Antenna setting method and positioning system using the same

Abstract

To provide an antenna setting method for appropriately setting three antennas used for a positioning system, and a positioning system using the same.SOLUTION: An antenna setting method M100 comprises: the first step S110 of setting, as a calibration origin O, an intermediate position where the receiving intensity from a second antenna 13B and the receiving intensity from a third antenna 13C become equal on the basis of receiving intensity; the second step S120 of installing a first antenna 13A at a first position where the respective distances from the second antenna 13B and the third antenna 13C become equal on the basis of the receiving intensity; the third step S130 of calculating a first distance d1 to the first antenna 13A from the calibration origin O, a second distance d2 to the second antenna 13B from the calibration origin and a third distance d3 to the third antenna 13C from the calibration origin on the basis of the reception intensity; and the fourth step S140 of setting the coordinate data of the installation positions of the first, second and third antennas 13A, 13B and 13C on the basis of the first, second and third distances d1, d2 and d3.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to an antenna setting method and a positioning system using the same.

Background Art

[0002] Conventionally, various indoor positioning technologies are known as systems for grasping the positions of workers working in a factory.

[0003] Generally, for example, a positioning system is known in which an object equipped with a sensor device receives radio waves from three antennas and the object is positioned based on the respective radio wave intensities. Also known is a positioning system in which a magnetic field is generated in three antennas and the object is positioned based on the respective magnetic field intensities received by an object equipped with a magnetic sensor.

[0004] In these positioning systems, the coordinate data of the installation positions of the three antennas that generate radio waves or a magnetic field are set in advance, and the distances between the object and the three antennas are calculated based on the radio wave intensity or magnetic field intensity received by the object equipped with the sensor device, thereby positioning the object.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in conventional positioning systems, there may be an error between the coordinate data of the preset installation position of the antenna that generates radio waves or a magnetic field and the position of the source of the radio waves or magnetic field generated from the antenna. For example, when the tip or the center of the antenna is used as the source of radio waves or a magnetic field, and the physically measured position of the tip or the center is preset as the coordinate data of the installation position of the antenna, there may be an error between the coordinate data of the installation position of the antenna and the position of the source of the radio waves or magnetic field that is originally generated from the antenna.

[0007] That is, when calculating the distance between the object and the antenna based on the radio wave intensity or magnetic field intensity received by the object equipped with the sensor device, there is a problem that the object cannot be positioned with high accuracy due to the above error.

[0008] By the way, Patent Document 1 discloses a method for positioning the three-axis magnetic field sensor of a magnetic field measuring device, and among them, a method for setting the magnetic sensor so that the distances between two points are equal is disclosed, but a method for appropriately installing the three antennas in the positioning system is not disclosed.

[0009] Therefore, an object of the present invention is to provide an antenna setting method for appropriately setting three antennas used in a positioning system, and a positioning system using the same.

Means for Solving the Problems

[0010] An antenna setting method according to an aspect of the present invention is an antenna setting method for setting a first antenna, a second antenna, and a third antenna used in a positioning system, and based on the reception intensities from the second antenna and the third antenna received by a sensor device, a first step of setting an intermediate position where the reception intensities from the second antenna and the third antenna are equal as a calibration origin; a second step of moving the sensor device from the calibration origin and installing the first antenna at an arbitrary first position where the reception intensities from the second antenna and the third antenna are equal and the distances from each are equal, based on the reception intensities from the second antenna and the third antenna received by the sensor device; a third step of moving the sensor device to the calibration origin and calculating a first distance from the calibration origin to the first antenna, a second distance to the second antenna, and a third distance to the third antenna, based on the reception intensities from the first antenna, the second antenna, and the third antenna; and a fourth step of setting coordinate data of the installation positions of the first antenna, the second antenna, and the third antenna, based on the first distance, the second distance, and the third distance.

[0011] According to this aspect, in the first step, an intermediate position where the reception intensities from the second antenna and the third antenna are equal is set as the calibration origin. In the second step, the sensor device is moved from the calibration origin to an arbitrary first position where the distances from the second antenna and the third antenna are equal, and the first antenna is installed. In the third step, the sensor device is moved to the calibration origin, and the distances from the calibration origin to the first antenna, the second antenna, and the third antenna are calculated respectively. In the fourth step, based on the first distance, the second distance, and the third distance, the coordinate data of the installation positions of the first antenna, the second antenna, and the third antenna are set. Thereby, based on the reception intensities from the first antenna, the second antenna, and the third antenna received by the sensor device, the coordinate data of the installation positions of the first antenna, the second antenna, and the third antenna can be appropriately set. As a result, in the positioning system including the first antenna, the second antenna, and the third antenna, different from the coordinate data of the installation position based on the physically measured distance, since the position of the radio wave or magnetic field source is set from the distances calculated based on the reception intensities received from each antenna, the object equipped with the receiving device can be positioned with high precision.

