Unlock system

Abstract

To provide a highly accurate and precise automatic unlocking system by accurately measuring the position information of a portable terminal for unlocking an electronic lock.SOLUTION: An unlocking system, which is configured to include a mobile terminal and an electronic door, communicates wirelessly in ultra-wideband. The mobile terminal has a mobile-side basic antenna, a mobile key ID, secret data, and a control unit, while an unlocking device of the electronic door has a basic antenna, one or more auxiliary antennas, and a control unit. The mobile terminal transmits a wireless signal at a predetermined time interval, and the unlocking device that receives the signal measures the terminal distance data obtained from a reception time of the wireless signal and the relative angle obtained from a reception phase difference between the two antennas, obtains relative position information from the unlocking device of the mobile terminal, and determines a timing to unlock the electronic door by referring to a motion vector, predicted coordinate information, and a defined unlocking area.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an unlocking system that automatically unlocks a door by using wireless communication-based positioning.

Background Art

[0002] In recent years, there has been an increasing need for an electronic locking system that can lock / unlock doors such as those in houses and offices without inserting a key. In this electronic locking system, there has been a proposal to automatically lock / unlock the door by using wireless communication.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the electronic locking system described in Patent Document 1, the distance to the electronic key is estimated based on the electric field strength when the beacon signal output from the electronic lock is received, and the electronic lock is locked / unlocked according to the distance. However, in such a method of estimating the distance based on the difference in electric field strength, there is a problem that the accuracy of the estimated distance of the electronic key with respect to the electronic lock is low.

[0005] In addition, the electronic lock system described in Patent Document 2 detects the proximity of an electronic key using Bluetooth (registered trademark) pairing and locks / unlocks the electronic lock according to the presence or absence of pairing. However, in the method of estimating the distance from the electronic key using Bluetooth (registered trademark) pairing, there is a problem that the accuracy of the estimated distance is low, similar to the method of estimating the distance based on the difference in electric field strength. Thus, in the conventional electronic lock system, the accuracy of the estimated distance of the electronic key for unlocking the electronic lock is low, and for example, there is a risk of accidental unlocking where the lock is unlocked even when the electronic key holder is on an upper or lower floor of an apartment building.

[0006] The present invention has been made in view of the above problems, and an object thereof is to provide a highly accurate and precise automatic unlocking system by accurately measuring the position information of a mobile terminal for unlocking an electronic lock.

Means for Solving the Problems

[0007] A first aspect of the present invention is an unlocking system comprising a mobile terminal carried by a user and an electronic door with an unlocking device installed in its vicinity, which perform wireless communication with each other in an ultra-wideband manner. The wireless signal between the mobile terminal and the electronic door includes a first reference signal having a plurality of harmonic components for measuring reception time and a second reference signal composed of a fundamental wave component. The mobile terminal includes a mobile-side basic antenna for transmitting and receiving the wireless signal, a transmission data creation unit for generating transmission data including the first reference signal, the second reference signal, the transmission time information of the first reference signal, a mobile key ID, and unlocking data via the mobile-side basic antenna, a confidential data storage unit for storing confidential data related to unlocking, and an unlocking data generation means for generating unlocking data from the confidential data and the mobile key ID, and has a mobile key control unit. The unlocking device includes an unlocking-side basic antenna for transmitting and receiving the wireless signal, one or more unlocking-side auxiliary antennas for receiving the wireless signal, an unlocking device reception time measurement unit for measuring the reception time of the first reference signal received via the unlocking-side basic antenna, a relative angle measurement unit for measuring the phase of the second reference signal received via the unlocking-side basic antenna and the unlocking-side auxiliary antennas and obtaining the relative angle between the mobile terminal and the unlocking device from the reception phase difference between the unlocking-side basic antenna and the unlocking-side auxiliary antennas, an unlocking unit for unlocking or locking the electronic door, a driver for driving the unlocking unit, a terminal distance conversion means for calculating terminal distance data between the mobile terminal and the unlocking device from the transmission time information of the first reference signal and the reception time information of the first reference signal stored in the unlocking device reception time measurement unit, a rectangular coordinate conversion means for converting the polar coordinates indicated by the relative angle detected by the relative angle detection unit and the terminal distance data into rectangular coordinates with the unlocking device as a reference, a timing control means for controlling the driving timing of the driver with reference to the rectangular coordinates, and an unlocking data collation means for collating data generated from the mobile key ID wirelessly transmitted from the mobile terminal and the unlocking data. It has an electronic door control unit.

[0008] A second aspect of the present invention is characterized in that the electronic door control unit further includes motion vector generation means for calculating a motion vector from the current unlocking orthogonal coordinates of the mobile terminal and the previous unlocking orthogonal coordinates sampled one before the current unlocking orthogonal coordinates, and the timing control means controls the driving timing of the driver with reference to the current unlocking orthogonal coordinates and the motion vector.

[0009] A third aspect of the present invention is characterized in that the electronic door control unit further includes coordinate prediction means for obtaining predicted orthogonal coordinates after a predetermined time has elapsed from the motion vector and the current unlocking orthogonal coordinates, and the timing control means controls the driving timing of the driver with reference to the current unlocking orthogonal coordinates and the predicted orthogonal coordinates.

[0010] A fourth aspect of the present invention is that the electronic door has the unlocking device and an accessory device. The unlocking device is provided outside the electronic door. The electronic door control unit has a data receiving unit for receiving accessory distance data indicating the distance between the mobile terminal and the accessory device transmitted from the accessory device, and internal / external determination means for determining whether the user carrying the mobile terminal is located inside or outside the electronic door with reference to the accessory distance data and the terminal distance data. The timing control means controls the driving timing of the driver with reference to the terminal distance data and the internal / external determination result by the internal / external determination means. The accessory device is provided inside the electronic door and has an accessory-side basic antenna for receiving the wireless signal, an accessory device reception time measurement unit for measuring the reception time of the first reference signal received via the accessory-side basic antenna, accessory distance conversion means for converting the transmission time information of the first reference signal and the reception time information measured by the accessory device reception time measurement unit into accessory distance data as the distance between the mobile terminal and the accessory device, and a distance data transmission unit for transmitting the accessory distance data to the unlocking device.

[0011] The fifth aspect of the present invention is that the unlocking device further has antenna coordinate difference registration means for registering in advance the orthogonal coordinates of the auxiliary basic antenna with reference to the mobile-side basic antenna provided on the electronic door as orthogonal coordinate difference data, and the inside / outside determination means refers to the terminal distance data, the auxiliary distance data, and the orthogonal coordinate difference data to determine whether the user carrying the mobile terminal is located inside or outside the electronic door.

[0012] The sixth aspect of the present invention is that the auxiliary device includes one or more auxiliary-side auxiliary antennas for receiving the wireless signal, measures the phase of the second reference signal received via the auxiliary-side basic antenna and the auxiliary-side auxiliary antennas, and obtains the auxiliary-side relative angle between the mobile terminal and the auxiliary device from the reception phase difference between the auxiliary-side basic antenna and the auxiliary-side auxiliary antennas. It also has auxiliary orthogonal coordinate conversion means for converting the polar coordinates indicated by the auxiliary-side relative angle and the auxiliary distance data into auxiliary orthogonal coordinates with reference to the auxiliary device, and a distance data transmission unit for transmitting the auxiliary orthogonal coordinate data to the unlocking device. The data reception unit receives the auxiliary orthogonal coordinates transmitted from the distance data transmission unit, and the inside / outside determination means refers to the unlocking orthogonal coordinates and the auxiliary orthogonal coordinates to determine whether the user carrying the mobile terminal is located inside or outside the electronic door. The timing control means controls the drive timing of the driver for driving the unlocking unit with reference to the unlocking orthogonal coordinates and the auxiliary orthogonal coordinates.

[0013] The seventh aspect of the present invention is that the mobile terminal has a broadcast function for performing broadcast transmission to the unlocking device and the auxiliary device. After receiving the wireless signal from the mobile terminal transmitted by the broadcast function, the unlocking device and the auxiliary device have delay transmission means for transmitting a response signal with a delay time set so that the transmission timings of the unlocking device and the auxiliary device do not overlap with respect to the first reference signal transmitted to the mobile terminal.

