Terminal device, magnetic anchor system and positioning method

Abstract

A terminal device capable of performing positioning with high accuracy and low cost is provided. [Solution] A terminal device held by a terminal holder, comprising: a magnetic detection unit that detects a magnetic field generated by a magnetic anchor consisting of a magnet; and a position information acquisition unit that acquires position information corresponding to the magnetic information detected by the magnetic detection unit by referring to a correspondence between pre-prepared magnetic information and position information.

Description

[Technical Field]

[0001] The present disclosure relates to a terminal device, a magnetic anchor system, and a positioning method. [Background technology]

[0002] In recent years, application software that obtains location information using the Global Positioning System (GPS) has been installed on mobile devices such as smartphones, making it possible to obtain current location information.

[0003] In addition, in indoor environments where GPS functions cannot be used, it is possible to obtain current location information (current location information) by using other methods alone or by combining two or more other methods. Known examples of such methods include Wi-Fi-based positioning, which calculates the current location based on the difference in radio wave strength from multiple Wi-Fi access points; beacon positioning, which estimates the current location based on the signal strength of a communication method called BLE (Bluetooth (registered trademark) Low Energy); and Pedestrian Dead Reckoning (PDR), which estimates the direction and amount of movement using measurements from inertial sensors such as acceleration sensors and gyro sensors that are installed in many smartphones. In addition to PDR, vehicle dead reckoning (VDR) can also be used, which is based on measurements from inertial sensors such as accelerometers and gyroscopes, and odometry sensors such as wheel sensors and Doppler sensors.

[0004] However, with Wi-Fi-based positioning methods, the coverage area of ​​an access point is limited to a radius of several tens of meters, so in order to obtain highly accurate location information, it is necessary to place access points at a high density, which is costly.In addition, there may be places where access points cannot be placed, such as places where radio waves cannot reach or where it is difficult to secure a power source.

[0005] Similarly, with methods based on BLE beacons, it is necessary to place transmitters at high density to obtain highly accurate location information. Furthermore, the placement of the transmitters has a significant impact on accuracy, making it difficult to achieve highly accurate positioning. Furthermore, the transmitters require periodic maintenance, such as battery replacement, which is labor-intensive and costly.

[0006] The PDR and VDR methods have the advantage of not requiring additional costs by utilizing mobile devices such as smartphones with inertial sensor functionality, but they have the problem of gradually increasing errors due to the accumulation of noise, resulting in larger discrepancies in location information.For this reason, the PDR and VDR methods require processing to correct discrepancies in location information in combination with other positioning methods, but as mentioned above, Wi-Fi-based or beacon-based positioning methods have problems in terms of accuracy, cost, installation location restrictions, and the hassle of battery replacement. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-216286 [Patent Document 2] Patent No. 6783751 Summary of the Invention [Problem to be solved by the invention]

[0008] As described above, it has sometimes been difficult to perform positioning with high accuracy and low cost using conventional positioning techniques.

[0009] It should be noted that Patent Document 1 describes a magnet device for a magnetic marker (see Patent Document 1), but does not describe a specific example of positioning. Furthermore, Patent Document 2 describes a process that uses map information of an area that includes the current location of a user of a portable device (see Patent Document 2), but does not describe a specific example of a magnetic anchor.

[0010] The present disclosure has been made in consideration of the above circumstances, and aims to provide a terminal device, a magnetic anchor system, and a positioning method that are capable of performing positioning with high accuracy and low cost. [Means for solving the problem]

[0011] One aspect of the present disclosure is a terminal device held by a terminal holder, the terminal device comprising: a magnetic detection unit that detects a magnetic field generated by a magnetic anchor composed of a magnet; and a position information acquisition unit that acquires position information corresponding to the magnetic information detected by the magnetic detection unit by referring to a correspondence between pre-prepared magnetic information and position information.

[0012] One aspect of the present disclosure is a magnetic anchor system that includes multiple magnetic anchors at different positions, each of which includes a magnet, and each of which has a magnet arrangement pattern that differs in at least one of the number of magnets, the type of magnets, and the arrangement of the magnets, thereby generating a magnetic field that is different from that of the other magnetic anchors.