[0012] In the above aspect, in the first step, a position where the reception intensities from the second antenna and the third antenna received by the sensor device are the same and minimum may be set as the calibration origin.

[0013] According to this aspect, in the first step, more appropriately, an intermediate position where the reception intensities from the second antenna and the third antenna are equal can be set as the calibration origin.

[0014] In the above aspect, in the second step, while moving the sensor device in a direction orthogonal to the straight line connecting the second antenna and the third antenna, the first position may be searched.

[0015] According to this aspect, in the second step, more appropriately, the reception intensities from the second antenna and the third antenna become equal. That is, a first position where the distances from each are equal can be searched, and the first antenna can be installed.

[0016] In the above aspect, assuming that the first antenna, the second antenna, and the third antenna are installed at the coordinate data of the installation position set in the fourth step, a fifth step of positioning an object provided with a sensor device at two points having different positions in a direction orthogonal to an assumed plane configured to include the first antenna, the second antenna, and the third antenna; and a sixth step of determining a deviation of the coordinate data of the installation position set as the position where the first antenna is installed based on the position information of the two different points positioned in the fifth step may be further included.

[0017] According to this aspect, in the fifth step, an object provided with a sensor device is positioned at two points having different positions in a direction orthogonal to an assumed plane configured to include the first antenna, the second antenna, and the third antenna, and in the sixth step, based on the position information of the two different points, in order to determine a deviation of the coordinate data of the installation position set as the position where the first antenna is installed, the accuracy of the coordinate data of the installation positions of the first antenna, the second antenna, and the third antenna can be appropriately confirmed.

[0018] In the above aspect, when it is determined in the sixth step that there is a deviation in the coordinate data of the installation position set as the position where the first antenna is installed, a seventh step of correcting a direction orthogonal to the assumed plane in the coordinate data of the installation position set as the position where the first antenna is installed based on the position information of the two different points positioned in the fifth step may be further included.

[0019] According to this aspect, when it is determined that there is a deviation in the coordinate data of the installation position of the first antenna, in the seventh step, based on the position information of the two different points, in order to correct a direction orthogonal to the assumed plane in the coordinate data of the installation position of the first antenna, the coordinate data of the installation positions of the first antenna, the second antenna, and the third antenna can be set more appropriately. As a result, in a positioning system including the first antenna, the second antenna, and the third antenna, an object provided with a receiving device can be positioned with higher accuracy.

[0020] In the above aspect, assuming that the first antenna, the second antenna, and the third antenna are installed at the coordinate data of the installation position set in the fourth step, a fifth step of positioning an object equipped with a sensor device at two points having different positions in a direction parallel to an assumed plane configured to include the first antenna, the second antenna, and the third antenna; and a sixth step of determining a deviation of the coordinate data of the installation position set as the position where the second antenna and the third antenna are installed based on the position information of the two different points positioned in the fifth step may be further included.

[0021] According to this aspect, in the fifth step, an object equipped with a sensor device is positioned at two points having different positions in a direction parallel to an assumed plane configured to include the first antenna, the second antenna, and the third antenna, and in the sixth step, based on the position information of the two different points, the deviation of the coordinate data of the installation positions of the second antenna and the third antenna is determined. Therefore, the accuracy of the coordinate data of the installation positions of the first antenna, the second antenna, and the third antenna can be appropriately confirmed.

[0022] In the above aspect, when it is determined in the sixth step that there is a deviation in the coordinate data of the installation position set as the position where the second antenna and the third antenna are installed, a seventh step of correcting the direction orthogonal to the assumed plane in the coordinate data of the installation position set as the position where the second antenna and the third antenna are installed based on the position information of the two different points positioned in the fifth step may be further included.

[0023] According to this aspect, when it is determined that there is a deviation in the coordinate data of the installation positions of the second antenna and the third antenna, in the seventh step, based on the position information of two different points, in order to correct the direction orthogonal to the assumed plane in the coordinate data of the installation positions of the second antenna and the third antenna, more appropriately, the coordinate data of the installation positions of the first antenna, the second antenna, and the third antenna can be set. As a result, in a positioning system including the first antenna, the second antenna, and the third antenna, the object provided with the receiving device can be positioned with higher accuracy.

[0024] In the above aspect, the first antenna, the second antenna, and the third antenna may have coils that generate magnetic fields, and the sensor device may include coils capable of receiving the magnetic fields generated by the first antenna, the second antenna, and the third antenna.

