An information processing method executed by an information processing device, estimating a position of at least one of a plurality of first nodes that wirelessly communicate with each other to measure distances between them, based on a second node as a moving body; estimating a position of another first node based on at least one of the first node and the second node, the first node being stationary and the second node having a position estimated based on the second node; Includes. Effect of the Invention

[0009] According to an information processing device, an information processing system, and an information processing method according to an embodiment of the present disclosure, it is possible to perform positioning of a movable node without using an anchor. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic diagram illustrating an example of a configuration of an information processing system including an information processing device according to an embodiment of the present disclosure. [Diagram 2] 2 is a block diagram showing a schematic configuration of each of the information processing device, the first node, and the second node in FIG. 1. [Diagram 3] 1. FIG. 4 is a sequence diagram illustrating an example of an information processing method executed by the information processing system of FIG. [Figure 4] FIG. 3 is a first diagram for explaining an example of processing by the information processing device of FIG. 2; [Diagram 5] FIG. 2 is a second diagram for explaining an example of processing by the information processing device of FIG. [Figure 6] FIG. 3 is a third diagram for explaining an example of processing by the information processing device of FIG. [Figure 7] FIG. 4 is a fourth diagram for explaining an example of processing by the information processing device of FIG. [Figure 8] FIG. 5 is a fifth diagram for explaining an example of processing by the information processing device of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] An embodiment of the present disclosure will be mainly described below with reference to the accompanying drawings. The following description also applies to an information processing system 1 including an information processing device 10 to which the present disclosure is applied, and an information processing method executed by the information processing device 10.

[0012] Fig. 1 is a schematic diagram showing an example of a configuration of an information processing system 1 including an information processing device 10 according to an embodiment of the present disclosure. An overview of the information processing system 1 including the information processing device 10 according to an embodiment of the present disclosure will be mainly described with reference to Fig. 1. In addition to the information processing device 10, the information processing system 1 has a plurality of first nodes 20 and a second node 30 as a moving object.

[0013] 1, for ease of explanation, only one second node 30 is illustrated as a moving body, but the information processing system 1 may have two or more second nodes 30. The information processing device 10, the multiple first nodes 20, and the second node 30 are each connected to each other so as to be able to communicate with each other.

[0014] As an overview of one embodiment, an information processing device 10 executes a first process of estimating the position of at least one of a plurality of first nodes 20 that wirelessly communicate with each other to measure distances to each other, based on a second node 30 as a moving body. The information processing device 10 executes a second process of estimating the post-movement position of the moved first node 20, based on the first node 20 that is stationary and whose position has been estimated based on the second node 30.

[0015] The information processing device 10 includes one or more server devices that can communicate with each other. The information processing device 10 is not limited to these, and may include any general-purpose electronic device such as a PC (Personal Computer), a smartphone, or a smart speaker, or may include other electronic devices dedicated to the information processing system 1.

[0016] The first node 20 includes devices equipped with wireless tags that perform wireless communication to measure distance. In this disclosure, the "wireless tag" includes, for example, a ranging tag that enables mutual distance measurement by UWB (Ultra-Wide Band) communication. The devices included in the first node 20 are arranged in a space in which the second node 30, as a mobile object, can move. The devices include, for example, the following items used by a user who uses the information processing system 1 in the user's living space:

[0017] The devices included in the first node 20 include electronic devices and home appliances. The electronic devices include PCs, smartphones, tablet PCs, wearable devices such as smart watches, smart speakers, and game consoles. The home appliances include vacuum cleaners, televisions, remote controls, stand lights, dryers, microwave ovens, washing machines, and rice cookers. The devices are not limited to the above, and may include one or more server devices that are used by a user and can communicate with each other, or may include other electronic devices dedicated to the information processing system 1.

[0018] The second node 30 includes an autonomous mobile robot. The autonomous mobile robot is equipped with a wireless tag that performs wireless communication to measure distance, similar to the first node 20. The autonomous mobile robot performs wireless power supply to a wireless power supply-compatible device to be charged among the above-mentioned devices arranged in the same space. The autonomous mobile robot moves to the vicinity of the device arranged in a space in which the autonomous mobile robot can move and performs wireless power supply. The autonomous mobile robot identifies the position of the device by acquiring, as information, the position of the first node 20 estimated by the information processing device 10 through the first process and the second process from the information processing device 10. The autonomous mobile robot may determine a movement route to the vicinity of the device while cooperating with the information processing device 10, or may determine it autonomously without cooperating with the information processing device 10.

[0019] Fig. 2 is a block diagram showing a schematic configuration of each of the information processing device 10, the first node 20, and the second node 30 in Fig. 1. In the following description using Fig. 2, for simplicity of description, attention is focused on only one first node 20 among the multiple first nodes 20. Accordingly, only one first node 20 among the multiple first nodes 20 is representatively illustrated in Fig. 2. However, the same description as the following description also applies to the other first nodes 20.

[0020] 2, for ease of explanation, only the configuration of the first node 20 related to the first process and the second process executed by the information processing device 10 is shown. The illustration and explanation of the configuration for realizing the original functions of the devices included in the first node 20 is omitted. With reference to FIG. 2, an example of a schematic configuration of each of the information processing device 10, the first node 20, and the second node 30 included in the information processing system 1 will be mainly explained.

[0021] The following mainly describes the configuration of an information processing device 10 included in the information processing system 1. The information processing device 10 includes a communication unit 11, a storage unit 12, and a control unit 13.

[0022] The communication unit 11 includes one or more communication interfaces. The communication interfaces correspond to any wireless communication standard for wirelessly communicating with each of the first node 20 and the second node 30. The wireless communication standards include ZigBee (registered trademark), Bluetooth (registered trademark), Wi-Fi (registered trademark), any other short-range wireless communication standard, and the like. In one embodiment, the information processing device 10 is connected to each of the first node 20 and the second node 30 by wireless communication via the communication unit 11 so as to be able to communicate with each other.