[0013] One aspect of the present disclosure is a position determination method using a terminal device held by a terminal holder, which uses a plurality of magnetic anchors, each composed of a magnet and located at a different position, and detects magnetic fields generated by the magnetic anchors using a magnetic detection unit, and acquires position information corresponding to the magnetic information detected by the magnetic detection unit by referring to correspondence between magnetic information and position information prepared in advance using a position information acquisition unit. [Effects of the Invention]

[0014] The terminal device, magnetic anchor system, and positioning method according to the present disclosure enable positioning to be performed with high accuracy and low cost. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a diagram illustrating an example of a schematic configuration of a position detection system according to an embodiment. [Figure 2] FIG. 10 is a diagram illustrating an example of a magnetic position correspondence table that stores correspondence between magnetic information and position information according to the embodiment. [Figure 3] 1A and 1B are diagrams illustrating an example of a magnetic anchor attached to a door according to an embodiment. [Figure 4] FIG. 10 is a diagram illustrating an example of a procedure of a position determination process performed in the terminal device according to the embodiment. [Figure 5] FIG. 1A is a diagram showing an example of the configuration of a magnetic anchor according to an embodiment, and FIG. 1B is a diagram showing an example of a waveform detected by a terminal device. [Figure 6] FIG. 1A is a diagram showing an example of the configuration of a magnetic anchor according to an embodiment, and FIG. 1B is a diagram showing an example of a waveform detected by a terminal device. [Figure 7] FIG. 1A is a diagram showing an example of the configuration of a magnetic anchor according to an embodiment, and FIG. 1B is a diagram showing an example of a waveform detected by a terminal device. [Figure 8] 1A and 1B are diagrams illustrating an example of magnetic anchors attached at multiple heights to a door according to an embodiment, and an example of a moving object. [Figure 9] 1 is a diagram illustrating an example of a schematic configuration of an integrated positioning system according to an embodiment. [Figure 10] FIG. 2 is a diagram showing an example of a management table in the integrated positioning system according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0017] [Positioning system] FIG. 1 is a diagram showing an example of a schematic configuration of a position determination system 1 according to an embodiment. The positioning system 1 can include a terminal device 11 and a plurality of N magnetic anchors 12-1 to 12-N. FIG. 1 also shows a user 21 using the terminal device 11 .

[0018] Here, in the example of FIG. 1, for the sake of simplicity, one terminal device 11 is shown, but the position determination system 1 may include a plurality of terminal devices. Furthermore, although the example of FIG. 1 shows a plurality of N magnetic anchors 12-1 to 12-N, the positioning system 1 may be provided with a single magnetic anchor.

[0019] <Terminal Device> The terminal device 11 includes a magnetic detection unit 111, a location information acquisition unit 112, a GPS unit 113, a DR (Dead Reckoning) unit 114, a communication unit 116, and a storage unit 117. The storage unit 117 stores a magnetic position correspondence table 1111. The storage unit 117 may store any information.

[0020] Using the measurements of the magnetometer, the magnetic detection unit 111 detects the magnetic field generated by each of the magnetic anchors 12-1 to 12-N (the magnetic field generated by each of the magnetic anchors 12-1 to 12-N). The magnetometer can be part of the magnetic detection unit 111 or an external device. The position information acquisition unit 112 acquires information on the identified position (position information) by identifying the position based on the magnetic field detected by the magnetic detection unit 111 and the information in the magnetic position correspondence table 1111 stored in the memory unit 117.

[0021] The GPS unit 113 has a GPS receiver and acquires information on the position (for example, latitude and longitude). Note that the GPS function makes it possible to identify an absolute position.

[0022] Using measurements from inertial sensors (accelerometers and gyroscopes), the DR unit 114 obtains information about the location from, for example, a PDR device with a PDR function, which can determine relative location. In this embodiment, the PDR device may be attached to the belt of the user 21, for example. The DR unit 114 may itself have the function of a PDR device.

[0023] As another example, the DR unit 114 may acquire information about the position from a Vehicle Dead Reckoning (VDR) device having a VDR function, which is capable of identifying a relative position. In this case, the VDR device may be mounted on, for example, a mobile object on which the terminal device 11 is mounted. The DR unit 114 may itself have the function of a VDR device.