[0025] According to this aspect, the sensor device is a magnetic sensor device, and by calculating the distances from each antenna based on the magnetic field intensities received from the first antenna, the second antenna, and the third antenna, the positions of the magnetic field generation sources in the first antenna, the second antenna, and the third antenna can be appropriately set as the coordinate data of the installation positions of the first antenna, the second antenna, and the third antenna.

[0026] A positioning system according to an aspect of the present invention positions an object provided with a sensor device capable of receiving radio waves or magnetic fields from the first antenna, the second antenna, and the third antenna set by the above antenna setting method.

[0027] According to this aspect, in order to position an object provided with a sensor device by using the first antenna, the second antenna, and the third antenna whose coordinate data of the installation positions are appropriately set by the above antenna setting method, the object provided with the receiving device can be positioned with high accuracy.

Effect of the Invention

[0028] According to the present invention, it is possible to provide an antenna setting method for appropriately setting three antennas used in a positioning system, and a positioning system using the same.

Brief Description of the Drawings

[0029]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0030] Hereinafter, preferred embodiments of the present invention will be specifically described with reference to the accompanying drawings. Note that each of the embodiments described below is merely a specific example for implementing the present invention, and does not limitatively interpret the present invention. Also, for ease of understanding the description, the same reference numerals are attached to the same components in each drawing as much as possible, and duplicate descriptions may be omitted.

[0031] <First Embodiment> [Configuration of Positioning System] FIG. 1 is a system configuration diagram showing an overview of a positioning system 1 according to a first embodiment of the present invention. As shown in FIG. 1, the positioning system 1 includes a transmitting-side PC (personal computer) 11, a control unit 12, a first antenna 13A, a second antenna 13B, a third antenna 13C, a receiving TAG (sensor device) 21, and a receiving-side PC 22.

[0032] The transmitting-side PC 11 sends an instruction regarding the driving of the first antenna 13A, the second antenna 13B, and the third antenna 13C to the control unit 12. For example, the transmitting-side PC 11 may send a driving pattern including driving timing and magnetic field strength for generating a magnetic field to the first antenna 13A, the second antenna 13B, and the third antenna 13C to the control unit 12.

[0033] The control unit 12 is driven to generate a magnetic field in each of the first antenna 13A, the second antenna 13B, and the third antenna 13C based on the driving pattern from the transmitting-side PC 11. Specifically, the control unit 12 controls to flow a current through the coils in the first antenna 13A, the second antenna 13B, and the third antenna 13C, respectively, so that magnetic fields are generated in the first antenna 13A, the second antenna 13B, and the third antenna 13C in order.

[0034] The receiving TAG21 receives magnetic fields from the first antenna 13A, the second antenna 13B, and the third antenna 13C. For example, the receiving TAG21 includes a three-axis coil arranged in the X-axis, Y-axis, and Z-axis directions, and the three-axis coil receives the magnetic fields from the first antenna 13A, the second antenna 13B, and the third antenna 13C respectively.

[0035] The receiving TAG21 includes an MCU (Micro Controller Unit) and calculates the respective magnetic field strengths from the first antenna 13A, the second antenna 13B, and the third antenna 13C. For example, the magnetic field strength (RSSI: Received Signal Strength Indicator) in the receiving TAG21 is obtained by synthesizing the RSSI_x of the X-axis component, the RSSI_y of the Y-axis component, and the RSSI_z of the Z-axis component in the three-axis coil, √(RSSI_x 2 +RSSI_y 2 +RSSI_z 2 ).

[0036] In the receiving TAG21, the magnetic field strengths (RSSI) from the first antenna 13A, the second antenna 13B, and the third antenna 13C are calculated respectively and transmitted to the receiving-side PC22 via a wireless network such as Bluetooth (registered trademark).

[0037] Based on the magnetic field strengths (RSSI) from the first antenna 13A, the second antenna 13B, and the third antenna 13C calculated by the receiving TAG21, the receiving-side PC22 calculates the distances between the receiving TAG21 and each of the first antenna 13A, the second antenna 13B, and the third antenna 13C.

[0038] Specifically, an application is implemented on the receiving-side PC 22. Based on the characteristic that the magnetic field strength (RSSI) attenuates with the cube of the distance, the distances between the receiving TAG 21 and each of the first antenna 13A, the second antenna 13B, and the third antenna 13C are calculated. Then, the receiving TAG 21 may be positioned based on the distances from each of the first antenna 13A, the second antenna 13B, and the third antenna 13C by the application.