Advantages of the Invention

[0014] According to the first aspect of the present invention, in a mobile terminal that performs wireless communication in an ultra-wideband and an unlocking device installed near an electronic door, the unlocking device detects the approach of the mobile terminal by sampling at a predetermined time interval and performs authentication using the mobile key ID, so that the security of the electronic door is ensured. In addition, the unlocking side basic antenna and one or more sets of unlocking side accessory antennas of the unlocking device perform high-precision three-dimensional (or two-dimensional) positioning of the mobile terminal, and refer to the unlocking area defined by three-dimensional coordinates to determine the unlocking timing, so that a highly accurate and precise automatic (hands-free) unlocking system can be obtained.

[0015] Also, according to the second aspect of the present invention, a movement vector representing the movement speed of the mobile terminal is calculated from the pre-unlocking orthogonal coordinates of the mobile terminal sampled previously and the current-unlocking orthogonal coordinates of the mobile terminal sampled currently, and the unlocking timing is controlled, so that unnecessary and inappropriate unlocking can be prevented, such as when passing through the electronic door.

[0016] Also, according to the third aspect of the present invention, the predicted orthogonal coordinates of the mobile terminal are calculated from the current-unlocking orthogonal coordinates and the movement vector, and the unlocking timing is controlled by referring to the difference between the predicted orthogonal coordinates and the current-unlocking orthogonal coordinates. Therefore, when the holder of the mobile terminal is moving close to the predicted orthogonal coordinates, the unlocking timing can be determined at an earlier time.

[0017] Also, according to the fourth aspect of the present invention, in a mobile terminal that performs wireless communication in an ultra-wideband and an unlocking device and an accessory device mounted on the outside and inside of the electronic door, the unlocking device detects the approach of the mobile terminal by sampling at a predetermined time interval and performs authentication using the mobile key ID, so that the security of the electronic door is ensured. In addition, high-precision distance measurement of the mobile terminal is performed using the unlocking device and the accessory device, and based on the magnitude relationship between the two distances, namely the terminal distance data indicating the distance of the mobile terminal from the unlocking device and the accessory distance data indicating the distance of the mobile terminal from the accessory device, it is determined whether the holder of the mobile terminal is inside or outside the electronic door. Then, based on the result and the terminal distance data, the unlocking timing of the unlocking device is controlled. This can prevent miscontrol where the unlocking device is accidentally unlocked in response to a mobile terminal inside the electronic door. Also, by providing the unlocking device and the accessory device both inside and outside the electronic door, it is possible to create an automatic unlocking system that can detect the position of the mobile terminal with high precision, prevent miscontrol, and improve convenience.

[0018] Moreover, according to the fifth aspect of the present invention, for the unlocking device and the accessory device, by registering their relative positions in advance as orthogonal coordinate difference data in the antenna coordinate difference registration means, the accessory device can be installed at any position of the electronic door with respect to the unlocking device, improving the degree of freedom in the attachment position of the accessory device.

[0019] Also, according to the sixth aspect of the present invention, positioning of the mobile terminal is performed with a configuration in which each of the unlocking device and the accessory device is provided with one or more accessory antennas (mobile-side accessory antenna, accessory-side accessory antenna). The inside / outside determination is made using the orthogonal coordinates (unlocking orthogonal coordinates, accessory orthogonal coordinates) obtained from the unlocking device and the accessory device. Therefore, even when installed on the electronic door in a complex living area, the inside / outside determination of the mobile terminal with respect to the electronic door can be accurately performed. Also, the unlocking area can be set both inside and outside the electronic door, enabling a more accurate automatic unlocking system.

[0020] Furthermore, according to the seventh aspect of the present invention, the response signals from the unlocking device and the accessory device to the mobile terminal are transmitted with different delay times, so that the transmission times of the response signals of each device do not overlap, enabling a more reliable unlocking system.

Brief Description of the Drawings

[0021]

Figure 1

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Figure 12

Mode for Carrying Out the Invention

[0022] The present invention provides an unlocking system that can accurately unlock by accurately measuring the position information of the mobile terminal 100 with respect to the unlocking device 200 provided on the electronic door 400. Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0023] <<First Embodiment>> FIG. 1 is a diagram schematically showing the configuration of an unlocking system 1 according to a first embodiment of the present invention. The unlocking system 1 is an electronic door 400 in which an unlocking device 200 is installed near a door provided in a building such as a house, a condominium, or an office building.

[0024] The unlocking system 1 includes a portable terminal 100 that functions as an electronic key terminal for unlocking the electronic door 400, and an unlocking device 200 provided on the electronic door 400 for unlocking / locking the electronic door 400.

[0025] The portable terminal 100 is carried by the user U and functions as a key terminal for automatically (hands-free) unlocking the electronic door 400 when approaching the electronic door 400. The portable terminal 100 includes a portable-side basic antenna 101 that transmits and receives a wireless signal to / from the unlocking device 200 provided on the electronic door 400, a portable key control unit 110 that creates data necessary for unlocking the unlocking device 200, and a transmission data creation unit 102 that converts the data generated by the portable key control unit 110 into a wireless signal to be transmitted from the portable-side basic antenna 101.

[0026] The portable-side basic antenna 101 is an antenna for performing wireless communication with the unlocking device 200 in an ultra-wideband. The wireless signal includes a first reference signal having a plurality of harmonic components for measuring the reception time, and a second reference signal composed of a fundamental wave component and used for phase difference detection. The wireless signal also includes, among other things, time information when another signal was transmitted, data of an encrypted terminal ID used for authentication, and the like. The transmission data creation unit 102 creates transmission data necessary for the unlocking operation of the unlocking device 200.

[0027] The portable key control unit 110 is a part that is composed of a processing device such as a CPU (Central Processing Unit) or an MPU (Microprocessor Processing Unit), a memory device such as a RAM (Random Access Memory) and a non-volatile memory, and an IO interface, and realizes necessary functions (means) by executing software processing. The portable key control unit 110 includes a portable key ID 111, a confidential data storage unit 112, and an unlocking data generation means 113.

[0028] The mobile key ID 111 is a unique ID for identifying the mobile terminal and is stored in a non-volatile memory. The confidential data storage unit 112 stores in the non-volatile memory the confidential data for encrypting the mobile key ID 111 and transmitting it to the unlocking device 200 provided on the electronic door 400. The unlocking data generation means 113 generates the encrypted mobile key ID 111 using the confidential data stored in the confidential data storage unit 112. The unlocking data generation means 113 is a part for encrypting information other than the mobile key ID 111 (such as transmission time information and transmission data), and by encrypting the information, eavesdropping in broadband wireless communication is prevented and security is improved.

[0029] The electronic door 400 is a door equipped with an unlocking device 200. The unlocking device 200 is provided in a part that can control the opening and closing of the electronic door 400, such as the key part of the electronic door 400 or the wall surface adjacent to the electronic door 400.

[0030] The unlocking device 200 includes an unlocking-side basic antenna 201 that performs wireless signal transmission and reception with the mobile terminal 100, a first auxiliary antenna 203A and a second auxiliary antenna 203B as unlocking-side auxiliary antennas that receive wireless signals from the mobile-side basic antenna 101, an unlocking device reception time measurement unit 202 that generates reception time information of the signal from the wireless signals received by each antenna, a first relative angle measurement unit 204A and a second relative angle measurement unit 204B as unlocking-side relative angle measurement units that measure the angle of the mobile terminal 100 that transmitted the wireless signal with respect to the unlocking device 200 from the phase difference of the wireless signals received by each antenna, an electronic door control unit 210 that generates information necessary for unlocking the unlocking device 200 based on the information measured by each measurement unit, and a driver 220 and an unlocking unit 230 that unlock the unlocking device 200 based on the control information generated by the electronic door control unit 210.

[0031] The unlocking-side basic antenna 201 of the unlocking device 200 performs wireless communication with the mobile terminal 100 in an ultra-wideband. The unlocking device reception time measurement unit 202 measures the reception time of the first reference signal among the wireless signals transmitted from the mobile-side basic antenna 101 of the mobile terminal 100.

[0032] The first auxiliary antenna 203A receives the second reference signal among the radio signals transmitted from the mobile-side basic antenna 101 of the mobile terminal 100 together with the unlocking-side basic antenna 201. The first auxiliary antenna 203A transmits the phase information when receiving the second reference signal to the first relative angle measurement unit 204A. The first relative angle measurement unit 204A calculates the first relative angle (azimuth angle θ1) between the mobile terminal 100 and the unlocking device 200 using the phase difference between the unlocking-side basic antenna 201 and the first relative angle measurement unit 204A.