[0024] Here, in this embodiment, when determining the location of the terminal device 11 based on the detection results of the magnetic detection unit 111, information acquired by the GPS unit 113 or information acquired by the DR unit 114 may be used. In the example of Figure 1, the terminal device 11 is shown to have a GPS unit 113 and a DR unit 114, but as another example, a configuration in which the terminal device 11 does not have one or both of the GPS unit 113 and the DR unit 114 may be used.

[0025] As another example, the location information acquisition unit 112 may use a positioning method based on Wi-Fi or a proximity positioning method based on a BLE beacon when acquiring location information, or may use both of these methods in combination. The location information acquisition unit 112 can combine or integrate magnetic positioning, and possibly other positioning methods, with PDR or VDR. As a result, in this embodiment, a more accurate location can be determined than when using only one positioning method. Furthermore, combining magnetic positioning with PDR or VDR can improve indoor positioning accuracy, and combining it with GPS can further improve outdoor positioning accuracy. Other positioning methods based on Wi-Fi or BLE beacons can also be integrated with magnetic positioning, GPS, PDR, or VDR.

[0026] The communication unit 116 has a function of performing communication. The communication unit 116 may have a function for performing wireless communication for a mobile phone system, for example.

[0027] Here, the terminal device 11 may be configured by installing a predetermined program on a general-purpose computer such as a smartphone, or may be configured as a dedicated device. If the terminal device 11 (for example, a smartphone) is configured to have a magnetic detection function, the magnetic detection unit 111 can use the magnetic detection function.

[0028] <Magnetic position correspondence table> FIG. 2 is a diagram showing an example of a magnetic position correspondence table 1111 that stores correspondence between magnetic information and position information according to the embodiment. The magnetic position correspondence table 1111 stores magnetic field information (magnetic information) and position information (position information) in association with each other.

[0029] Here, the magnetic information and the position information are determined in advance based on experiments or theory and stored. In this embodiment, position information is set for each of the magnetic anchors 12-1 to 12-N, and magnetic information is set for each of the magnetic anchors 12-1 to 12-N. As the position information for each of the magnetic anchors 12-1 to 12-N, for example, information on the position where each of the magnetic anchors 12-1 to 12-N is installed is used. In this embodiment, each of the magnetic anchors 12-1 to 12-N is installed at a fixed position. In this embodiment, different magnetic information is set for each of the magnetic anchors 12-1 to 12-N. As the magnetic information, information on the magnetic field detected by the magnetic detection unit 111 of the terminal device 11 due to the magnetic field of each of the magnetic anchors 12-1 to 12-N is used.

[0030] In the example of Figure 2, the magnetic information is simply represented as "A1," "A2," and "A3," but any information may be used as the magnetic information, such as information on magnetic field strength, information on the horizontal and vertical components of the magnetic field, information on the three-dimensional vector of the magnetic field, information on the waveform of the magnetic signal, etc., which may be used alone or in combination. 2, the location information is simply represented as "aaa," "bbb," and "ccc," but any information may be used as the location information, such as latitude and longitude information, or information representing a position on three axes in three-dimensional space. In certain embodiments, altitude or floor number may be used as the third coordinate.

[0031] In this embodiment, the terminal device 11 stores information in the storage unit 117 (for example, information in the magnetic position correspondence table 1111), but as another example, the information may be stored in a device (for example, a database) external to the terminal device 11. In this case, for example, the terminal device 11 may be able to store information in such an external device and may also be able to read out the information stored in the external device.

[0032] <Magnetic anchor> FIG. 3 is a diagram showing an example of a magnetic anchor 12-1 attached to a door 211 according to the embodiment. In the example of FIG. 3, the magnetic anchor 12-1 is attached near the center of the door 211 in the height direction.

[0033] The magnetic anchor 12-1 includes four magnets 221a, 221b, 221c, and 221d. In this embodiment, permanent magnets are used as the magnets 221a to 221d that make up the magnetic anchor 12-1.