[0039] Here, the magnetic field strength (RSSI) is calculated by the MCU of the receiving TAG 21, and the distances between the receiving TAG 21 and each of the first antenna 13A, the second antenna 13B, and the third antenna 13C are calculated by the application on the receiving-side PC 22. However, it is not limited to this. For example, all or part of the magnetic field strength (RSSI) that was calculated by the MCU of the receiving TAG 21 may be calculated by the application on the receiving-side PC 22, or conversely, the distances that were calculated by the application on the receiving-side PC 22 may be calculated by the MCU of the receiving TAG 21.

[0040] Also, the application is implemented on the receiving-side PC 22, but it is not limited to the PC. For example, it may be implemented on a mobile terminal equipped with the receiving TAG 21, etc., and the receiving TAG 21 and the application may be integrated. In this case, a screen for displaying the positioning result of the receiving TAG 21 may be provided on the mobile terminal, etc., or a display device for separate display may be provided.

[0041] [Antenna setting method] In the positioning system 1 described with reference to FIG. 1 above, it is necessary to preset the first antenna 13A, the second antenna 13B, and the third antenna 13C. Hereinafter, the antenna setting method for setting the first antenna 13A, the second antenna 13B, and the third antenna 13C will be described in detail.

[0042] Figure 2 is a functional block diagram showing each function in an antenna setting system 100 corresponding to the procedure of the antenna setting method according to the first embodiment of the present invention. As shown in Figure 2, the antenna setting system 100 includes a receiving means 110, a calibration origin setting means 120, an antenna installation means 130, a distance calculation means 140, and an antenna position setting means 150.

[0043] Each means constituting the antenna setting system 100 corresponding to the procedure of the antenna setting method may be realized manually by an operator, for example, or may be automatically realized in whole or in part using an antenna setting device.

[0044] The receiving means 110 receives magnetic fields from the first antenna 13A, the second antenna 13B, and the third antenna 13C. For example, the magnetic fields generated in the first antenna 13A, the second antenna 13B, and the third antenna 13C respectively by the control unit 12 are received by the receiving TAG 21.

[0045] The calibration origin setting means 120 sets, as a calibration origin, an intermediate position where the reception intensities from the second antenna 13B and the third antenna 13C become equal based on the reception intensities from the second antenna 13B and the third antenna 13C received by the receiving means 110. For example, on the straight line connecting the second antenna 13B and the third antenna 13C, a position where the reception intensities from the second antenna 13B and the third antenna 13C received by the receiving TAG 21 are the same is set as the calibration origin.

[0046] The antenna installation means 130 moves the received TAG 21 from the calibration origin set by the calibration origin setting means 120, and based on the reception intensities from the second antenna 13B and the third antenna 13C received by the received TAG 21, installs the first antenna 13A at a position (the first position) where the distances from each of the second antenna 13B and the third antenna 13C are equal. For example, from the calibration origin, the received TAG 21 is moved in a direction substantially orthogonal (so as to be orthogonal) to the straight line connecting the second antenna 13B and the third antenna 13C, and in the vicinity of the position where the first antenna 13A is installed (the position to be installed), a position where the reception intensities from the second antenna 13B and the third antenna 13C received by the received TAG 21 are the same is specified and the first antenna 13A is installed.

[0047] The distance calculation means 140 moves (installs) the received TAG 21 to the calibration origin, and based on the reception intensities from the first antenna 13A, the second antenna 13B, and the third antenna 13C, calculates the first distance from the calibration origin to the first antenna 13A, the second distance to the second antenna 13B, and the third distance to the third antenna 13C. For example, based on the characteristic that the magnetic field strength (RSSI) attenuates with the cube of the distance, at the calibration origin, the first distance, the second distance, and the third distance are calculated respectively from the respective reception intensities from the first antenna 13A, the second antenna 13B, and the third antenna 13C received by the received TAG 21.

[0048] The antenna position setting means 150 sets the positions where the first antenna 13A, the second antenna 13B, and the third antenna 13C are installed based on the first distance, the second distance, and the third distance calculated by the distance calculation means 140. For example, the antenna position setting means 150 may register the coordinate data of the installation positions of the first antenna 13A, the second antenna 13B, and the third antenna 13C as coordinates in the XYZ coordinate system with the calibration origin as the origin of the XYZ coordinate system.

[0049] [State of setting the antenna] FIG. 3 is a diagram showing a state in which an intermediate position where the reception intensities from the second antenna 13B and the third antenna 13C are equal is set as a calibration origin O. As shown in FIG. 3, using the reception TAG 21, a position where the reception intensities from the second antenna 13B and the third antenna 13C received by the reception TAG 21 are the same is set as the intermediate position between the second antenna 13B and the third antenna 13C and as the calibration origin O. That is, a second distance d2 from the calibration origin O to the second antenna 13B and a third distance d3 from the calibration origin O to the third antenna 13C are equal.