[0033] The second auxiliary antenna 203B receives the second reference signal of the radio signal together with the unlocking-side basic antenna 201. The second relative angle measurement unit 204B calculates the second relative angle (elevation angle θ2) between the mobile terminal 100 and the unlocking device 200 using the phase difference of the second reference signal received by the unlocking-side basic antenna 201 and the second auxiliary antenna 203B. The first auxiliary antenna 203A is used to measure the first relative angle θ1 (azimuth angle) in the horizontal plane, and the second auxiliary antenna 203B is used to measure the second relative angle (elevation angle θ2) as the angle formed with the horizontal plane in the vertical direction. In FIG. 1, a configuration including the second auxiliary antenna 203B is described, but the unlocking-side auxiliary antenna provided in addition to the unlocking-side basic antenna 201 may be only the first auxiliary antenna 203A. Note that the unlocking-side auxiliary antenna can improve the accuracy of the position information of the mobile terminal 100 with respect to the unlocking device 200 by increasing the number of antennas to be installed.

[0034] The unlocking unit 230 is a device that physically unlocks / locks (or opens / closes) the electronic door 400. The driver 220 drives the unlocking unit 230 in response to a control signal from the electronic door control unit 210.

[0035] The electronic door control unit 210 is composed of a processing device such as a CPU (Central Processing Unit) or an MPU (Microprocessor Processing Unit), a memory device such as a RAM (Random Access Memory) and a non-volatile memory, and an IO interface, etc., and realizes the necessary control functions by executing software processing.

[0036] The electronic door control unit 210 includes a terminal distance conversion means 211, a timing control means 212, a rectangular coordinate conversion means 213, an unlocking data collation means 214, a motion vector generation means 215, and a coordinate prediction means 216.

[0037] The terminal distance conversion means 211 obtains the transmission time from the mobile terminal 100 to the unlocking device 200 based on the time difference between the reception time information obtained by the unlocking device reception time measurement unit 202 and the transmission time information included in the first reference signal, and multiplies this transmission time by the speed of light (about 300,000 km per second) to calculate the terminal distance data D1 between the mobile terminal 100 and the unlocking device 200.

[0038] The timing control means 212 is a part that controls the driving timing of the driver 220 that controls the unlocking of the unlocking unit 230.

[0039] The rectangular coordinate conversion means 213 is a part that converts the polar coordinates of the mobile terminal 100 with the unlocking device 200 as the origin, obtained from the terminal distance data D1 obtained by the terminal distance conversion means 211 and the first relative angle (azimuth angle θ1) and the second relative angle (elevation angle θ2) obtained by the first relative angle measurement unit 204A and the second relative angle measurement unit 204B, into three-dimensional rectangular coordinates (unlocking rectangular coordinates) (see Figure 5). The first relative angle (azimuth angle θ1) is the azimuth angle formed by the X-axis of the horizontal plane including the unlocking device 200 as the anchor with the mobile terminal 100 as the tag. The second relative angle (elevation angle θ2) is the elevation angle of the mobile terminal 100 as the tag with respect to the unlocking device 200 as the anchor. The unlocking rectangular coordinates have the position of the unlocking device 200 as the anchor as the origin (0, 0, 0), in the horizontal plane including the unlocking device 200, the direction along the electronic door 400 is the X-axis, the direction perpendicular to the electronic door 400 is the Y-axis, and the vertical direction along the electronic door 400 is the Z-axis.

[0040] The unlocking rectangular coordinates of the mobile terminal 100 can be obtained from the polar coordinates by the following formula. X = D · cosθ2 · cosθ1 Y = D · cosθ2 · sinθ1 Z = D · sinθ2

[0041] The unlocking data verification means 214 decrypts the encrypted mobile key ID 111 transmitted from the mobile terminal 100, verifies it with the "target terminal key ID list" held by the electronic door control unit 210, and if they match, authenticates it as a mobile terminal for unlocking the electronic door 400, and if they do not match, does not authenticate it as a mobile terminal to be unlocked. That is, the unlocking data verification means 214 is a part that identifies whether the detected mobile terminal 100 is a mobile terminal for unlocking / locking the unlocking device 200 provided on the electronic door 400. Note that the mobile key ID 111 may be specified as the unlocking target with the same mobile key ID for a plurality of different electronic doors.

[0042] The motion vector generation means 215 is a part that calculates a motion vector using the unlocking orthogonal coordinates of the mobile terminal 100 detected multiple times. The motion vector generation means 215 calculates a motion vector from the difference between the current unlocking orthogonal coordinates and the previous unlocking orthogonal coordinates calculated once before. This represents the displacement, that is, the moving speed of the mobile terminal 100 at a predetermined time (sampling interval). The moving speed (motion vector) of this mobile terminal 100 is referred to by the timing control means 212 and used for the unlocking determination of the unlocking device 200 by the unlocking unit 230.

[0043] The coordinate prediction means 216 adds the motion vector to the current unlocking orthogonal coordinates to calculate the coordinates of the mobile terminal 100. These coordinates are the predicted unlocking orthogonal coordinates of the mobile terminal 100 after a predetermined time has elapsed. These predicted coordinates are compared with the unlocking orthogonal coordinates calculated at the next sampling of the mobile terminal 100, and if the difference is within a predetermined value, it is determined that the holder of the mobile terminal 100 is trying to move in through the electronic door 400 as predicted, and an unlocking signal for unlocking the electronic door 400 is transmitted from the electronic door control unit 210 to the driver 220, and the unlocking unit 230 is driven via the driver 220 to unlock the electronic door 400. Note that when the predicted coordinates of the mobile terminal 100 by the coordinate prediction means 216 exceed a predetermined value compared with the current unlocking orthogonal coordinates of the mobile terminal 100, it is determined that the holder of the mobile terminal 100 has no intention of entering the room through the electronic door 400, and the locked state of the electronic door 400 is maintained.

[0044] The unlocking system 1 according to the first embodiment of the present invention is configured as described above. By having the unlocking-side basic antenna 201, the first auxiliary antenna 203A, the second auxiliary antenna 203B, and a plurality of unlocking-side antennas in the unlocking device 200, the unlocking-side orthogonal coordinates of the mobile terminal 100 with respect to the unlocking device 200 can be accurately detected. Further, by providing the coordinate prediction means 216 in the electronic door control unit 210 of the unlocking device 200 so that the difference between the actual unlocking-side orthogonal coordinates of the mobile terminal 100 and the predicted orthogonal coordinates of the predicted mobile terminal 100 can be detected, it is possible to distinguish and determine whether the owner of the mobile terminal 100 is trying to enter the room by passing through the electronic door 400 or simply passing near the electronic door 400. In the unlocking system 1, by having a plurality of unlocking-side antennas, the unlocking-side orthogonal coordinates of the mobile terminal 100 can be detected with high accuracy. Also, the intention to enter the room can be detected by comparing the predicted orthogonal coordinates based on the human motion vector with the current unlocking-side orthogonal coordinates, reducing the false detection of the unlocking device 200 and enabling the correct unlocking process of the electronic door 400.

[0045] ≪Second Embodiment≫ FIG. 2 is a diagram schematically showing the configuration of the unlocking system 2 according to the second embodiment of the present invention. The difference from the unlocking system 1 according to the first embodiment is that the electronic door 400 is composed of the unlocking device 200 and the accessory device 300. The same reference numerals are given to the functions equivalent to those of the unlocking system 1, and the description thereof is omitted.

[0046] Since the configuration of the mobile terminal 100 is equivalent to that of the unlocking system 1, the description thereof is omitted.

[0047] The electronic door 400 includes an unlocking device 200 mounted on the outdoor side of the electronic door 400 and an accessory device 300 mounted on the indoor side of the electronic door 400.

[0048] The unlocking device 200 includes an unlocking-side basic antenna 201, an unlocking device reception time measurement unit 202, an electronic door control unit 210, a driver 220, an unlocking unit 230, and a data reception unit 240. The unlocking-side basic antenna 201, the unlocking device reception time measurement unit 202, the driver 220, and the unlocking unit 230 are configured in the same way as those in the unlocking system 1, and their descriptions are omitted. The electronic door control unit 210 and the data reception unit 240 will be described below.

[0049] The electronic door control unit 210 is composed of a processing device such as a CPU (Central Processing Unit) or an MPU (Microprocessor Processing Unit), a memory device such as a RAM (Random Access Memory) and a non-volatile memory, and an IO interface, etc., and realizes the functions (means) necessary for unlocking / locking the electronic door 400 by executing software processing.

[0050] The means for unlocking / locking the electronic door 400 include a terminal distance conversion means 211, a timing control means 212, an inside / outside determination means 217, and an unlocking data verification means 214.