[0034] Here, one magnetic anchor 12-1 has been described, but each of the other magnetic anchors 12-2 to 12-N also includes one or more magnets in a predetermined arrangement. In this embodiment, the magnetic anchors 12-1 to 12-N are configured so that the magnetic field detected by the magnetic detection unit 111 of the terminal device 11 differs depending on the magnetic field of each of the magnetic anchors 12-1 to 12-N.

[0035] The manner in which the magnetic anchor is installed is not particularly limited, and for example, it may be attached to another object such as a door, or may be placed on the floor, etc. The magnetic anchor may be attached to another object by, for example, being attached with an adhesive or the like, or by being mechanically attached.

[0036] <Position determination process> FIG. 4 is a diagram showing an example of the procedure of the position determination process performed in the terminal device 11 according to the embodiment.

[0037] (Step S1) The terminal device 11 uses the magnetic detection unit 111 to detect a magnetic field generated by a magnetic anchor (for example, any one of the magnetic anchors 12-1 to 12-N). Then, the terminal device 11 proceeds to the processing of step S2.

[0038] (Step S2) The terminal device 11 uses the position information acquisition unit 112 to refer to the information in the magnetic position correspondence table 1111 . Then, the terminal device 11 proceeds to the processing of step S3.

[0039] (Step S3) The terminal device 11 uses the position information acquisition unit 112 to identify and acquire position information corresponding to the magnetic information detected by the magnetic detection unit 111 and information in the magnetic position correspondence table 1111. Then, the terminal device 11 proceeds to the processing of step S4.

[0040] (Step S4) The terminal device 11 stores the location information acquired by the location information acquisition unit 112 in the storage unit 117. Then, the terminal device 11 ends the processing of this flow.

[0041] Here, in the terminal device 11, for example, information associating time with a position may be stored in the storage unit 117. The time information may include, for example, information such as year, month, day, hour, minute, and second.

[0042] <Magnetic anchor configuration example> A specific example of the configuration of the magnetic anchor will be shown.

[0043] FIG. 5A is a diagram showing an example of the configuration of a magnetic anchor 311 according to the embodiment, and FIG. 5B is a diagram showing an example of a waveform detected by the terminal device 11. In this example, the magnetic anchor 311 has a configuration in which four magnets 321a, 321b, 321c, and 321d are arranged in contact with each other in one direction (from top to bottom in the example of FIG. 5(A)) in the order shown. In the example of Figure 5(A), when viewed from a specific direction (the direction of looking into the paper of Figure 5(A)), the fragments of each magnet 321a to 321d have the same rectangular shape, and are arranged so that the long sides of the rectangles touch between adjacent magnets.

[0044] In the example of FIG. 5(A), the four magnets 321a to 321d have the same three-dimensional shape, for example, a thin plate shape with a rectangular surface. In the example of Figure 5(A), when viewed from a specific direction (the direction from which the plane of the page in Figure 5(A) is viewed), the poles of magnets 321a, 321b, 321c, and 321d are north, south, north, and south, respectively. N and S represent the north and south poles of the magnets. In this example (and also in the examples of Figures 6 and 7), the rectangular magnets are magnetized in the thickness direction, so if the surface of the magnet that is visible in the image is the north pole, the opposite surface (not being viewed) is the south pole of the magnet, and vice versa. In this example, four rectangular (or bar-shaped) permanent magnets are used as the magnets 321a-321d, but other shapes of magnets, different numbers of magnets, and different magnetization directions, including multi-pole magnets, can also be used.

[0045] FIG. 5(B) shows a magnetic waveform 2011 (magnetic signal) detected by the magnetic detection unit 111 of the terminal device 11 when the magnetic detection unit 111 moves in a predetermined position relative to the magnetic anchor 311. 5(B), the horizontal axis represents the position (relative position) of the terminal device 11 with respect to the magnetic anchor 311, and the vertical axis represents the strength of the magnetic field detected by the magnetic detection unit 111. Once the moving direction and moving speed of the terminal device 11 are determined, the position can be converted into time.

[0046] FIG. 6A is a diagram showing an example of the configuration of a magnetic anchor 331 according to the embodiment, and FIG. 6B is a diagram showing an example of a waveform detected by the terminal device 11. In this example, the magnetic anchor 331 has a configuration in which four magnets 341a, 341b, 341c, and 341d are arranged in contact with each other in one direction (from top to bottom in the example of FIG. 6(A)) in the order shown. In the example of Figure 6(A), when viewed from a specific direction (the direction of looking into the paper of Figure 6(A)), the fragments of each magnet 341a to 341d have the same rectangular shape, and are arranged so that the long sides of the rectangles touch between adjacent magnets.