[0050] Specifically, on the straight line connecting the second antenna 13B and the third antenna 13C, a position where the reception intensities from the second antenna 13B and the third antenna 13C received by the reception TAG 21 are the same may be searched for. That is, a position where the reception intensities from the second antenna 13B and the third antenna 13C received by the reception TAG 21 are the same and minimum is set as the calibration origin O.

[0051] Note that as the calibration origin setting means 120, an operator may search for an intermediate position where the reception intensities from the second antenna 13B and the third antenna 13C are equal while moving the reception TAG 21, or an antenna setting device that automatically searches for part or all of the intermediate position may be used. The antenna setting device may include, for example, a linear rail connecting the second antenna 13B and the third antenna 13C, and may be configured to search for a position where the reception intensities from the second antenna 13B and the third antenna 13C received by the reception TAG 21 are the same while moving the reception TAG 21 on the rail.

[0052] FIG. 4 is a diagram showing a state where the first antenna 13A is installed at a position where the distances from the second antenna 13B and the third antenna 13C are equal. As shown in FIG. 4, the reception TAG 21 is moved from the calibration origin O, and at a position near the position where the first antenna 13A is installed (the position where it is to be installed), the reception intensities from the second antenna 13B and the third antenna 13C received by the reception TAG 21 are made the same (the first position), and then the first antenna 13A is installed. That is, the distance d12 from the first antenna 13A to the second antenna 13B is equal to the distance d13 from the first antenna 13A to the third antenna 13C.

[0053] Specifically, as the antenna installation means 130, while moving the reception TAG 21 parallel to the straight line connecting the second antenna 13B and the third antenna 13C, a position where the reception intensities from the second antenna 13B and the third antenna 13C received by the reception TAG 21 become the same may be searched for. Here, the calibration origin O is at the midpoint between the second antenna 13B and the third antenna 13C, and since the distance d12 from the first antenna 13A to the second antenna 13B is equal to the distance d13 from the first antenna 13A to the third antenna 13C, the straight line connecting the calibration origin O and the first antenna 13A is the perpendicular bisector of the isosceles triangle formed by the first antenna 13A, the second antenna 13B, and the third antenna 13C. That is, the straight line connecting the calibration origin O and the first antenna 13A is orthogonal to the straight line connecting the second antenna 13B and the third antenna 13C.

[0054] Note that as the antenna installation means 130, an operator may search for a position where the distances from the second antenna 13B and the third antenna 13C are equal while moving the reception TAG 21, or an antenna setting device that automatically searches for part or all of the position may be used. The antenna setting device may be provided with, for example, a rail in a linear shape parallel to the straight line connecting the second antenna 13B and the third antenna 13C, and may be configured to search for a position where the reception intensities from the second antenna 13B and the third antenna 13C received by the reception TAG 21 are the same while moving the reception TAG 21 on the rail.

[0055] FIG. 5 is a diagram showing a state of calculating a first distance d1 from the calibration origin O to the first antenna 13A, a second distance d2 to the second antenna 13B, and a third distance d3 to the third antenna 13C. As shown in FIG. 5, the reception TAG 21 is installed at the calibration origin O, and the distance calculation means 140 calculates the first distance d1, the second distance d2, and the third distance d3 based on the reception intensities from the first antenna 13A, the second antenna 13B, and the third antenna 13C received by the reception TAG 21, respectively.

[0056] Specifically, based on the characteristic that the magnetic field strength (RSSI) attenuates with the cube of the distance, the distance calculation means 140 calculates the first distance d1, the second distance d2, and the third distance d3 from the reception intensities from the first antenna 13A, the second antenna 13B, and the third antenna 13C received by the reception TAG 21 at the calibration origin O, respectively.

[0057] Then, with the calibration origin O as the origin of the XYZ coordinate system, the antenna position setting means 150 may set the X axis along the straight line connecting the second antenna 13B and the third antenna 13C, and register the second antenna 13B and the third antenna 13C as coordinates in the XYZ coordinate system based on the second distance d2 and the third distance d3, respectively. Further, the antenna position setting means 150 may set the Y axis in the direction from the calibration origin O to the first antenna 13A, and register the first antenna 13A as coordinates in the XYZ coordinate system based on the first distance d1.

[0058] [Processing Flow of Antenna Setting Method] FIG. 6 is a flowchart showing the processing flow of the antenna setting method M100 according to the first embodiment of the present invention. As shown in FIG. 6, the antenna setting method M100 includes steps S110 to S140, and each step is executed by the antenna setting system 100. Specifically, each step is executed manually by an operator and / or automatically by an antenna installation device using a reception TAG 21 capable of receiving the magnetic field strengths from the first antenna 13A, the second antenna 13B, and the third antenna 13C constituting the positioning system 1.