[0051] Similar to the unlocking system 1, the terminal distance conversion means 211 obtains the transmission time from when the first reference signal is sent from the mobile terminal 100 to when the unlocking device 200 receives the first reference signal, and calculates the distance by multiplying the calculated transmission time by the speed of light.

[0052] The unlocking data verification means 214 decrypts the encrypted mobile key ID 111 sent from the mobile terminal 100 and verifies it with the "target terminal key ID list" held by the electronic door control unit 210. If they match, it authenticates the mobile terminal 100 as the one for unlocking the electronic door 400; if they do not match, it does not authenticate the mobile terminal 100 as the unlocking target. The unlocking data verification means 214 is substantially the same as the unlocking data verification means 214 of the unlocking system 1.

[0053] The inside / outside determination means 217 is a means for determining whether the user carrying the mobile terminal 100 is on the indoor side or the outdoor side of the electronic door 400. The inside / outside determination by the inside / outside determination means 217 is performed based on the magnitudes of the distances (terminal distance data D1 and accessory distance data D2) between the mobile terminal 100 and the unlocking device 200 and the accessory device 300 mounted on the outdoor side and the indoor side of the electronic door 400. For example, when it is determined that the unlocking device 200 provided outside the electronic door 400 is closer than the accessory device 300 provided inside the electronic door 400 (that is, when the accessory distance data D2 is smaller than the terminal distance data D1), it is determined that the user is outside the electronic door 400 (see FIG. 7).

[0054] The data reception unit 240 is a part that receives the accessory distance data D2 between the mobile terminal 100 and the accessory device 300. The accessory distance data D2 received by the data reception unit 240 is used by the inside / outside determination means 217 of the electronic door control unit 210 to determine whether the user is on the indoor side or the outdoor side of the electronic door 400.

[0055] The accessory device 300 is composed of an accessory-side basic antenna 301, an accessory device reception time measurement unit 302, accessory distance conversion means 311, and a distance data transmission unit 320. The accessory device 300 receives the first reference signal transmitted from the mobile terminal 100 by the accessory-side basic antenna 301, and the accessory device reception time measurement unit 302 uses the time when the first reference signal is detected by the accessory device 300 as reception time information. From the difference between the transmission time information and the reception time information included in the first reference signal, the transmission time taken for the first reference signal transmitted from the mobile terminal 100 to reach the accessory device 300 is calculated, and the accessory distance data D2 between the mobile terminal 100 and the accessory device 300 is calculated by multiplying the calculated transmission time by the speed of light. The accessory distance data D2 calculated by the accessory distance conversion means 311 is transmitted to the data reception unit 240 of the unlocking device 200 via the distance data transmission unit 320. As described above, the accessory distance data D2 transmitted from the distance data transmission unit 320 and received by the data reception unit 240 is compared with the terminal distance data D1 between the mobile terminal 100 and the unlocking device 200 calculated by the terminal distance conversion means 211 of the unlocking device 200, and the inside / outside determination means 217 of the electronic door control unit 210 determines whether the owner of the mobile terminal 100 is on the indoor side or the outdoor side of the electronic door 400.

[0056] As described above, the unlocking system 2 according to the second embodiment is configured such that the unlocking device 200 and the accessory device 300 are provided on the outdoor side and the indoor side of the electronic door 400, respectively, so that it is possible to determine whether the owner of the mobile terminal 100 is on the indoor side or the outdoor side of the electronic door 400 and correctly perform the unlocking process of the electronic door 400.

[0057] ≪Third Embodiment≫ FIG. 3 is a diagram schematically showing the configuration of an unlocking system 3 according to the third embodiment. The unlocking system 2 is different in that the unlocking device 200 has the first attached antennas 203A and 303A as the unlocking-side attached antennas, the attached device 300 has the second attached antennas 203B and 303B as the attached-side attached antennas, the unlocking-side relative angle measurement unit has the first relative angle measurement units 204A and 304A, the attached-side relative angle measurement unit has the second relative angle measurement units 204B and 304B, it has the orthogonal coordinate conversion means 213 and the attached orthogonal coordinate conversion means 313, and it has the antenna coordinate difference registration means 218. For configurations that are substantially equivalent to the unlocking system 1 and the unlocking system 2, the same reference numerals are used and their descriptions are omitted. Note that the first attached antenna 303A, the second attached antenna 303B, the first relative angle measurement units 304A and 304B, and the attached orthogonal coordinate conversion means 313 in the attached device 300 have substantially the same functions as the first attached antenna 203A, the second attached antenna 203B, the first relative angle measurement units 204A and 204B, and the orthogonal coordinate conversion means 213 in the unlocking device 200, so their descriptions are omitted.

[0058] The electronic door control unit 210 in the unlocking system 3 has the antenna coordinate difference registration means 218. The antenna coordinate difference registration means 218 is a part that pre-registers the displacement (orthogonal coordinate difference data) of the mounting positions of the unlocking device 200 and the attached device 300 mounted on the outdoor side and the indoor side of the electronic door 400. That is, the antenna coordinate difference registration means 218, in addition to the case where the attached device 300 is mounted on the indoor side facing the unlocking device 200 mounted on the outdoor side of the electronic door 400, also when the attached device 300 mounted on the electronic door 400 is displaced and mounted in any of the X-axis direction, Y-axis direction, and Z-axis direction, by pre-registering the displacement amount (orthogonal coordinate difference data) in the antenna coordinate difference registration means 218 in advance, it becomes possible to compare the distance and angle of the mobile terminal 100 with respect to the unlocking device 200 and the distance and angle of the mobile terminal 100 with respect to the attached device 300, and the position information (attached orthogonal coordinates) of the mobile terminal 100 can be accurately calculated.

[0059] The inside / outside determination means 217 compares the unlocking orthogonal coordinates (first coordinates) of the mobile terminal 100 in the coordinate system centered on the unlocking device 200 converted by the orthogonal coordinate conversion means 213 of the unlocking device 200 with the attached orthogonal coordinates (second coordinates) obtained by converting the orthogonal coordinates of the mobile terminal 100 in the coordinate system centered on the attached device 300 received by the data receiving unit 240 into the coordinate system centered on the unlocking device 200, thereby determining whether the mobile terminal 100 held by the user is located on the indoor side or the outdoor side of the electronic door 400.

[0060] The timing control means 212 controls the driving timing of the driver 220 that drives the unlocking unit 230 with reference to the attached orthogonal coordinates (first coordinates) converted by the orthogonal coordinate conversion means 213 of the unlocking device 200 and the attached orthogonal coordinates (second coordinates) converted by the attached orthogonal coordinate conversion means 313.

[0061] As described above, the unlocking system 3 according to the third embodiment includes, in addition to the unlocking-side basic antennas 201 and 301, the first attached antennas 203A and 303A and the second attached antennas 203B and 303B in the unlocking device 200 and the attached device 300, respectively, and has a plurality of antennas capable of receiving the radio signals (the first reference signal and the second reference signal) transmitted from the mobile terminal 100. Thus, in the coordinate system with the unlocking device 200 as the origin, the position information of the mobile terminal 100 can be calculated more accurately than in the unlocking system 1 and the unlocking system 2.

[0062] Moreover, with the configuration in which the antenna coordinate difference registration means 218 is provided in the electronic door control unit 210 of the unlocking device 200, the position information of the mobile terminal 100 can be accurately detected even if the attached device 300 attached to the electronic door 400 is provided at an arbitrary position.

[0063] <Ultra-wideband wireless communication> The wireless communication used in the unlocking system of this embodiment is pulse communication using ultra-wideband (500 MHz), and since the power density per unit frequency is also small, it is recognized as noise from existing BLE (Bluetooth Low Energy) and WiFi systems. Also, since the pulse is composed of many frequencies, it has the characteristic of being resistant to noise. Furthermore, since the edge of the pulse is steep, high-precision (for example, 100 ps) time measurement is possible. The frequency band uses the 8 GHz band and there is almost no interference with existing systems.

[0064] <Positioning method> The positioning method of this unlocking system will be described. Here, the mobile terminal 100 will be described as a tag and the unlocking device 200 as an anchor.

[0065] To measure the distance of the tag from the anchor, the tag transmits a first reference signal including transmission time information, the anchor measures the time when the first reference signal is received and holds it as reception time information, and the anchor calculates the transmission time from the difference between the transmission time information and reception time information of the first reference signal to obtain the transmission time until the first reference signal transmitted from the tag is received, and multiplies the calculated transmission time by the speed of light (about 300,000 km per second) to calculate the distance. This sequence is performed at a predetermined sampling interval. Note that the sampling interval in this embodiment is, for example, 100 ms.