[0047] In the example of FIG. 6(A), the four magnets 341a to 341d have the same three-dimensional shape, for example, a thin plate shape with a rectangular surface. In the example of Figure 6(A), when viewed from a specific direction (the direction from which the paper surface of Figure 6(A) is viewed), the poles of magnets 341a, 341b, 341c, and 341d are north, south, south, and north, respectively. In this example, permanent magnets are used as the magnets 341a to 341d.

[0048] FIG. 6(B) shows a magnetic waveform 2021 (magnetic signal) detected by the magnetic detection unit 111 of the terminal device 11 when the magnetic detection unit 111 moves in a predetermined position relative to the magnetic anchor 331. 6(B), the horizontal axis represents the position (relative position) of the terminal device 11 with respect to the magnetic anchor 331, and the vertical axis represents the strength of the magnetic field detected by the magnetic detection unit 111. Once the moving direction and moving speed of the terminal device 11 are determined, the position can be converted into time.

[0049] FIG. 7A is a diagram showing an example of the configuration of a magnetic anchor 351 according to the embodiment, and FIG. 7B is a diagram showing an example of a waveform detected by the terminal device 11. In this example, magnetic anchor 351 is configured by arranging four magnets 361a, 361b, 361c, and 361d in a predetermined arrangement, in which magnets 361a and 361d are arranged in contact with each other in one direction (from top to bottom in the example of FIG. 7(A)), magnets 361b and 361c are arranged in contact with each other in the same direction, magnets 361a and 361b are arranged in contact with each other in the other direction (from left to right in the example of FIG. 7(A)), and magnets 361d and 361c are arranged in contact with each other in the same direction. In the example of FIG. 7(A), the one direction and the other direction are perpendicular to each other. In the example of Figure 7(A), when viewed from a specific direction (the direction from which the paper in Figure 7(A) is viewed), the fragments of each magnet 361a to 361d have the same rectangular shape, and are arranged so that the long sides of the rectangles touch between adjacent magnets in one direction, and so that the short sides of the rectangles touch between adjacent magnets in the other direction.

[0050] In the example of FIG. 7(A), the four magnets 361a to 361d have the same three-dimensional shape, for example, a thin plate shape with a rectangular surface. In the example of Figure 7(A), when viewed from a specific direction (the direction from the plane of the paper in Figure 7(A)), the poles of magnets 361a, 361b, 361c, and 361d are south pole, north pole, south pole, and north pole, respectively. In this example, permanent magnets are used as the magnets 361a to 361d.

[0051] FIG. 7(B) shows a magnetic waveform 2031 (magnetic signal) detected by the magnetic detection unit 111 of the terminal device 11 when the magnetic detection unit 111 moves in a predetermined position relative to the magnetic anchor 351. 7(B), the horizontal axis represents the position (relative position) of the terminal device 11 with respect to the magnetic anchor 351, and the vertical axis represents the strength of the magnetic field detected by the magnetic detection unit 111. Once the moving direction and moving speed of the terminal device 11 are determined, the position can be converted into time.

[0052] Here, as shown in Figures 5(B), 6(B), and 7(B), each of the magnetic anchors 311, 331, and 351 has a configuration in which different magnetic signals are detected by the magnetic detection unit 111 of the terminal device 11. In this embodiment, the magnetic anchors 311, 331, and 351 are installed in different locations. In this way, magnetic anchors (magnetic anchors 311, 331, 351) having different magnet arrangement patterns are installed for each location, and the magnetic detection unit 111 of the terminal device 11 detects magnetic signals corresponding to the magnet arrangement patterns, making it possible to identify each location (position) based on the detected magnetic signals. Such information may be registered in the magnetic position correspondence table 1111 shown in FIG. 2.