[0023] The storage unit 12 includes storage modules such as a hard disk drive (HDD), a solid state drive (SSD), an electrically erasable programmable read-only memory (EEPROM), a read-only memory (ROM), and a random access memory (RAM). The storage unit 12 stores information necessary to realize the operation of the information processing device 10. The storage unit 12 stores information obtained by the operation of the information processing device 10. For example, the storage unit 12 stores system programs, application programs, and various data obtained by any means such as communication.

[0024] The storage unit 12 may function as a main storage module, an auxiliary storage module, or a cache memory. The storage unit 12 is not limited to being built into the information processing device 10, and may include an external storage module connected via a digital input / output port such as a Universal Serial Bus (USB).

[0025] The control unit 13 includes one or more processors. In the present disclosure, a "processor" is a general-purpose processor or a dedicated processor specialized for a specific process, but is not limited thereto. The control unit 13 includes, for example, a CPU (Central Processing Unit). The control unit 13 is communicably connected to each component of the information processing device 10, and controls the operation of the information processing device 10 as a whole.

[0026] The following mainly describes the configuration of the first node 20 included in the information processing system 1. The first node 20 includes a communication unit 21, an acquisition unit 22, and a control unit .

[0027] The communication unit 21 includes one or more communication interfaces. The communication interfaces include wireless tags or the like attached to devices included in the above-mentioned first node 20. The wireless tags may have the same product specifications among the multiple first nodes 20, or may have different product specifications.

[0028] The communication interface corresponds to any wireless communication standard for measuring distance by wirelessly communicating with each of the other first nodes 20 and second nodes 30. The wireless communication standard includes UWB and the like. Without being limited thereto, the wireless communication standard may include ZigBee (registered trademark), Bluetooth (registered trademark), Wi-Fi (registered trademark), any other short-range wireless communication standard, and the like. In one embodiment, the first node 20 is connected to each of the other first nodes 20 and second nodes 30 so as to be able to communicate with each other by wireless communication for distance measurement via the communication unit 21.

[0029] In addition, the communication interface corresponds to any wireless communication standard for wirelessly communicating with the information processing device 10. The wireless communication standard includes ZigBee (registered trademark), Bluetooth (registered trademark), Wi-Fi (registered trademark), any other short-range wireless communication standard, etc. In one embodiment, the first node 20 is connected to the information processing device 10 by wireless communication via the communication unit 21 so that they can communicate with each other.

[0030] The acquisition unit 22 includes any sensor module capable of acquiring inertial information indicating the stationary or moving state of the first node 20. The sensor module includes, for example, an inertial measurement unit (IMU). The acquisition unit 22 acquires a change in the position of the first node 20 as sensor information.

[0031] The control unit 23 includes one or more processors. The control unit 23 includes, for example, a CPU. The control unit 23 is communicably connected to each component that configures the first node 20, and controls the operation of the entire first node 20.

[0032] The following mainly describes the configuration of the second node 30 included in the information processing system 1. The second node 30 has a communication unit 31, a storage unit 32, an acquisition unit 33, a drive unit , a power supply unit 35, and a control unit .

[0033] The communication unit 31 includes one or more communication interfaces. The communication interfaces include a wireless tag attached to the autonomous mobile robot included in the second node 30 described above. The wireless tag may have the same product specifications as the wireless tag included in the communication unit 21, or may have different product specifications.

[0034] The communication interface corresponds to any wireless communication standard for measuring distance by wirelessly communicating with the first node 20. The wireless communication standard includes UWB and the like. Without being limited thereto, the wireless communication standard may include ZigBee (registered trademark), Bluetooth (registered trademark), Wi-Fi (registered trademark), any other short-range wireless communication standard, and the like. In one embodiment, the second node 30 is connected to the first node 20 so as to be able to communicate with each other by wireless communication for distance measurement via the communication unit 31.

[0035] In addition, the communication interface corresponds to any wireless communication standard for wireless communication with the information processing device 10. The wireless communication standard includes ZigBee (registered trademark), Bluetooth (registered trademark), Wi-Fi (registered trademark), any other short-range wireless communication standard, etc. In one embodiment, the second node 30 is connected to the information processing device 10 by wireless communication via the communication unit 31 so that they can communicate with each other.

[0036] The storage unit 32 includes storage modules such as an HDD, an SSD, an EEPROM, a ROM, and a RAM. The storage unit 32 stores information necessary to realize the operation of the second node 30. The storage unit 32 stores information obtained by the operation of the second node 30. For example, the storage unit 32 stores system programs, application programs, and various data acquired by any means such as communication.

[0037] The storage unit 32 may function as a main storage module, an auxiliary storage module, or a cache memory. The storage unit 32 is not limited to being built into the second node 30, and may include an external storage module connected via a digital input / output port such as a USB.

[0038] The acquisition unit 33 includes an arbitrary sensor module that enables the second node 30 to simultaneously estimate its own position and generate an environmental map. The sensor module includes, for example, at least one sensor that supports Simultaneous Localization And Mapping (SLAM) technology. The acquisition unit 33 acquires position information indicating the position of the second node 30 as sensor information.

[0039] The driving unit 34 includes an optional driving module for generating driving force required to move the autonomous mobile robot included in the second node 30. The driving unit 34 drives and moves the autonomous mobile robot under the control of the control unit 36.

[0040] The power supply unit 35 includes an arbitrary wireless power supply module for wirelessly supplying power to a wireless power supply-compatible device. The wireless power supply module supports an arbitrary wireless power supply method. The wireless power supply method includes an electromagnetic induction method, a magnetic field resonance method, an electric field coupling method, and a radio wave reception method. Under the control of the control unit 36, the power supply unit 35 wirelessly supplies power to a wireless power supply-compatible device to be charged, among the above-mentioned devices arranged in the same space as the autonomous mobile robot included in the second node 30.

[0041] The control unit 36 ​​includes one or more processors. The control unit 36 ​​includes, for example, a CPU. The control unit 36 ​​is communicably connected to each component that configures the second node 30, and controls the operation of the entire second node 30.