[0059] In step S110, the calibration origin setting means 120 sets, as the calibration origin O, a position on the straight line connecting the second antenna 13B and the third antenna 13C where the reception intensities from the second antenna 13B and the third antenna 13C received by the reception TAG 21 are the same, as the intermediate position between the second antenna 13B and the third antenna 13C (first step).

[0060] In step S120, the antenna installation means 130 moves the reception TAG 21 from the calibration origin O, specifies a position (first position) where the reception intensities from the second antenna 13B and the third antenna 13C received by the reception TAG 21 are the same, and installs the first antenna 13A (second step).

[0061] In step S130, the reception TAG 21 is installed at the calibration origin O, and from the respective reception intensities from the first antenna 13A, the second antenna 13B, and the third antenna 13C received by the reception TAG 21, the distance calculation means 140 calculates a first distance d1, a second distance d2, and a third distance d3, respectively (third step).

[0062] In step S140, the antenna position setting means 150 registers the coordinate data of the installation positions of the first antenna 13A, the second antenna 13B, and the third antenna 13C as coordinates in the XYZ coordinate system based on the first distance d1, the second distance d2, and the third distance d3, with the calibration origin O as the origin of the XYZ coordinate system.

[0063] In this way, by associating the first antenna 13A, the second antenna 13B, and the third antenna 13C set on the XYZ coordinates with the origin at the calibration origin O with the three-dimensional coordinates in the real space, it is possible to appropriately position the object equipped with the reception TAG21 in the real space.

[0064] As described above, according to the antenna setting system 100 and the antenna setting method M100 according to the first embodiment of the present invention, an intermediate position where the reception intensities from the second antenna 13B and the third antenna 13C are equal is set as the calibration origin O based on the magnetic field strength received by the reception TAG21, the reception TAG21 is moved from the calibration origin O, and the first antenna 13A is installed at the first position where the distances from the second antenna 13B and the third antenna 13C are equal based on the magnetic field strength received by the reception TAG21. Further, the reception TAG21 is installed at the calibration origin O, the first distance d1, the second distance d2, and the third distance d3 are calculated based on the magnetic field strength received by the reception TAG21, and based on these distances, the coordinate data of the installation positions of the first antenna 13A, the second antenna 13B, and the third antenna 13C are set. That is, based on the distances calculated based on the magnetic field strength received by the reception TAG21, the coordinate data of the installation positions of the first antenna 13A, the second antenna 13B, and the third antenna 13C can be appropriately set. As a result, in the positioning system 1 including the first antenna 13A, the second antenna 13B, and the third antenna 13C, unlike the coordinate data of the installation position based on the physically measured distance, since the position of the magnetic field generation source is set from the distances calculated based on the magnetic field strength received from each antenna, it is possible to highly accurately position the object equipped with the reception TAG21.

[0065] In the present embodiment, the distances to the first antenna 13A, the second antenna 13B, and the third antenna 13C are calculated based on the magnetic field intensity received by the reception TAG 21 by generating a magnetic field from the first antenna 13A, the second antenna 13B, and the third antenna 13C. However, the present invention is not limited to this. For example, radio waves may be used. A radio wave signal may be transmitted from the first antenna 13A, the second antenna 13B, and the third antenna 13C, and the distances to the first antenna 13A, the second antenna 13B, and the third antenna 13C may be calculated based on the radio wave intensity received by the reception TAG 21.

[0066] <Second Embodiment> Next, in the second embodiment of the present invention, a method for confirming the coordinate data of the installation positions of the first antenna 13A, the second antenna 13B, and the third antenna 13C set using the antenna setting method described in the first embodiment will be described.

[0067] FIG. 7 is a diagram showing a state in which a target including the reception TAG 21 is positioned using the first antenna 13A, the second antenna 13B, and the third antenna 13C. As shown in FIG. 7, it is assumed that the Z-axis is set in the horizontal direction and the first antenna 13A, the second antenna 13B, and the third antenna 13C are set in the X-Y plane.

[0068] As a specific example, on a table installed horizontally along the Z-axis, a target including the reception TAG 21 is translated parallel from position P1 to position P2. In this case, the target including the reception TAG 21 is positioned using the first antenna 13A, the second antenna 13B, and the third antenna 13C (fifth step), and the height position (y1) at position P1 and the height position (y2) at position P2 are determined (sixth step).