[0053] In this embodiment, it is assumed that when a user 21 carries a terminal device 11 and passes near each of the magnetic anchors 311, 331, and 351, the magnetic detection unit 111 moves in a predetermined position relative to each of the magnetic anchors 311, 331, and 351. As an example, such movement in a predetermined arrangement may be achieved manually by the user 21. As another example, a path for the terminal device 11 to move in such a predetermined arrangement may be prepared in advance, and the user 21 may manually pass the terminal device 11 through the path.

[0054] As another example, the magnetic detection unit 111 of the terminal device 11 may have a function that allows it to identify the magnet arrangement pattern of each magnetic anchor 311, 331, 351 based on the detected magnetic signal when moving near the magnetic anchors 311, 331, 351, even if the arrangement is different from the predetermined arrangement. In this function, for example, the magnetic detection unit 111 may store in advance magnetic information detected at multiple relative positions for each of the magnetic anchors 311, 331, and 351, and identify (specify) one of the magnetic anchors 311, 331, and 351 based on this information. In addition, in this function, for example, the magnetic detection unit 111 may perform a predetermined correction on the detected magnetic information and, based on the corrected information, identify (specify) one of the magnetic anchors 311, 331, 351. As an example, this correction is due to the type of magnet, such as the specific magnetic material used to manufacture the magnet.

[0055] Although three types of magnet arrangement patterns are shown in FIGS. 5 to 7, the present invention is not limited to these, and other magnet arrangement patterns may also be used. Furthermore, any number of magnetic anchors may be used as the multiple magnetic anchors.

[0056] <Multiple magnetic anchors for different heights> FIG. 8 is a diagram showing an example of magnetic anchors 421 to 423 attached at multiple heights to a door 411 according to the embodiment, and an example of moving bodies 451 to 453. In FIG. In the example of FIG. 8, magnetic anchors 421, 422, and 423 are installed on the surface of door 411 in this order from top to bottom in the height direction (vertical direction) of door 411, spaced apart from one another. That is, relatively speaking in the height direction, magnetic anchor 421 is provided at the top, magnetic anchor 422 is provided at the middle, and magnetic anchor 423 is provided at the bottom.

[0057] The moving body 451 has the function of moving automatically or under the control of an external control device. The mobile object 451 includes a magnetic detection unit 461. The magnetic detection unit 461 has the same function as, for example, the magnetic detection unit 111 of the terminal device 11 shown in FIG.

[0058] As an example, the mobile unit 451 may have the same functions as the terminal device 11 shown in Fig. 1. In this case, the mobile unit 451 performs the same processing as the terminal device 11. The mobile object 451 may be equipped with the terminal device 11 .

[0059] As another example, the mobile object 451 includes a magnetic detection unit 461 and a communication unit that transmits magnetic information detected by the magnetic detection unit 461 to an external predetermined device. The communication between the communication unit and the predetermined external device is, for example, wireless communication, but wired communication may also be used. In this case, the predetermined external device includes a processing unit other than the magnetic detection unit 111 included in the terminal device 11 shown in FIG. 1, and further includes a communication unit function that receives magnetic information transmitted from the mobile object 451, and performs the same processing as the terminal device 11 based on the magnetic information received from the mobile object 451. In other words, in this case, the mobile object 451 and the predetermined device together perform the same processing as the terminal device 11.

[0060] In the example of FIG. 8, moving body 451 is configured so that magnetic detection unit 461 moves near magnetic anchor 421 above door 411 when moving body 451. In this case, the magnetic detection unit 461 of the moving body 451 detects the magnetic field of the magnetic anchor 421 above the door 411 .

[0061] The moving body 452 includes a magnetic detection unit 462 . Here, the configuration and operation of the moving body 452 are similar to those of the moving body 451, except that, for example, the magnetic detection unit 462 detects the magnetic field of the magnetic anchor 422 in the center of the door 411. The moving body 452 is configured so that the magnetic detection unit 462 moves near the magnetic anchor 422 in the center of the door 411 when the moving body 452 moves.

[0062] The moving body 453 includes a magnetic detection unit 463 . Here, the configuration and operation of moving body 453 are similar to those of moving body 451, except that magnetic detection unit 463 detects the magnetic field generated by magnetic anchor 423 below door 411, for example. The moving body 453 is configured so that the magnetic detection unit 463 moves near the magnetic anchor 423 in the center of the door 411 when the moving body 453 moves.