[0042] Fig. 3 is a sequence diagram for explaining an example of an information processing method executed by the information processing system 1 of Fig. 1. In the following explanation using Fig. 3, for simplicity of explanation, attention is focused on only two first nodes 20 out of the multiple first nodes 20. Accordingly, only two first nodes 20 out of the multiple first nodes 20 are representatively illustrated in Fig. 3. However, the same explanation as the following explanation also applies to the other first nodes 20. With reference to Fig. 3, an example of an information processing method executed by the information processing system 1 of Fig. 1 will be mainly explained.

[0043] The control unit 13 of the information processing device 10 executes a plurality of processes including a first process and a second process. In the first process, the control unit 13 estimates the position of at least one of a plurality of first nodes 20 that perform wireless communication with each other to measure the distance between them, based on the second node 30 as a moving body. In the present disclosure, "estimating based on the second node 30" includes not only estimation using only the second node 30, but also estimation using at least one first node 20 whose position has been estimated using the second node 30 together with the second node 30, and estimation using only at least one first node 20 whose position has been estimated using the second node 30. The first process corresponds to steps S103 and S108 in FIG. 3. In the second process, the control unit 13 estimates the position of the moved first node 20 after the movement, based on the first node 20 whose position has been estimated based on the second node 30 and that is stationary. The second process corresponds to step S118 in FIG. 3.

[0044] In step S100, the control unit 13 of the information processing device 10 acquires location information indicating the location of the second node 30 from the second node 30. For example, the control unit 36 ​​of the second node 30 acquires location information indicating the location of the second node 30 in space using the acquisition unit 33. The control unit 36 ​​of the second node 30 transmits the location information acquired by the acquisition unit 33 to the information processing device 10 via the communication unit 31. The control unit 13 of the information processing device 10 receives the location information acquired by the second node 30 from the second node 30 via the communication unit 11.

[0045] In step S101, one of the first nodes 20 and the second node 30 executes wireless communication to measure the distance between them. For example, the second node 30 executes the wireless communication with the closest one of the first nodes 20 while moving along a predetermined moving route. The second node 30 executes the wireless communication not only with the closest one of the first nodes 20 but also with all the one of the first nodes 20 that can be measured in parallel. For example, the control unit 23 of one of the first nodes 20 executes the wireless communication by causing a wireless tag included in the communication unit 21 to transmit and receive radio waves. Similarly, the control unit 36 ​​of the second node 30 executes the wireless communication by causing a wireless tag included in the communication unit 31 to transmit and receive radio waves.

[0046] In step S102, the control unit 36 ​​of the second node 30 provides the information processing device 10 with distance information indicating the distance from the second node 30 to one of the first nodes 20. The control unit 36 ​​of the second node 30 transmits the distance information acquired based on the wireless communication executed in step S101 to the information processing device 10 via the communication unit 31. The control unit 13 of the information processing device 10 receives the distance information acquired at the second node 30 from the second node 30 via the communication unit 11. In the present disclosure, the "distance information" includes, for example, the transmission timing when a wireless tag on one side transmits radio waves to a wireless tag on the other side and the reception timing when a wireless tag on one side receives radio waves transmitted from a wireless tag on the other side.

[0047] In step S103, the control unit 13 of the information processing device 10 executes a first process using position information indicating the position of the second node 30 and distance information indicating the distance from the second node 30 to one of the first nodes 20, respectively acquired from the second node 30 in steps S100 and S102. For example, the control unit 13 estimates the position of at least one of the multiple first nodes 20 that perform wireless communication with each other to measure the distance between them, based on the second node 30 as a moving body.

[0048] The control unit 13 of the information processing device 10 may execute the first process based on an arbitrary position estimation algorithm. For example, the position estimation algorithm includes a particle filter that can also handle non-normally distributed errors such as multipath and outliers. The control unit 13 estimates the position of one of the first nodes 20 by expressing the position of the one of the first nodes 20 as a predetermined probability distribution based on the particle filter.

[0049] In step S104, the control unit 13 of the information processing device 10 determines a movement route of the second node 30 based on the position of one of the first nodes 20 estimated by the first process in step S103. For example, the control unit 13 determines the movement route of the second node 30 based on a predetermined probability distribution of the position of one of the first nodes 20 obtained in step S103. The control unit 13 transmits the determined movement route as information to the second node 30 via the communication unit 11. The control unit 36 ​​of the second node 30 receives the movement route determined in the information processing device 10 as information from the information processing device 10 via the communication unit 31. The control unit 36 ​​of the second node 30 controls the drive unit 34 so that the second node 30 moves according to the acquired movement route.

[0050] In step S105, the control unit 13 of the information processing device 10 acquires, from the second node 30, position information indicating the position of the second node 30, similar to step S100. For example, the control unit 36 ​​of the second node 30 acquires, using the acquisition unit 33, position information indicating the position in space of the second node 30 after moving according to the movement route acquired in step S104. The control unit 36 ​​of the second node 30 transmits the position information acquired by the acquisition unit 33 to the information processing device 10 via the communication unit 31. The control unit 13 of the information processing device 10 receives the position information acquired in the second node 30 from the second node 30 via the communication unit 11.

[0051] In step S106, the first node 20 and the second node 30 on one side perform wireless communication to measure the distance between them, similar to step S101. For example, the second node 30 moves along the moving route acquired in step S104, and then performs the wireless communication with the same first node 20 as the first node 20 in step S101. For example, the control unit 23 of the first node 20 on one side performs the wireless communication by causing a wireless tag included in the communication unit 21 to transmit and receive radio waves. Similarly, the control unit 36 ​​of the second node 30 performs the wireless communication by causing a wireless tag included in the communication unit 31 to transmit and receive radio waves.

[0052] In step S107, the control unit 36 ​​of the second node 30 provides distance information indicating the distance from the second node 30 to one of the first nodes 20 to the information processing device 10. The control unit 36 ​​of the second node 30 transmits the distance information acquired based on the wireless communication executed in step S106 to the information processing device 10 via the communication unit 31. The control unit 13 of the information processing device 10 receives the distance information acquired by the second node 30 from the second node 30 via the communication unit 11.