[0066] FIG. 4 is a diagram for explaining the Angle of Arrival (AoA) in the first embodiment. Here, the unlocking-side basic antennas 201 and 301 of the unlocking device 200 and the accessory device 300 are referred to as ANT1, and the first accessory antennas 203A and 303A or the second accessory antennas 203B and 303B are referred to as ANT2 for explanation. Note that ANT1 may be the first accessory antennas 203A and 303A or the second accessory antennas 203B and 303B, and ANT2 may be the unlocking-side basic antennas 201 and 301, or ANT1 may be the first accessory antennas 203A and 303A, and ANT2 may be the second accessory antennas 203B and 303B. That is, any relationship is acceptable as long as ANT1 and ANT2 indicate different antennas. In the Angle of Arrival method, the second reference signal transmitted from the mobile terminal 100 is received by two antennas (ANT1, ANT2). In the Angle of Arrival method, the direction in which the mobile terminal 100 is located with respect to ANT1 is calculated according to the phase difference when ANT1 and ANT2 receive the second reference signal. The method of defining the directivity of the mobile terminal 100 in the Angle of Arrival method can be explained as follows. First, let the angle between the arrival direction of the radio wave and the direction perpendicular to the straight line connecting the two antennas (ANT1, ANT2) be θ. Also, let the distances between the mobile terminal 100 and ANT1 and ANT2 be d1 and d2 respectively, the difference (d2 - d1) be Δd, and the distance between the two antennas (ANT1, ANT2) be L. Then Δd = L·sin(θ) (-π / 2 < θ < π / 2) can be expressed as Also, let the phase difference of the fundamental waves received by the two antennas be Δφ. Then, with the wavelength being λ, 2π:λ = Δφ:Δd, so Δd = Δφ·λ / 2π Therefore, sin(θ) = λ·Δφ / 2π·L θ = arcsin(λ·Δφ / 2π·L) and the Angle of Arrival (relative angle) θ can be obtained. Note that L needs to be equal to or less than λ / 2.

[0067] FIG. 5 is an explanatory diagram of the conversion from polar coordinates to orthogonal coordinates centered on the unlocking device 200 in the orthogonal coordinate conversion means 213 of the unlocking device 200 and the additional orthogonal coordinate conversion means 313 of the accessory device 300.

[0068] The arrival angle (first relative angle: azimuth angle θ1) formed by the straight line connecting a set of anchors (unlocking device 200) and tags (portable terminal 100) and the x-axis on the xy plane, and the arrival angle (second relative angle: elevation angle θ2) formed by the straight line connecting the anchor and the tag and the x-axis on the xz plane, and the distance D (terminal distance data D1) of the straight line connecting the anchor and the tag, from which three-dimensional polar coordinate values (D, θ1, θ2) can be obtained. Assuming that the orthogonal coordinate values of the current position of the tag in the coordinate system with the anchor as the origin are (X, Y, Z), X = D·cosθ2·cosθ1 Y = D·cosθ2·sinθ1 Z = D·sinθ2 It can be converted to orthogonal coordinates by the calculation formula of. The origin position is set at the position of the anchor (unlocking device 200). The x-axis is the direction along the electronic door 400 in the horizontal plane including the unlocking device 200, the y-axis is the direction orthogonal to the electronic door 400, and the z-axis is the vertical direction along the electronic door 400 (right-handed system).

[0069] <Unlocking area> FIG. 6 is a diagram for explaining the unlocking area A where the unlocking device 200 can detect the portable terminal 100. The unlocking area A is an area set so that the unlocking device 200 can execute the unlocking process when the portable terminal 100 carried by the user U is within the area. In the present embodiment, the unlocking area A is defined as a rectangular parallelepiped including the unlocking device 200 installed near the electronic door 400 (for example, the key part). However, the unlocking area A does not necessarily have to be centered on the unlocking device 200 which is the origin when calculating the orthogonal coordinates, and can be arbitrarily set as long as the unlocking device 200 is set within the unlocking area A. In FIG. 6, the parameters a, d represent the X coordinate, b represents the Y coordinate, and c represents the Z coordinate. By setting the unlocking area A in this way, the unlocking device 200 can automatically detect that the user U carrying the mobile terminal 100 has entered this area, and it becomes possible to unlock the hands-free electronic door 400.

[0070] ≪Unlocking Flow in the First Embodiment≫ FIG. 8 is a flowchart showing the flow until unlocking of the electronic door control unit 210 in the first embodiment. FIG. 10 is a diagram for explaining the orthogonal coordinate table T of the electronic door control unit 210.

[0071] When entering the unlocking area A with the power of the mobile terminal 100 turned on, the process shown in FIG. 8 is executed by the unlocking device 200 at a predetermined sampling interval (sampling period: for example, 100 ms). All processes start from START.

[0072] In step S101, it is determined whether the detection of the mobile terminal 100 by the unlocking device 200 is the first time. If the detection of the mobile terminal 100 by the unlocking device 200 is the first time (YES in step S101), in step S102, the orthogonal coordinate table T of the electronic door control unit 210 is initialized and the process proceeds to step S103. Note that the initialization of the orthogonal coordinate table T in step S102 includes initialization processes such as the orthogonal coordinate table, the motion vector table, the predicted coordinate table, and the current time pointer. If the detection of the mobile terminal 100 by the unlocking device 200 is not the first time (NO in step S101), the initialization of the orthogonal coordinate table T is bypassed and the process proceeds to step S103.

[0073] Step S103 determines whether the signal detected by the unlocking device 200 is a signal transmitted from the mobile terminal 100. When the unlocking device 200 detects a signal transmitted by the mobile terminal 100, it stores the information indicating that the mobile terminal 100 has been detected. If, in step S103, it is determined that the signal detected by the unlocking device 200 is not a signal transmitted by the mobile terminal 100 (in the determination of step S103, if NO), the unlocking device 200 ends the process without performing an unlocking process on the electronic door 400. Also, if it is determined that the signal detected by the unlocking device 200 is a signal transmitted from the mobile terminal 100 (in the determination of step S103, if YES), the process proceeds to step S104.

[0074] In step S104, the decryption data collation means 214 decrypts the encrypted data received from the mobile terminal 100 to obtain the mobile key ID 111 of the mobile terminal 100. This mobile key ID 111 is compared with the target mobile key ID list held by the electronic door control unit 210 to determine whether the mobile key ID 111 matches the target mobile key ID list in step S105. If the mobile key ID 111 is not in the list, it is not regarded as the target mobile key ID.

[0075] In step S105, it is determined whether the mobile key ID 111 matches. If NO, the electronic door control unit 210 does nothing and proceeds to END to end the process. If the mobile key ID 111 matches the target mobile key ID list (if YES), the process proceeds to step S106.

[0076] In step S106, the terminal distance conversion means 211 obtains the transmission time information of the first reference signal transmitted from the mobile terminal 100 and the reception time information of the first reference signal recorded by the unlocking device reception time measurement unit 202, and calculates the transmission time of the radio signal from these. The calculated transmission time is multiplied by the speed of light to calculate the terminal distance data D1 between the mobile terminal 100 and the unlocking device 200. After calculating the terminal distance data D1 between the mobile terminal 100 and the unlocking device 200, the process proceeds to step S107.

[0077] In step S107, the first relative angle (azimuth angle θ1) and the second relative angle (elevation angle θ2) of the mobile terminal 100 with respect to the unlocking device 200 measured by the first relative angle measurement unit 204A and the second relative angle measurement unit 204B are obtained. After obtaining the first relative angle (azimuth angle θ1) and the second relative angle (elevation angle θ2) of the mobile terminal 100 with respect to the unlocking device 200, the process proceeds to step S108.

[0078] In step S108, the orthogonal coordinate conversion means 213 performs coordinate conversion from the polar coordinates represented by the terminal distance data D1 between the mobile terminal 100 and the unlocking device 200 calculated in step S106, and the first relative angle (azimuth angle θ1) and the second relative angle (elevation angle θ2) of the mobile terminal 100 with respect to the unlocking device 200 obtained in step S107, with the unlocking device 200 as the origin, to the unlocking orthogonal coordinates with the unlocking device 200 as the origin. Thereby, the unlocking orthogonal coordinates of the mobile terminal 100 in the orthogonal coordinate system with the unlocking device 200 as the origin can be obtained.