[0069] When y1 = y2, it is determined that the position set as the coordinate data of the installation position of the first antenna 13A is appropriately set (sixth step).

[0070] On the other hand, when y1 ≠ y2, it is determined that the position set as the coordinate data of the installation position of the first antenna 13A is set with a deviation (step 6), and an offset is made in the Z-axis direction (step 7).

[0071] FIG. 8 is a diagram showing a specific example of offsetting in the Z-axis direction with respect to the coordinate data of the installation position of the first antenna 13A set using the antenna setting method described in the first embodiment. As shown in FIG. 8, an object provided with the reception TAG 21 is translated from the position P1 to the position P2, and as the positioning result at this time, the height position (y1) at the position P1 and the height position (y2) at the position P2 are different.

[0072] For example, when the Z coordinate position at the position P1 in the measured reception TAG 21 is z1, the Z coordinate position at the position P2 is z2, the difference in height positions between the position P1 and the position P2 is Δy = y2 - y1, and the angle is Δθ, the offset amount Δz in the Z-axis direction of the first antenna 13A (Y coordinate position y0) can be calculated using the following (Equation 1) and (Equation 2).

[0073]

Equation

Equation

[0074] Also, in FIG. 8, two right triangles having the angle Δθ are formed. Using the fact that the two right triangles are in a similar relationship, the offset amount Δz in the Z-axis direction of the first antenna 13A (Y coordinate position y0) can be calculated using the following (Equation 3) and (Equation 4).

[0075]

Equation

Equation

[0076] Note that the method for calculating the offset amount Δz of the first antenna 13A (Y coordinate position y0) in the Z-axis direction is not limited to this.

[0077] FIG. 9 is a diagram showing another specific example of offsetting in the Z-axis direction with respect to the coordinate data of the installation position of the first antenna 13A set using the antenna setting method described in the first embodiment. As shown in FIG. 9, for example, when the distance from the coordinate data of the installation position of the first antenna 13A to the position P1 in the measured receiving TAG21 is d1 and the distance to the position P2 is d2, the offset amount Δz of the first antenna 13A (Y coordinate position y0) in the Z-axis direction can be calculated using the following (Equation 5), (Equation 6), and (Equation 7).

[0078]

Equation

Equation

Equation

[0079] As described above, according to the method for confirming the coordinate data of the installation positions of the first antenna 13A, the second antenna 13B, and the third antenna 13C according to the second embodiment of the present invention, two points (position P1 and position P2) with different positions in the Z-axis direction orthogonal to the assumed X-Y plane configured to include the first antenna 13A, the second antenna 13B, and the third antenna 13C are used to position the target equipped with the receiving TAG21. Then, based on the height position (y1) at position P1 and the height position (y2) at position P2, in order to determine the deviation of the position set as the coordinate data of the installation position of the first antenna 13A, the accuracy of the coordinate data of the installation positions of the first antenna 13A, the second antenna 13B, and the third antenna 13C can be appropriately confirmed.

[0080] Furthermore, when it is determined that the position set as the coordinate data of the installation position of the first antenna 13A is set with a deviation, as described with reference to FIGS. 7 and 8, the offset amount Δz in the Z-axis direction can be appropriately calculated as the coordinate data of the installation position of the first antenna 13A. As a result, the coordinate data of the installation positions of the first antenna 13A, the second antenna 13B, and the third antenna 13C can be set more appropriately, and using these, the object equipped with the reception TAG 21 can be positioned with higher accuracy.

[0081] Here, a method of checking and offsetting the position in the Z-axis direction set as the coordinate data of the installation position of the first antenna 13A has been described, but the method is not limited thereto. For example, an object equipped with the reception TAG 21 is translated on a table horizontally installed along the X-axis. In this case, the object equipped with the reception TAG 21 is positioned using the first antenna 13A, the second antenna 13B, and the third antenna 13C, and the height positions at two different points are compared. Thereby, the deviation of the position in the Z-axis direction set as the coordinate data of the installation positions of the second antenna 13B and the third antenna 13C can be confirmed.

[0082] Each of the embodiments described above is for facilitating the understanding of the present invention and is not for limiting and interpreting the present invention. Each element included in each embodiment and its arrangement, material, conditions, shape, size, etc. are not limited to those illustrated and can be appropriately changed. Also, it is possible to partially substitute or combine the configurations shown in different embodiments.