[0053] In step S108, the control unit 13 of the information processing device 10 executes a first process using position information indicating the position of the second node 30 and distance information indicating the distance from the second node 30 to one of the first nodes 20, which are acquired from the second node 30 in steps S105 and S107, respectively. For example, the control unit 13 estimates the position of the first node 20 that is the same as the first node 20 in step S101, based on the second node 30 as a moving object.

[0054] Similarly to step S103, the control unit 13 of the information processing device 10 executes the first process based on an arbitrary position estimation algorithm including a particle filter, etc. The control unit 13 estimates the position of the one first node 20 so that the position of the one first node 20 is more specifically identified by narrowing a predetermined probability distribution of the position of the one first node 20 acquired in step S103 based on the particle filter, for example.

[0055] In step S109, one first node 20 and the other first node 20 perform wireless communication to measure the distance between them. For example, the control unit 23 of one first node 20 performs the wireless communication by causing a wireless tag included in the communication unit 21 to transmit and receive radio waves. Similarly, the control unit 23 of the other first node 20 performs the wireless communication by causing a wireless tag included in the communication unit 21 to transmit and receive radio waves.

[0056] In step S110, the control unit 23 of one of the first nodes 20 provides distance information indicating the distance from the one of the first nodes 20 to the other of the first nodes 20 to the information processing device 10. The control unit 23 of one of the first nodes 20 transmits the distance information acquired based on the wireless communication executed in step S109 to the information processing device 10 via the communication unit 21. The control unit 13 of the information processing device 10 receives the distance information acquired in the one of the first nodes 20 from the one of the first nodes 20 via the communication unit 11.

[0057] In step S111, the control unit 23 of the other first node 20 provides distance information indicating the distance from one first node 20 to the other first node 20 to the information processing device 10. The control unit 23 of the other first node 20 transmits the distance information acquired based on the wireless communication executed in step S109 to the information processing device 10 via the communication unit 21. The control unit 13 of the information processing device 10 receives the distance information acquired in the other first node 20 from the other first node 20 via the communication unit 11.

[0058] In step S112, the control unit 13 of the information processing device 10 estimates the position of the first node 20 using the distance information acquired from one first node 20 and the other first node 20 in steps S110 and S111, respectively. For example, the control unit 13 estimates the position of one first node 20 based on the distance information acquired in step S110. For example, the control unit 13 estimates the position of the other first node 20 based on the distance information acquired in step S111.

[0059] The control unit 13 of the information processing device 10 estimates the position of the first node 20 based on an arbitrary position estimation algorithm including a particle filter, as in steps S103 and S108. The control unit 13 estimates the position of the one first node 20, for example, by further narrowing a predetermined probability distribution of the position of the one first node 20 acquired in steps S103 and S108 based on a particle filter so that the position of the one first node 20 is further specified. In addition, the control unit 13 also estimates the position of the other first node 20 by expressing the position of the other first node 20 by a predetermined probability distribution based on the particle filter.

[0060] In step S113, the control unit 13 of the information processing device 10 acquires inertial information indicating whether the other first node 20 is stationary or moving from the other first node 20. For example, the control unit 23 of the other first node 20 acquires the inertial information indicating whether the other first node 20 is stationary or moving, using the acquisition unit 22. The control unit 23 of the other first node 20 transmits the inertial information acquired by the acquisition unit 22 to the information processing device 10 via the communication unit 21. The control unit 13 of the information processing device 10 receives the inertial information acquired in the other first node 20 from the other first node 20 via the communication unit 11.

[0061] In step S114, the control unit 13 of the information processing device 10 executes a determination process to determine whether or not the first node 20 has moved before executing the second process of step S118 described later. If the control unit 13 determines that the first node 20 has moved, it executes the process of the next step. If the control unit 13 determines that the first node 20 has not moved, it repeats the determination process of step S114 again.

[0062] For example, the control unit 13 executes the determination process for the other first node 20 using the inertia information acquired from the other first node 20 in step S113. When the control unit 13 determines that the other first node 20 has moved based on the inertia information, it executes the process of the next step.

[0063] In step S115, one first node 20 and the other first node 20 after the movement perform wireless communication to measure the distance between them. For example, the control unit 23 of one first node 20 performs the wireless communication by transmitting and receiving radio waves from a wireless tag included in the communication unit 21. Similarly, the control unit 23 of the other first node 20 after the movement performs the wireless communication by transmitting and receiving radio waves from a wireless tag included in the communication unit 21.

[0064] In step S116, the control unit 23 of one of the first nodes 20 provides distance information indicating the distance from the one of the first nodes 20 to the other of the first nodes 20 after the movement to the information processing device 10. The control unit 23 of the one of the first nodes 20 transmits the distance information acquired based on the wireless communication executed in step S115 to the information processing device 10 via the communication unit 21. The control unit 13 of the information processing device 10 receives the distance information acquired at the one of the first nodes 20 from the one of the first nodes 20 via the communication unit 11.

[0065] In step S117, the control unit 23 of the other first node 20 after the movement provides distance information indicating the distance from one first node 20 to the other first node 20 after the movement to the information processing device 10. The control unit 23 of the other first node 20 after the movement transmits the distance information acquired based on the wireless communication executed in step S115 to the information processing device 10 via the communication unit 21. The control unit 13 of the information processing device 10 receives the distance information acquired in the other first node 20 after the movement from the other first node 20 after the movement via the communication unit 11.

[0066] In step S118, the control unit 13 of the information processing device 10 executes a second process of estimating a post-movement position of the moved first node 20 based on the stationary first node 20 whose position has been estimated based on the second node 30. For example, the control unit 13 estimates a post-movement position of the other first node 20 that has moved based on the one first node 20 whose position has been estimated based on the second node 30 and that is stationary. The control unit 13 estimates the post-movement position of the other first node 20 using the distance information acquired in steps S116 and S117 from the one first node 20 and the other first node 20 after the movement, respectively.

[0067] The control unit 13 of the information processing device 10 estimates the position of the other first node 20 after the movement based on an arbitrary position estimation algorithm including a particle filter, as in steps S103, S108, and S112. The control unit 13 estimates the position of the other first node 20 after the movement by expressing the position of the other first node 20 after the movement as a predetermined probability distribution based on the particle filter.