[0079] In step S109, the unlocking orthogonal coordinates obtained in step S108 are recorded in the entry indicated by the current time pointer of the orthogonal coordinate table.

[0080] In step S110, the motion vector generation means 215 obtains a motion vector. The motion vector is represented by the difference between the XYZ coordinate values (current unlocking orthogonal coordinates) of the entry indicated by the current time pointer and the XYZ coordinate values (previous unlocking orthogonal coordinates) of the entry indicated by the pointer one before the current time pointer. The motion vector represents the displacement of the XYZ coordinates at a predetermined sampling interval (the displacement from the previous unlocking orthogonal coordinates to the current unlocking orthogonal coordinates), that is, the moving speed of the mobile terminal 100.

[0081] In step S111, the motion vector information is recorded in the entry indicated by the current time pointer of the motion vector table.

[0082] In step S112, the coordinate prediction means 216 calculates predicted orthogonal coordinates. The predicted orthogonal coordinates are coordinates obtained by adding a motion vector to the orthogonal coordinates indicated by the current time pointer, and are predictions of the orthogonal coordinates at the next sampling time.

[0083] In step S113, these predicted orthogonal coordinates are recorded in the entry indicated by the current time pointer in the predicted coordinate table.

[0084] In step S114, the timing control means 212 determines whether to unlock the electronic door 400 by referring to the unlocking orthogonal coordinates, the motion vector, and the predicted orthogonal coordinates acquired up to the previous step. The unlocking conditions are: (1) the mobile terminal 100 is within the unlocking area A, (2) the motion vector is within a predetermined value, and (3) the result of the inside / outside determination matches the user-set inside / outside. If the motion vector is not within the predetermined value, it is when the user U is trying to pass through the electronic door 400, etc., and unnecessary and inappropriate unlocking can be prevented.

[0085] Step S115 is a step for determining whether the unlocking device 200 of the unlocking device 200 can unlock. In step S115, if the unlocking determination by the unlocking device 200 provided on the electronic door 400 is YES, the process proceeds to step S116 to unlock the electronic door 400. When unlocking the electronic door 400, information such as the portable key ID 111 and the date may be stored in the unlocking device 200 as unlocking history. Also, it may be connected to the management terminal (server) via the Internet and the history information etc. may be managed on the management terminal side. Further, in step S115, if the unlocking determination by the unlocking device 200 provided on the electronic door 400 is NO, the process proceeds to step S117.

[0086] In step S117, the current time pointer is advanced by one. If the maximum number of entries is exceeded, it returns to the first entry and is repeatedly used.

[0087] ≪Unlocking Flow in the Second Embodiment≫ FIG. 9 is a flowchart showing the processing flow of the electronic door control unit 210 in the second embodiment. When the mobile terminal 100 enters the unlocking area A with the power of the mobile terminal 100 turned on, the processing shown in FIG. 9 is executed at a predetermined sampling interval (sampling period: for example, 100 ms). All processing starts from START.

[0088] In step T101, it is determined whether it is the first detection of the mobile terminal 100 by the unlocking device 200. If the detection of the mobile terminal 100 by the unlocking device 200 is the first time (YES in step T101), in step T102, the orthogonal coordinate table T of the electronic door control unit 210 is initialized and the process proceeds to step T103. Also, if the detection of the mobile terminal 100 by the unlocking device 200 is not the first time (NO in step T101), the initialization of the orthogonal coordinate table T is bypassed and the process proceeds to step T103.

[0089] In step T103, it is determined whether the signal detected by the unlocking device 200 is a signal transmitted from the mobile terminal 100. When the unlocking device 200 detects a radio signal transmitted by the mobile terminal 100, it stores the information that the mobile terminal 100 has been detected. In step T103, if it is determined that the signal detected by the unlocking device 200 is not a signal transmitted by the mobile terminal 100 (NO in the determination of step T103), the unlocking device 200 proceeds to END without performing the unlocking process and ends the process. Also, if it is determined that the signal detected by the unlocking device 200 is a signal transmitted by the mobile terminal 100 (Yes in the determination of step T103), the process proceeds to step T104.

[0090] In step T104, the decryption means 214 for unlocking data decrypts the encrypted data received from the mobile terminal 100 and obtains the mobile key ID 111. This mobile key ID 111 is compared with the target mobile key ID list held by the electronic door control unit 210, and in step T105, it is determined whether the mobile key ID 111 matches the target key ID list. If the mobile key ID is not in the list, it is not regarded as the target mobile key ID.

[0091] In step T106, the terminal distance conversion means 211 obtains the transmission time information of the first reference signal transmitted from the mobile terminal 100 and the reception time information of the first reference signal recorded by the unlocking device reception time measurement unit 202, and calculates the transmission time of the radio signal from these. Then, the terminal distance data D1 between the mobile terminal 100 and the unlocking device 200 is calculated by multiplying this transmission time by the speed of light. After calculating the terminal distance data D1 between the mobile terminal 100 and the unlocking device 200, the process proceeds to step T107.

[0092] In step T107, in the same manner as step T106, the accessory distance conversion means 311 obtains the transmission time information of the first reference signal transmitted from the mobile terminal 100 and the reception time information of the first reference signal recorded by the accessory device reception time measurement unit 302, and calculates the transmission time of the radio signal from these. Then, the accessory distance data D2 between the mobile terminal 100 and the accessory device 300 is calculated by multiplying this transmission time by the speed of light. The calculated accessory distance data D2 is transmitted to the data reception unit 240 of the unlocking device 200 via the distance data transmission unit 320 of the accessory device 300, and the process proceeds to step T108.

[0093] In step T108, using the terminal distance data D1 between the unlocking device 200 and the mobile terminal 100 and the accessory distance data D2 between the accessory device 300 and the mobile terminal 100, it is determined whether the mobile terminal 100 held by the user U is on the indoor side or the outdoor side of the electronic door 400. In the second embodiment, when the terminal distance data D1 is smaller than the accessory distance data D2, it means that the mobile terminal 100 held by the user U is on the outdoor side of the electronic door 400.

[0094] In step T109, the timing control means 212 refers to the inside / outside determination result by the inside / outside determination means 217 up to the previous step and the distance information (comparison information of the terminal distance data D1 and the accessory distance data D2), and determines whether the electronic door 400 should be unlocked. The conditions for unlocking are: (1) the inside / outside determination matches the inside / outside set by the user, and (2) the distance is within a predetermined range.

[0095] In step T110, it is determined whether the electronic door 400 can be unlocked according to the unlocking conditions. In step T110, if the unlocking conditions are not satisfied (if NO), the unlocking process ends. Also, in step T110, if the unlocking conditions are satisfied (if YES), the process proceeds to step T111 to unlock the electronic door 400, and then the unlocking process ends. Information such as the portable key ID111 used for unlocking the electronic door 400 and the unlocking date may be saved as unlocking history. It may be managed on the management terminal (server) side by connecting to the Internet and managing history information and the like. Note that the electronic door 400 is set to automatically lock after a predetermined time has elapsed since the unlocking process ended.

[0096] ≪Unlocking Flow in the Third Embodiment≫ FIG. 12 is a flowchart showing the flow until unlocking of the electronic door control unit 210 in the third embodiment. When the portable terminal 100 enters the unlocking area A with the power of the portable terminal 100 turned on, the process shown in FIG. 12 is executed by the unlocking device 200 at a predetermined sampling interval (sampling period: for example, 100 ms). All processes start from START.

[0097] In step U101, it is determined whether the detection of the portable terminal 100 by the unlocking device 200 is the first time. If the detection of the portable terminal 100 by the unlocking device 200 is the first time (if YES in step U101), in step U102, the orthogonal coordinate table T of the electronic door control unit 210 is initialized and the process proceeds to step U103. Note that the initialization of the orthogonal coordinate table T in step U102 includes initialization processes such as the orthogonal coordinate table, the motion vector table, the predicted coordinate table, and the current time pointer. Also, if the detection of the portable terminal 100 by the unlocking device 200 is not the first time (if NO in step U101), the initialization of the orthogonal coordinate table T is bypassed and the process proceeds to step U103.

[0098] Step U103 determines whether the signal detected by the unlocking device 200 is the signal transmitted from the mobile terminal 100. When the unlocking device 200 detects the signal transmitted by the mobile terminal 100, it stores the information indicating that the mobile terminal 100 has been detected. In step U103, if it is determined that the signal detected by the unlocking device 200 is not the signal transmitted by the mobile terminal 100 (in the determination of step U103, in the case of NO), the unlocking device 200 ends the process without performing the unlocking process on the electronic door 400. Also, if it is determined that the signal detected by the unlocking device 200 is the signal transmitted from the mobile terminal 100 (in the determination of step S103, in the case of YES), the process proceeds to step U104.