[0063] When magnetic anchors 421-423 are provided at different heights, such as three magnetic anchors 421-423, it is possible to identify (specify) moving bodies 451-453 based on which magnetic anchor 421-423's magnetic field is detected by the magnetic detection unit of moving body 451-453. In other words, a moving body that detects the magnetic field of magnetic anchor 421 can be identified as moving body 451, a moving body that detects the magnetic field of magnetic anchor 422 can be identified as moving body 452, and a moving body that detects the magnetic field of magnetic anchor 423 can be identified as moving body 453.

[0064] Here, in the example of FIG. 8, a case is shown in which magnetic anchors are provided at three different height levels in the height direction, but the number of height levels may be any number equal to or greater than two. Furthermore, in the example of Figure 8, moving bodies 451 to 453 are illustrated, but in a situation where the height at which a person carries the magnetic detection unit 111 (terminal device 11) is fixed for each person, it is possible to identify (specify) the terminal device 11 (the person carrying it) based on which of the magnetic anchors 421 to 423 the magnetic detection unit 111 of the terminal device 11 detects the magnetic field generated by that magnetic anchor.

[0065] It should be noted that one moving body (or one person) may be associated with a magnetic anchor at the same height, or a group of multiple moving bodies (or a group of multiple people) may be associated with a magnetic anchor at the same height.

[0066] [Integrated Positioning System] 9 is a diagram showing an example of a schematic configuration of an integrated positioning system 601 according to an embodiment. The integrated positioning system 601 is an example of a positioning system. The integrated positioning system 601 includes a plurality of M terminal devices 611-1 to 611-M, a plurality of N magnetic anchors 12-1 to 12-N, and a server device 621.

[0067] Here, the magnetic anchors 12-1 to 12-N are similar to those shown in FIG. 1, and for convenience of explanation, the same reference numerals are used. Furthermore, each of the terminal devices 611-1 to 611-M has the same functions as the terminal device 11 shown in FIG. 9, a positioning system is configured that includes terminal devices 611-1 to 611-M and magnetic anchors 12-1 to 12-N. That is, in the example of FIG. 9, integrated positioning system 601 includes a positioning system and server device 621.

[0068] <Server device> The server device 621 includes a communication unit 651 and a storage unit 652 . The communication unit 651 has a function of performing communication. The storage unit 652 stores the general management table 1121. The storage unit 652 may store any information.

[0069] 9, a communication unit (similar in function to communication unit 116 shown in FIG. 1) of each of terminal devices 611-1 to 611-M wirelessly communicates with communication unit 651 of server device 621. Then, each of terminal devices 611-1 to 611-M transmits predetermined information to server device 621. The specified information includes, for example, for each of the terminal devices 611-1 to 611-M, identification information (terminal ID) that identifies each of the terminal devices 611-1 to 611-M, information on the identified location, and information on the time corresponding to the location (for example, the time when the location was identified or a specified time around that time). Server device 621 stores and manages the information received from terminal devices 611-1 to 611-M in a general management table 1121.

[0070] Here, together with the identification information of each of the terminal devices 611-1 to 611-M, or instead of the identification information of each of the terminal devices 611-1 to 611-M, identification information (user ID) for identifying the user of each of the terminal devices 611-1 to 611-M may be used. Each of the terminal devices 611-1 to 611-M may use, for example, part or all of the login information received from the user as the user ID.

[0071] <General Management Table> FIG. 10 is a diagram showing an example of the integrated management table 1121 in the integrated positioning system 601 according to the embodiment. The general management table 1121 stores terminal IDs and / or user IDs (terminal IDs / user IDs), location information (location information), and time information (time information) in association with each other.

[0072] In the server device 621, the information of the multiple terminal devices 611-1 to 611-M can be collectively managed using the information in the general management table 1121.

[0073] In the example of FIG. 10, the terminal IDs are represented as "T001" and "T002", but any information may be used as the terminal ID. In the example of FIG. 10, the user IDs are represented as "0001" and "0002", but any information may be used as the user ID. In the example of Figure 10, time information is simply represented as "ααα," "βββ," and "γγγ," but any information may be used as time information; for example, information regarding time may include information such as year, month, day, hour, minute, and second. The position information in the example of FIG. 10 is the same as that in the example of FIG.