[0068] The control unit 13 of the information processing device 10 may further determine whether or not the estimation accuracy of the position of the first node 20 estimated in step S118 is less than a threshold value after step S118. The control unit 13 may determine, for example, whether or not the width of a predetermined probability distribution of the position of the first node 20 acquired in step S118 is less than a threshold value.

[0069] If the control unit 13 determines that the estimation accuracy is less than the threshold and the position after the movement of the first node 20 has been identified with high accuracy, the control unit 13 may repeat the process again from the determination process of step S114. If the control unit 13 determines that the estimation accuracy is equal to or greater than the threshold and the position after the movement of the first node 20 has not been identified with high accuracy, the control unit 13 may repeat the process again from step S100.

[0070] Fig. 4 is a first diagram for explaining an example of processing by the information processing device 10 in Fig. 2. Fig. 4 conceptually illustrates a state in which the information processing device 10 estimates the position of the first node 20 using only the first node 20 including a device equipped with a wireless tag and the second node 30 including an autonomous mobile robot equipped with a wireless tag, without requiring a fixed node as an anchor.

[0071] 3, the control unit 13 of the information processing device 10 estimates the position of at least one of the multiple first nodes 20 by using the second node 30 as a moving object. For example, the multiple first nodes 20 include a washing machine, a television, a rice cooker, a microwave oven, a tablet PC, and a PC, each of which is equipped with a wireless tag.

[0072] In the second process shown in step S118 of FIG. 3, the control unit 13 of the information processing device 10 estimates the post-movement position of the moved first node 20 based on the stationary first node 20 whose position has been estimated based on the second node 30. For example, among the multiple first nodes 20 shown in FIG. 4, a washing machine, a television, a rice cooker, and a microwave oven, each of which is equipped with a wireless tag, are almost stationary in normal daily use. The control unit 13 makes these first nodes 20 function cooperatively as pseudo anchors, thereby estimating the post-movement position of the moved first node 20 without additionally disposing a fixed node functioning as an anchor in the information processing system 1. For example, the control unit 13 estimates the post-movement positions of a tablet PC and a PC that move frequently in normal daily use.

[0073] Fig. 5 is a second diagram for explaining an example of processing by the information processing device 10 in Fig. 2. Fig. 5 conceptually illustrates the processing from step S100 to step S108 in Fig. 3. Each component shown in Fig. 5 corresponds to that shown in Fig. 4.

[0074] The second node 30, which includes an autonomous mobile robot equipped with a wireless tag, moves within a space along a predetermined movement route. The second node 30 is used by the information processing device 10 to estimate the position of the first node 20 arranged around the second node 30. The autonomous mobile robot equipped with a wireless tag moves around a washing machine, a television, a rice cooker, a microwave oven, a tablet PC, and a PC, each of which also has a wireless tag attached. At this time, the position information of the second node 30 is made known by an acquisition unit 33 of the second node 30.

[0075] Fig. 6 is a third diagram for explaining an example of processing by the information processing device 10 in Fig. 2. Fig. 6 conceptually illustrates the processing from step S109 to step S112 in Fig. 3. Each first node 20 illustrated in Fig. 6 corresponds to that illustrated in Fig. 4.

[0076] 5, in addition to the first process using the second node 30, the control unit 13 of the information processing device 10 may further estimate the position of a first node 20 whose position has not yet been estimated, by using a first node 20 whose position has been estimated by the first process among multiple first nodes 20 in the same space. At this time, the control unit 13 may more accurately estimate the position of the first node 20 whose position has been estimated by the first process or the like, by cooperatively using multiple other first nodes 20 whose positions have similarly been estimated.

[0077] In this way, the control unit 13 of the information processing device 10 may execute a process of estimating the position of the first node 20 by cooperatively using only the multiple first nodes 20 without using the second node 30, in addition to the first process. This enables the information processing device 10 to reduce the amount of movement of the second node 30 required until the process of estimating the positions of all the first nodes 20 is completed. In other words, the second node 30 does not need to move to the vicinity of all the first nodes 20, and may only move to the vicinity of some of the multiple first nodes 20.

[0078] Fig. 7 is a fourth diagram for explaining an example of processing by the information processing device 10 in Fig. 2. Fig. 7 conceptually illustrates the processing from step S113 to step S118 in Fig. 3. Each first node 20 illustrated in Fig. 7 corresponds to a part of that illustrated in Fig. 4.

[0079] For example, assume that a tablet PC equipped with a wireless tag moves in a normal manner in daily use. At this time, the first node 20 including the tablet PC acquires inertial information indicating the movement of the first node 20 by the acquisition unit 22. The control unit 13 of the information processing device 10 determines that the tablet PC as the first node 20 has moved according to the inertial information acquired by the acquisition unit 22 of the first node 20.

[0080] When the control unit 13 determines that the tablet PC has moved, it causes the washing machine, television, rice cooker, and microwave oven that are stationary around the tablet PC to function as the first node 20 whose position has been estimated based on the second node 30, and estimates the position of the tablet PC after it has moved. In the present disclosure, "the position is estimated based on the second node 30" includes not only direct estimation of the position of the first node 20 using the second node 30 by the first process as shown in Fig. 5, but also indirect estimation of the positions of other first nodes 20 based on the first node 20 whose position has been estimated by the second node 30 as shown in Fig. 6. The control unit 13 causes these first nodes 20 to function cooperatively as pseudo anchors to estimate the position of the tablet PC after it has moved.

[0081] Fig. 8 is a fifth diagram for explaining an example of the process by the information processing device 10 in Fig. 2. Fig. 8 conceptually illustrates the process from step S103 to step S108 in Fig. 3.

[0082] For example, it is assumed that the control unit 13 of the information processing device 10 has estimated the position of the first node 20 based on position information and distance information from the second node 30 located at the first position P1 indicated by the dashed line in Fig. 8 in the first process of step S103 in Fig. 3. At this time, the control unit 13 acquires distance information between the wireless tag attached to the autonomous mobile robot of the second node 30 and the wireless tag attached to the first node 20, but does not acquire detailed information on the direction from the second node 30 to the first node 20. Therefore, the probability distribution of the position of the first node 20 estimated by the control unit 13 spreads along at least a part of the circumference of a circle having a radius of the distance d and centered on the first position P1.