[0099] Step U104 decrypts the encrypted data received from the mobile terminal 100 by the unlocking data collation means 214 to obtain the mobile key ID 111 of the mobile terminal 100. This mobile key ID 111 is compared with the target mobile key ID list held by the electronic door control unit 210 to determine whether the mobile key ID 111 matches the target mobile key ID list in step U105. If the mobile key ID 111 is not in the list, it is not regarded as the target mobile key ID.

[0100] In step U105, it is determined whether the mobile key ID 111 matches. If NO, the electronic door control unit 210 does nothing and proceeds to END to end the process. When the mobile key ID 111 matches the target mobile key ID list (in the case of YES), the processes of step U106 and step U110 are entered. The processes from this step U106 to step U109 and from step U110 to step U113 are carried out in parallel. Note that the processes in steps U106 to U109 are carried out by the unlocking device 200, and steps U110 to U113 indicate the process flow carried out by the accessory device 300.

[0101] Step U106 uses the terminal distance conversion means 211 to obtain the transmission time information of the first reference signal transmitted from the mobile terminal 100 and the reception time information of the first reference signal recorded by the unlocking device reception time measurement unit 202, and calculates the transmission time of the wireless signal from these. Then, it multiplies this transmission time by the speed of light to calculate the terminal distance data D1 between the mobile terminal 100 and the unlocking device 200. After calculating the terminal distance data D1 between the mobile terminal 100 and the unlocking device 200, it proceeds to step U107.

[0102] In step U107, the azimuth angle θ1 and elevation angle θ2 of the mobile terminal 100 with respect to the unlocking device 200 measured by the first relative angle measurement unit 204A and the second relative angle measurement unit 204B are acquired. After acquiring the first relative angle (azimuth angle θ1) and the second relative angle (elevation angle θ2) of the mobile terminal 100 with respect to the unlocking device 200, it proceeds to step U108.

[0103] In step U108, the orthogonal coordinate conversion means 213 performs coordinate conversion from the polar coordinates represented by the terminal distance data D1 between the mobile terminal 100 and the unlocking device 200 calculated in step U106, and the first relative angle (azimuth angle θ1) and the second relative angle (elevation angle θ2) of the mobile terminal 100 with respect to the unlocking device 200 acquired in step S107, with the unlocking device 200 as the origin, to the unlocking orthogonal coordinates. Thereby, the orthogonal coordinates of the mobile terminal 100 in the orthogonal coordinate system with the unlocking device 200 as the origin can be obtained.

[0104] In step U109, the unlocking orthogonal coordinates of the mobile terminal 100 with the unlocking device 200 as the origin acquired in step U108 are recorded in the entry indicated by the current time pointer of the orthogonal coordinate table.

[0105] Step U110 uses the attached distance conversion means 311 to obtain the transmission time information of the first reference signal transmitted from the mobile terminal 100 and the reception time information of the first reference signal recorded by the attached device reception time measurement unit 302, and calculates the transmission time of the wireless signal from these. Then, it multiplies this transmission time by the speed of light to calculate the attached distance data D2 between the mobile terminal 100 and the attached device 300. After calculating the attached distance data D2 between the mobile terminal 100 and the attached device 300, it proceeds to step U111.

[0106] In step U111, the first relative angle (azimuth angle θ1) and the second relative angle (elevation angle θ2) of the mobile terminal 100 with respect to the attached device 300 measured by the first relative angle measurement unit 304A and the second relative angle measurement unit 304B, which serve as the attached relative angle measurement units, are acquired. After acquiring the first relative angle (azimuth angle θ1) and the second relative angle (elevation angle θ2) of the mobile terminal 100 with respect to the attached device 300, it proceeds to step U112.

[0107] In step U112, the attached orthogonal coordinate conversion means 313 performs coordinate conversion from the polar coordinates represented by the attached distance data D2 between the mobile terminal 100 and the attached device 300 calculated in step U110, and the first relative angle (azimuth angle θ1) and the second relative angle (elevation angle θ2) of the mobile terminal 100 with respect to the attached device 300 acquired in step U111, to orthogonal coordinates with the attached device 300 as the origin. Thereby, the orthogonal coordinates of the mobile terminal 100 in the orthogonal coordinate system with the attached device 300 as the origin can be obtained.

[0108] In step U113, the orthogonal coordinates of the mobile terminal 100 with the attached device 300 as the origin, acquired in step U112, are recorded in the entry indicated by the current time pointer of the orthogonal coordinate table T.

[0109] In step U114, the terminal distance data D1 indicating the distance of the mobile terminal 100 from the unlocking device 200 calculated in step U106 and the accessory distance data D2 indicating the distance of the mobile terminal 100 from the accessory device 300 calculated in step U113 are compared to determine whether the mobile terminal 100 held by the user U is on the indoor side or the outdoor side of the electronic door 400. In the third embodiment, when the terminal distance data D1 is smaller than the accessory distance data D2, it means that the mobile terminal 100 held by the user U is on the outdoor side of the electronic door 400.

[0110] In step U115, the movement vector generation means 215 obtains the movement vector of the mobile terminal 100. The movement vector is represented by the difference between the XYZ coordinate values (current unlocking orthogonal coordinates) of the entry indicated by the current time pointer and the XYZ coordinate values (previous unlocking orthogonal coordinates) of the entry indicated by the pointer one before the current time pointer. The movement vector represents the displacement of the XYZ coordinates at a predetermined sampling interval, that is, the moving speed of the mobile terminal 100, and is calculated by the orthogonal coordinate conversion means 213 of the unlocking device 200.

[0111] In step U116, the information of the movement vector calculated in U115 is recorded in the entry indicated by the current time pointer of the movement vector table.

[0112] In step U117, the coordinate prediction means 216 of the electronic door control unit 210 calculates the predicted orthogonal coordinates. The predicted orthogonal coordinates are the coordinates obtained by adding the movement vector to the current unlocking orthogonal coordinates of the mobile terminal 100 in the coordinate system with the unlocking device 200 indicated by the current time pointer as the origin, and are the predicted unlocking orthogonal coordinates of the mobile terminal 100 at the next sampling time. When the predicted orthogonal coordinates of the mobile terminal 100 are calculated in step U117, the process proceeds to step U118.

[0113] In step U118, this predicted orthogonal coordinate is recorded in the entry indicated by the current time pointer of the predicted coordinate table.

[0114] In step U119, the timing control means 212 determines whether to perform unlocking by referring to the respective coordinate values of the unlocking orthogonal coordinates, movement vector, and predicted orthogonal coordinates with the origin being the unlocking device 200 of the mobile terminal 100 acquired up to step U118. The unlocking conditions are: (1) the mobile terminal 100 is within the unlocking area A, (2) the movement vector is within a predetermined value, and (3) the result of the inside / outside determination matches the user-set inside / outside. When the movement vector is not within the predetermined value, it is when the user U is trying to pass through the electronic door 400, etc. By having these unlocking conditions, unnecessary and inappropriate unlocking can be prevented.

[0115] Step U120 is a step for determining whether the unlocking device 200 can unlock. In step U120, if the unlocking determination by the unlocking device 200 provided on the electronic door 400 is YES, the process proceeds to step U121 to unlock the electronic door 400. When unlocking the electronic door 400, information such as the portable key ID 111 and date may be stored in the unlocking device 200 as unlocking history. Also, it may be connected to the management terminal (server) via the Internet and the history information, etc. may be managed on the management terminal side. Further, in step U120, if the unlocking determination by the unlocking device 200 provided on the electronic door 400 is NO, the process proceeds to step U122.

[0116] In step U122, the current time pointer is advanced by one. If the maximum number of entries is exceeded, it returns to the first entry and is repeatedly used.

[0117] FIG. 11 is a diagram for explaining the TDMA (time division multiple access) method of the unlocking system 2 in the second and third embodiments. The communication between the mobile terminal 100, the unlocking device 200, and the accessory device 300 is communication in which each specifies the other party and occurs simultaneously. In this case, depending on the communication environment, there may be cases where communication errors occur. The TDMA method can improve this point.