[0083] [Appendix] An antenna setting method (M100) for setting the first antenna (13A), the second antenna (13B), and the third antenna (13C) used in the positioning system (1), A first step (S110) of setting, based on the reception intensities from the second antenna (13B) and the third antenna (13C) received by the sensor device (21), an intermediate position where the reception intensities from the second antenna (13B) and the third antenna (13C) are equal as a calibration origin (O); A second step (S120) of moving the sensor device (21) from the calibration origin (O) and installing the first antenna (13A) at a first position where the distances from the second antenna (13B) and the third antenna (13C) are equal, based on the reception intensities from the second antenna (13B) and the third antenna (13C) received by the sensor device (21); A third step (S130) of moving the sensor device (21) to the calibration origin (O) and calculating a first distance (d1) from the calibration origin (O) to the first antenna (13A), a second distance (d2) to the second antenna (13B), and a third distance (d3) to the third antenna (13C), based on the reception intensities from the first antenna (13A), the second antenna (13B), and the third antenna (13C); A fourth step (S140) of setting coordinate data of the installation positions of the first antenna (13A), the second antenna (13B), and the third antenna (13C) based on the first distance (d1), the second distance (d2), and the third distance (d3). An antenna setting method (M100).

Explanation of Reference Numerals

[0084] 1... Positioning system, 11, 22... PCs, 12... Control unit, 13A - 13C... Antennas, 21... Reception TAG (sensor device), 100... Antenna setting system, 110... Reception means, 120... Calibration origin setting means, 130... Antenna installation means, 140... Distance calculation means, 150... Antenna position setting means, M100... Antenna setting method, S110 - S140... Steps of the antenna setting method M100

Claims

1. An antenna setting method for setting a first antenna, a second antenna, and a third antenna used in a positioning system, comprising: a first step of setting, as a calibration origin, an intermediate position at which reception intensities from the second antenna and the third antenna received by the sensor device are equal, based on the reception intensities from the second antenna and the third antenna; a second step of moving the sensor device from the calibration origin and installing the first antenna at a first position at which distances from the second antenna and the third antenna are equal, based on the reception intensities from the second antenna and the third antenna received by the sensor device; a third step of moving the sensor device to the calibration origin and calculating a first distance from the calibration origin to the first antenna, a second distance to the second antenna, and a third distance to the third antenna, based on the reception intensities from the first antenna, the second antenna, and the third antenna; a fourth step of setting coordinate data of installation positions of the first antenna, the second antenna, and the third antenna, based on the first distance, the second distance, and the third distance. An antenna setting method.

2. In the first step, a position at which reception intensities from the second antenna and the third antenna received by the sensor device are the same and minimum is set as the calibration origin. The antenna setting method according to claim 1.

3. In the second step, the first position is searched while moving the sensor device in a direction orthogonal to a straight line connecting the second antenna and the third antenna. The antenna setting method according to claim 1.

4. assuming that the first antenna, the second antenna, and the third antenna are installed at the coordinate data of the installation positions set in the fourth step, a fifth step of positioning an object equipped with a sensor device at two points having different positions in a direction orthogonal to an assumed plane configured to include the first antenna, the second antenna, and the third antenna; a sixth step of determining a deviation of the coordinate data of the installation position set as the position where the first antenna is installed, based on the position information of the two different points positioned in the fifth step. The antenna setting method according to claim 1.

5. When it is determined that there is a deviation in the coordinate data of the installation position set as the position where the first antenna is installed in the sixth step, a seventh step of correcting the direction orthogonal to the assumed plane in the coordinate data of the installation position set as the position where the first antenna is installed based on the position information of two different points measured in the fifth step is further included. The antenna setting method according to claim 4.

6. Assuming that the first antenna, the second antenna, and the third antenna are installed at the coordinate data of the installation position set in the fourth step, the target provided with the sensor device is positioned at two points having different positions in a direction parallel to the assumed plane configured to include the first antenna, the second antenna, and the third antenna. A fifth step; A sixth step of determining a deviation in the coordinate data of the installation position set as the position where the second antenna and the third antenna are installed based on the position information of two different points measured in the fifth step is further included. The antenna setting method according to claim 1.

7. When it is determined that there is a deviation in the coordinate data of the installation position set as the position where the second antenna and the third antenna are installed in the sixth step, based on the position information of two different points measured in the fifth step, the second antenna and the third antenna are installed. A seventh step of correcting the direction orthogonal to the assumed plane in the coordinate data of the installation position set as the position is further included. The antenna setting method according to claim 6.

8. The first antenna, the second antenna, and the third antenna have coils that generate magnetic fields. The sensor device includes a coil capable of receiving the magnetic fields generated by the first antenna, the second antenna, and the third antenna. The antenna setting method according to claim 1.

9. Positioning a target provided with a sensor device capable of receiving radio waves or magnetic fields from the first antenna, the second antenna, and the third antenna set by the antenna setting method according to any one of claims 1 to 8. Positioning system.

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