[0083] The control unit 13 of the information processing device 10 calculates and determines a movement route of the second node 30 so as to narrow the width of such a probability distribution in the process of estimating the position of the first node 20 based on the particle filter. For example, the control unit 13 determines a movement route along which the second node 30 moves from a first position P1 facing the first node 20 along a first direction D1 to a second position P2 facing the first node 20 along a second direction D2 that obliquely intersects with the first direction D1.

[0084] For example, in the first process of step S108 in FIG. 3, the control unit 13 of the information processing device 10 further estimates the position of the first node 20 based on the position information and distance information from the second node 30 located at the second position P2 after the movement shown by the solid line in FIG. 8. At this time, similar to the time of step S103 in FIG. 3, the probability distribution of the position of the first node 20 estimated by the control unit 13 spreads along at least a part of the circumference of a circle having the second position P2 as the center and the distance d as the radius. For example, the control unit 13 specifies the position of the first node 20 to a narrower area based on the overlapping part of the probability distributions obtained in steps S103 and S108 in FIG. 3. This allows the control unit 13 to further improve the estimation accuracy of the position of the first node 20 using the second node 30.

[0085] According to the embodiment described above, it is possible to perform positioning of a movable node without using an anchor. The information processing device 10 executes a first process using the second node 30 as a moving body, and a second process of estimating the position of the first node 20 after it has moved. In this way, the information processing device 10 can make the first node 20, whose position has been estimated using the second node 30, function cooperatively as a pseudo anchor. The information processing device 10 can continuously estimate the position of the first node 20 after it has moved as a movable node, without additionally disposing a fixed node that functions as an anchor in the information processing system 1.

[0086] Therefore, the user does not need to separately install an anchor in the space to be the target of positioning of the first node 20. In addition, the user does not need to perform positioning of the anchor installed in the space in advance using the information processing device 10 or the like. The information processing device 10 can automatically estimate the position of the first node 20 by using the second node 30 that can measure its own position while moving on a moving route. The information processing device 10 can accurately estimate the position of the first node 20 as a movable node after movement by cooperatively using the first node 20 whose position has been estimated.

[0087] The information processing device 10 is capable of automatically and highly accurately estimating the position of the first node 20 with a system configuration that does not require an anchor. This improves the convenience of the information processing system 1. Users can easily introduce and continuously use the information processing system 1 in their own living space.

[0088] The information processing device 10 executes the first process using the position information and distance information acquired from the second node 30. This enables the information processing device 10 to more accurately estimate the position of the first node 20. By using the second node 30, which can accurately acquire its own position as position information using a technique such as SLAM, the information processing device 10 can accurately estimate the position of the first node 20 located around it.

[0089] Before executing the second process, the information processing device 10 executes a determination process for determining whether or not the first node 20 has moved. This allows the information processing device 10 to identify the first node 20 determined to have moved from among the multiple first nodes 20, and execute the second process only for that first node 20. Therefore, the information processing device 10 can accurately execute a process for estimating the position of the moved first node 20 after the movement.

[0090] The information processing device 10 executes the determination process using inertial information indicating the stationary or moving state of the first node 20, acquired from the first node 20. This allows the information processing device 10 to execute the determination process with higher accuracy using the acquisition unit 22 of the first node 20.

[0091] The information processing device 10 determines a movement route for the second node 30 based on the position of the first node 20 estimated by the first process. This allows the information processing device 10 to determine an optimal movement route for the second node 30 according to the probability distribution of the position of the first node 20 estimated by the first process.

[0092] The information processing device 10 determines a movement route along which the second node 30 moves from a first position P1, where the second node 30 faces the first node 20 along a first direction D1, to a second position P2, where the second node 30 faces the first node 20 along a second direction D2 that diagonally intersects with the first direction D1. This allows the information processing device 10 to determine an optimal movement route for the second node 30 that narrows the width of the probability distribution of the position of the first node 20 and narrows down the position of the first node 20 to a narrower area. Therefore, the information processing device 10 can specify the position of the first node 20 with higher accuracy while optimizing the movement route of the second node 30.

[0093] In the information processing system 1, each of the multiple first nodes 20 includes a device equipped with a wireless tag that performs wireless communication for measuring distance. This makes it possible for the information processing system 1 to configure, as the first node 20, a general device used in a space where a user is active.

[0094] For example, the information processing system 1 can also configure general devices that a user uses in daily life as the first node 20. The user can easily and accurately manage the positions of general devices used in his / her living space by using the information processing system 1. The user can also use the information processing system 1 to detect devices left behind in the living space and to have a robot or the like automatically put away the devices.

[0095] In the information processing system 1, the second node 30 includes an autonomous mobile robot. This allows the information processing system 1 to automatically execute the first process using the autonomous mobile robot.

[0096] In the information processing system 1, an autonomous mobile robot wirelessly supplies power to devices placed in the same space. The information processing system 1 enables the positioning of multiple devices that are capable of wireless power supply and are targets of wireless power supply by the autonomous mobile robot. The information processing system 1 also becomes capable of accurately estimating the position of a device that needs charging based on the first process and the second process, and accurately guiding the autonomous mobile robot to the estimated position.

[0097] Although the present disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art can make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure. For example, the functions included in each configuration or each step can be rearranged so as not to be logically inconsistent, and multiple configurations or steps can be combined or divided into one.

[0098] For example, a general-purpose electronic device such as a smartphone or a computer can be configured to function as the information processing device 10 according to the embodiment described above. Specifically, a program describing the processing contents for realizing each function of the information processing device 10 according to the embodiment is stored in the memory of the electronic device, and the program is read and executed by the processor of the electronic device. Therefore, the present disclosure can also be realized as a program executable by a processor.

[0099] Alternatively, the present disclosure may be realized as a non-transitory computer-readable medium storing a program executable by one or more processors to cause the information processing device 10 according to an embodiment to execute each function. It should be understood that these are also included in the scope of the present disclosure.