[0118] The mobile terminal 100 transmits a first reference signal (and a second reference signal) to the unlocking device 200 and the accessory device 300 using a broadcast function. The broadcast function refers to a method of simultaneously transmitting a radio signal to a plurality of recipients. The unlocking device 200 and the accessory device 300 that have received the first reference signal (and the second reference signal) transmit a response signal to the mobile terminal 100 with a delay by a delay transmission means (not shown) so that the response signals transmitted to the mobile terminal 100 do not overlap. In the present embodiment, the transmission from the unlocking device 200 to the mobile terminal 100 is prioritized. That is, the transmission of the response signal from the accessory device 300 to the mobile terminal 100 is performed after a delay from the transmission of the response signal from the unlocking device 200 to the mobile terminal 100. Thereby, it is possible to reduce as much as possible the risk that the transmission information transmitted from a plurality of devices (the unlocking device 200 and the accessory device 300) to a single terminal (the mobile terminal 100) interferes with each other and a communication error occurs. Note that the transmission of the response signal to the mobile terminal 100 may be configured such that the response signal from the accessory device 300 is transmitted before the unlocking device 200. That is, as long as the response signals transmitted from a plurality of devices do not overlap, either response signal may be configured to be transmitted preferentially.

[0119] Note that the present invention is not limited to the above-described embodiments, and includes configurations in which the respective configurations disclosed in the above-described embodiments are mutually replaced or combined, modified configurations, known inventions, and configurations in which the respective configurations disclosed in the above-described embodiments are mutually replaced or combined, etc. Further, the technical scope of the present invention is not limited to the above-described embodiments, and extends to the matters described in the claims and their equivalents.

Explanation of Reference Numerals

[0120] 1 Unlocking System 2 Unlocking System 3 Unlocking System 100 Mobile Terminal 101 Mobile-Side Basic Antenna 102 Transmission Data Creation Unit 110 Mobile Key Control Unit 111 Mobile Key ID 112 Confidential Data Storage Unit 113 Unlocking data generation means 200 Unlocking device 201 Unlocking side basic antenna 202 Unlocking device reception time measurement unit 203A First auxiliary antenna 203B Second auxiliary antenna 204A First relative angle measurement unit 204B Second relative angle measurement unit 210 Electronic door control unit 211 Terminal distance conversion means 212 Timing control means 213 Orthogonal coordinate conversion means 214 Unlocking data verification means 215 Motion vector generation means 216 Coordinate prediction means 217 Inside / outside determination means 218 Antenna coordinate difference registration means 220 Driver 230 Unlocking section 240 Data reception unit 300 Auxiliary device 301 Auxiliary side basic antenna 302 Auxiliary device reception time measurement unit 303A First auxiliary antenna 303B Second auxiliary antenna 304A First relative angle measurement unit 304B Second relative angle measurement unit 311 Auxiliary distance conversion means 313 Auxiliary orthogonal coordinate conversion means 320 Distance data transmission unit 400 Electronic door

Claims

1. An unlocking system comprising a mobile terminal carried by a user and an electronic door with an unlocking device installed in its vicinity, which perform wireless communication with each other in an ultra-wideband manner, wherein the wireless signal between the mobile terminal and the electronic door includes a first reference signal having a plurality of harmonic components for measuring reception time and a second reference signal composed of a fundamental wave component, the mobile terminal comprises a mobile-side basic antenna for transmitting and receiving the wireless signal, a transmission data creation unit for generating transmission data including the first reference signal, the second reference signal, the transmission time information of the first reference signal, a mobile key ID, and unlocking data via the mobile-side basic antenna, a confidential data storage unit for storing confidential data related to unlocking, and a mobile key control unit including an unlocking data generation means for generating unlocking data from the confidential data and the mobile key ID, the unlocking device comprises an unlocking-side basic antenna for transmitting and receiving the wireless signal, one or more unlocking-side auxiliary antennas for receiving the wireless signal, an unlocking device reception time measurement unit for measuring the reception time of the first reference signal received via the unlocking-side basic antenna, an unlocking-side relative angle measurement unit for measuring the phase of the second reference signal received via the unlocking-side basic antenna and the unlocking-side auxiliary antennas, and obtaining the relative angle between the mobile terminal and the unlocking device from the reception phase difference between the unlocking-side basic antenna and the unlocking-side auxiliary antennas, an unlocking unit for unlocking or locking the electronic door, a driver for driving the unlocking unit, a terminal distance conversion means for calculating terminal distance data between the mobile terminal and the unlocking device from the transmission time information of the first reference signal and the reception time information of the first reference signal stored in the unlocking device reception time measurement unit, a rectangular coordinate conversion means for converting the polar coordinates indicated by the relative angle detected by the relative angle detection unit and the terminal distance data with the unlocking device as a reference into unlocking rectangular coordinates, a timing control means for controlling the driving timing of the driver with reference to the unlocking rectangular coordinates, and an electronic door control unit including an unlocking data collation means for collating data generated from the mobile key ID wirelessly transmitted from the mobile terminal and the unlocking data, characterized by having the above components.

2. The electronic door control unit further comprises a motion vector generation means for calculating a motion vector from the current unlocking rectangular coordinates of the mobile terminal at the current time point and the previous unlocking rectangular coordinates sampled one before the current unlocking rectangular coordinates. The timing control means controls the driving timing of the driver with reference to the current unlocking orthogonal coordinates and the motion vector. The unlocking system according to claim 1, characterized in that.

3. The electronic door control unit, further comprises coordinate prediction means for obtaining predicted orthogonal coordinates after a predetermined time has elapsed from the motion vector and the current unlocking orthogonal coordinates, The timing control means controls the driving timing of the driver with reference to the current unlocking orthogonal coordinates and the predicted orthogonal coordinates. The unlocking system according to claim 2, characterized in that.

4. The electronic door, has the unlocking device and the accessory device, The unlocking device, is provided outside the electronic door, a data receiving unit that receives accessory distance data indicating the distance between the mobile terminal and the accessory device transmitted from the accessory device by the electronic door control unit, inside / outside determination means for determining whether the user carrying the mobile terminal is located inside or outside the electronic door with reference to the accessory distance data and the terminal distance data, further has, The timing control means, controls the driving timing of the driver with reference to the terminal distance data and the inside / outside determination result by the inside / outside determination means, The accessory device, is provided inside the electronic door, an accessory-side basic antenna for receiving the radio signal, an accessory device reception time measurement unit for measuring the reception time of the first reference signal received via the accessory-side basic antenna, accessory distance conversion means for converting the transmission time information of the first reference signal and the reception time information measured by the accessory device reception time measurement unit into accessory distance data as the distance between the mobile terminal and the accessory device, a distance data transmission unit for transmitting the accessory distance data to the unlocking device, The unlocking system according to any one of claims 1 to 3, characterized by having.

5. The unlocking device, further has antenna coordinate difference registration means for registering in advance the orthogonal coordinates of the accessory-side basic antenna with reference to the mobile-side basic antenna provided on the electronic door as orthogonal coordinate difference data, The inside / outside determination means determines whether the user carrying the mobile terminal is located inside or outside the electronic door with reference to the terminal distance data, the accessory distance data, and the orthogonal coordinate difference data. The unlocking system according to claim 4, characterized in that.

6. The accessory device, one or more accessory-side accessory antennas for receiving the radio signal, A supplementary-side relative angle measurement unit that measures the phase of the second reference signal received via the supplementary-side basic antenna and the supplementary-side supplementary antenna, and obtains a supplementary-side relative angle between the mobile terminal and the supplementary device based on the reception phase difference between the supplementary-side basic antenna and the supplementary-side supplementary antenna; Supplementary rectangular coordinate conversion means for converting the polar coordinates indicated by the supplementary-side relative angle and the supplementary distance data into supplementary rectangular coordinates with reference to the supplementary device; A distance data transmission unit that transmits the supplementary rectangular coordinate data to the unlocking device, and The data reception unit receives the supplementary rectangular coordinates transmitted from the distance data transmission unit, The inside / outside determination means determines whether the user carrying the mobile terminal is located inside or outside the electronic door by referring to the unlocking rectangular coordinates and the supplementary rectangular coordinates, The unlocking system according to claim 5, wherein the timing control means controls the driving timing of a driver that drives the unlocking unit by referring to the unlocking rectangular coordinates and the supplementary rectangular coordinates.

7. The mobile terminal has a broadcast function for performing broadcast transmission to the unlocking device and the supplementary device, The unlocking system according to claim 4, wherein the unlocking device and the supplementary device have delay transmission means for transmitting a response signal at a delay time set so that the transmission timings of the unlocking device and the supplementary device do not overlap with respect to the first reference signal transmitted to the mobile terminal after receiving a radio signal from the mobile terminal transmitted by the broadcast function.

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