[0100] For example, at least a part of the processing operations executed in the information processing device 10 in the above-described embodiment may be executed in at least one of the first node 20 and the second node 30. For example, instead of the information processing device 10, the second node 30 itself may execute the above-described series of processing operations related to the information processing device 10. At least a part of the processing operations executed in each of the first node 20 and the second node 30 may be executed in the information processing device 10.

[0101] In the above embodiment, the control unit 13 of the information processing device 10 has been described as estimating the post-movement position of the moved first node 20 based on the first node 20 whose position has been estimated based on the second node 30 in the second processing and which is stationary, but this is not limited to the above. The control unit 13 of the information processing device 10 may estimate the position of another first node 20 based on at least one of the first node 20 and the second node 30 whose position has been estimated based on the second node 30 in the second processing and which is stationary.

[0102] For example, the control unit 13 of the information processing device 10 may estimate the position of the other first node 20 that is not moving in the second process. For example, the control unit 13 may estimate the position of the other first node 20 by using both the first node 20 and the second node 30, which are stationary first nodes 20 whose positions have been estimated based on the second node 30 in the second process. The control unit 13 may continuously estimate the position of the other first node 20 and improve the estimation accuracy by utilizing both the stationary first node 20 and the second node 30. For example, the control unit 13 may estimate the position of the other first node 20 by using only the second node 30 in the second process.

[0103] In the above embodiment, it has been described that the information processing device 10 executes the first process using position information indicating the position of the second node 30 and distance information indicating the distance from the second node 30 to the first node 20, both of which are acquired from the second node 30. However, this is not limiting. For example, the information processing device 10 may acquire distance information indicating the distance from the second node 30 to the first node 20 from the first node 20 instead of or in addition to the second node 30.

[0104] In the above embodiment, the information processing device 10 has been described as acquiring distance information from both the one first node 20 and the other first node 20, but this is not limited thereto. The information processing device 10 may acquire distance information from only one of the one first node 20 and the other first node 20.

[0105] In the above embodiment, it has been described that the information processing device 10 executes the determination process of determining whether or not the first node 20 has moved before executing the second process, but this is not limiting. The information processing device 10 does not need to execute such a determination process. In this case, the information processing device 10 may estimate the position of the first node 20 after it has moved by receiving a request from the first node 20 that has moved, rather than determining that the first node 20 has moved in the information processing device 10.

[0106] In the above embodiment, the information processing device 10 executes the determination process using inertial information indicating whether the first node 20 is stationary or moving, acquired from the first node 20, but the present invention is not limited to this. The information processing device 10 may execute the determination process by calculating a change in the position of the first node 20 relative to another first node 20 whose position has been estimated and which is stationary. In this case, the first node 20 may not have the acquisition unit 22. As described above, even in a state in which the configuration of the first node 20 is simplified, the information processing device 10 can execute the determination process of determining whether the first node 20 has moved with high accuracy by using a plurality of first nodes 20 in a cooperative manner.

[0107] In the above embodiment, the information processing device 10 has been described as determining the movement route of the second node 30 based on the position of the first node 20 estimated by the first process, but this is not limited thereto. The information processing device 10 does not need to execute the process of determining the movement route of the second node 30. At this time, the second node 30 may move along an appropriate movement route determined in real time while being autonomously determined by the second node 30, or may move only along a predetermined movement route.

[0108] In the above embodiment, the information processing device 10 has been described as determining a movement route along which the second node 30 moves from a first position P1 facing the first node 20 along the first direction D1 to a second position P2 facing the first node 20 along the second direction D2 that obliquely intersects with the first direction D1, but is not limited to this. The information processing device 10 may determine any other movement route that can further narrow the width of the probability distribution of the position of the first node 20.

[0109] In the above embodiment, each of the multiple first nodes 20 includes a device equipped with a wireless tag that performs wireless communication to measure distance, but is not limited to this. The first node 20 may include a simple object that is different from a device and is equipped with a wireless tag that performs wireless communication to measure distance. This makes it possible for the information processing system 1 to configure a general object used in a space where a user is active as the first node 20.

[0110] For example, the information processing system 1 can configure general objects such as everyday items that a user uses in daily life as the first node 20. The user can easily and accurately manage the positions of general objects used in his / her living space by using the information processing system 1. The user can also use the information processing system 1 to detect objects left behind in the living space and to have a robot or the like automatically put away objects.

[0111] For example, the information processing system 1 can also configure objects such as materials used by a user in a factory as the first node 20. The user can easily and accurately manage the positions of materials used in the factory using the information processing system 1. The user can also use the information processing system 1 to specify the positions of materials in the factory and automatically transport the materials using a mobile object such as a robot.

[0112] For example, in order to identify the location of a user in a nursing home, care facility, factory, or the like, the information processing system 1 can configure a wireless tag carried by a user as the first node 20, or configure clothing with a wireless tag worn by a user as the first node 20. This allows the information processing system 1 to detect the location of a user wandering around a nursing home, care facility, or the like, or to detect the location of a user as a worker in a factory, for example.

[0113] In the above embodiment, the second node 30 is described as including an autonomous mobile robot, but is not limited thereto. The second node 30 may include a non-autonomous mobile robot, or any other mobile body that is not a robot.

[0114] In the above embodiment, the autonomous mobile robot is described as performing wireless power supply to a device arranged in the same space, but is not limited to this. The autonomous mobile robot may include any other robot other than a robot for wireless power supply. In other words, the second node 30 may not have the power supply unit 35.

[0115] In the above embodiment, the information processing device 10, the multiple first nodes 20, and the second node 30 are described as being directly connected to each other so as to be able to communicate with each other, but this is not limited thereto. Each of the information processing device 10, the multiple first nodes 20, and the second node 30 may be connected to a network including a mobile communication network and the Internet so as to be able to communicate with each other.

[0116] At this time, the communication interface included in the communication unit 11 may be connected to a network including a mobile communication network and the Internet, etc. The communication interface may be compatible with, for example, a mobile communication standard such as 4G (4th Generation) and 5G (5th Generation), a wired LAN (Local Area Network) standard, or a wireless LAN standard.

[0117] Similarly, the communication interface included in the communication unit 21 may be connected to a network including a mobile communication network and the Internet. The communication interface may be compatible with, for example, a mobile communication standard such as 4G or 5G, a wired LAN standard, or a wireless LAN standard.

[0118] Similarly, the communication interface included in the communication unit 31 may be connected to a network including a mobile communication network and the Internet. The communication interface may be compatible with, for example, a mobile communication standard such as 4G or 5G, a wired LAN standard, or a wireless LAN standard.

[0119] Some of the embodiments of the present disclosure will be described below as examples. However, it should be noted that the embodiments of the present disclosure are not limited to these examples. [Appendix 1] a control unit that executes a first process of estimating a position of at least one of a plurality of first nodes that perform wireless communication with each other to measure distances to each other, based on a second node as a moving body, and a second process of estimating a position of another of the first nodes, based on at least one of the first node and the second node, the first node being stationary and the position of which has been estimated based on the second node; Equipped with Information processing device. [Appendix 2] 2. The information processing device according to claim 1, the control unit executes the first process using location information indicating a location of the second node and distance information indicating a distance from the second node to the first node, both acquired from the second node. Information processing device. [Appendix 3] The information processing device according to claim 1 or 2, the control unit, in the second process, estimates a post-movement position of the moved first node based on the first node, the first node being stationary and whose position has been estimated based on the second node; Information processing device. [Appendix 4] The information processing device according to claim 3, the control unit executes a determination process for determining whether or not the first node has moved before executing the second process. Information processing device. [Appendix 5] The information processing device according to claim 4, the control unit executes the determination process using inertia information, acquired from the first node, that indicates whether the first node is stationary or moving. Information processing device. [Appendix 6] 6. The information processing device according to claim 4, The control unit executes the determination process by calculating a change in position of the first node relative to the other first nodes whose positions have been estimated and which are stationary. Information processing device. [Appendix 7] 7. An information processing device according to any one of claims 1 to 6, The control unit determines a movement route of the second node based on the position of the first node estimated by the first process. Information processing device. [Appendix 8] 8. The information processing device according to claim 7, the control unit determines the movement route along which the second node moves from a first position facing the first node along a first direction to a second position facing the first node along a second direction obliquely intersecting the first direction, Information processing device. [Appendix 9] An information processing device according to any one of Supplementary Notes 1 to 8; A plurality of the first nodes; the second node as the moving body; Equipped with Information processing system. [Appendix 10] 10. The information processing system according to claim 9, Each of the plurality of first nodes includes a device equipped with a wireless tag that performs wireless communication for measuring distances; Information processing system. [Appendix 11] 11. The information processing system according to claim 10, The second node includes an autonomous mobile robot. Information processing system. [Appendix 12] 12. The information processing system according to claim 11, The autonomous mobile robot performs wireless power supply to the device arranged in the same space. Information processing system. [Appendix 13] An information processing method executed by an information processing device, estimating a position of at least one of a plurality of first nodes that wirelessly communicate with each other to measure distances between them, based on a second node as a moving body; estimating a position of another first node based on at least one of the first node and the second node, the first node being stationary and the second node having a position estimated based on the second node; Including, Information processing methods. [Explanation of symbols]

[0120] 1. Information Processing Systems 10. Information processing device 11 Communications Department 12 Storage section 13 Control section 20 First Node 21 Communications Department 22 Acquisition Department 23 Control Unit 30 2nd Node 31 Communications Department 32 Storage section 33 Acquisition Department 34 Drive unit 35 Power supply unit 36 Control Unit D1 1st direction D2 2nd direction P1 1st position P2 2nd position

Claims

1. a control unit that executes a first process of estimating a position of at least one of a plurality of first nodes that perform wireless communication with each other to measure distances to each other, based on a second node as a moving body, and a second process of estimating a position of another of the first nodes, based on at least one of the first node and the second node that is stationary and whose position has been estimated based on the second node; Equipped with Information processing device.

2. 2. The information processing device according to claim 1, the control unit executes the first process using location information indicating a location of the second node and distance information indicating a distance from the second node to the first node, both acquired from the second node. Information processing device.

3. 3. The information processing device according to claim 1, the control unit, in the second processing, estimates a post-movement position of the moved first node based on the first node, the first node being stationary and whose position has been estimated based on the second node; Information processing device.

4. 4. The information processing device according to claim 3, the control unit executes a determination process of determining whether or not the first node has moved before executing the second process. Information processing device.

5. 5. The information processing device according to claim 4, the control unit executes the determination process using inertia information, acquired from the first node, that indicates whether the first node is stationary or moving. Information processing device.

6. 5. The information processing device according to claim 4, the control unit executes the determination process by calculating a change in position of the first node relative to the other first nodes whose positions have been estimated and which are stationary. Information processing device.

7. 3. The information processing device according to claim 1, The control unit determines a movement route of the second node based on the position of the first node estimated by the first process. Information processing device.

8. The information processing device according to claim 7, the control unit determines the movement route along which the second node moves from a first position facing the first node along a first direction to a second position facing the first node along a second direction obliquely intersecting the first direction; Information processing device.

9. An information processing device according to claim 1 or 2; A plurality of the first nodes; the second node as the moving body; Equipped with Information processing system.

10. 10. The information processing system according to claim 9, Each of the plurality of first nodes includes a device equipped with a wireless tag that performs wireless communication for measuring distances. Information processing system.

11. The information processing system according to claim 10, The second node includes an autonomous mobile robot. Information processing system.

12. The information processing system according to claim 11, The autonomous mobile robot performs wireless power supply to the device arranged in the same space. Information processing system.

13. An information processing method executed by an information processing device, Estimating a position of at least one of a plurality of first nodes that wirelessly communicate with each other to measure distances to each other, based on a second node as a moving body; estimating a position of another first node based on at least one of the first node and the second node, the first node being stationary and the position of the other first node being estimated based on the second node; Including, Information processing methods.

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