[0074] [Regarding the above embodiment] As described above, the positioning system 1 according to this embodiment can perform positioning (position detection) with high accuracy and low cost. In the positioning system 1 according to this embodiment, the terminal device 11 and the magnetic anchors 12-1 to 12-N are used, thereby enabling highly accurate and low-cost positioning (position detection). The positioning system 1 according to this embodiment can perform highly accurate positioning at low installation cost, thereby improving user convenience. In this embodiment, the magnetic anchors 12-1 to 12-N do not require a power source such as a battery, regardless of the installation location, and a sustainable solution can be provided.

[0075] In the positioning system 1 according to this embodiment, by installing magnetic anchors 12-1 to 12-N at specific locations, it is possible to capture the entry and exit of people and the like at those locations, and for example, it is possible to manage the timing when people and the like enter or leave a specific room.

[0076] Furthermore, in the positioning system 1 according to this embodiment, by installing magnetic anchors 12-1 to 12-N on a specific object, it is possible to grasp the usage status of the object by a person or the like, and it is possible to manage, for example, the timing when a person or the like starts using the specific object, or the timing when a person or the like stops using the specific object. The object is not particularly limited, and may be, for example, a desk, a chair, or various types of equipment or facilities in a factory or hospital. The object is, for example, fixed at a certain position, but as another example, a movable object whose position can be grasped may be used.

[0077] Furthermore, the position determination system 1 according to this embodiment can be applied to, for example, real-time position tracking, and can manage dynamic information. Furthermore, the position determination system 1 according to this embodiment can be applied indoors where GPS radio waves cannot reach, for example, by using magnetic field information. When the magnetic anchors 12-1 to 12-N are used, it is possible to achieve, for example, power supply-free, location-free (meaning that the magnetic anchors can be installed anywhere), and maintenance-free.

[0078] In locations where magnetic anchors 12-1 to 12-N are not present, terminal device 11 may detect natural geomagnetic fields using magnetic detection unit 111 and identify its location (acquire location information) based on the detection results. This is due to indoor geomagnetic field variations caused by iron-based materials used in the construction of buildings. Instead of or in addition to artificial magnetic anchors, natural geomagnetic anchors generated by indoor natural geomagnetic field variations can be used. In this case, for example, a correspondence table between the detection results of natural geomagnetic field and location information is stored in advance in the storage unit 117 of the terminal device 11 or in another database. The magnetic data related to the natural geomagnetic anchors is stored in the same storage unit 117 as the data related to the artificial magnetic anchors. The magnetic data related to the natural geomagnetic anchors can be obtained in advance, for example, by periodically surveying (or mapping) the geomagnetic field in a certain indoor area or by crowdsourcing activities in the area. Note that when the magnetic data related to the natural geomagnetic anchors is included, the magnetic position correspondence table 1111 can be regarded as a map of the geomagnetic field in the area. Then, the location information acquisition unit 112 of the terminal device 11 identifies the location from the detection results of the geomagnetic field by the magnetic detection unit 111 based on the information in the correspondence table and acquires the location information. Note that the information in the correspondence table may be integrated with the information in the magnetic position correspondence table 1111, for example. Therefore, the solution proposed here also includes positioning using both artificial magnetic anchors and natural geomagnetic field.

[0079] It is possible to determine the position (for example, current location) of the terminal device 11 by measuring the geomagnetism in advance through a survey or crowdsourcing and comparing the magnetic data acquired by the terminal device 11 with the information in the magnetic position correspondence table 1111. In this embodiment, in addition to the geomagnetism used for natural positioning, anchors made of magnets (magnetic anchors 12-1 to 12-N) are used to create a unique magnetic distribution on the layout, making it possible to perform positioning with higher accuracy. Combining the Earth's magnetic field indoors, i.e., the magnetic field generated by natural magnetic anchors, with the magnetic field generated by (artificial) magnetic anchors can improve the accuracy of indoor magnetic-based positioning. For example, there are areas within a building where there is a lack of iron-based materials, and the magnetic field in such areas is the same in different locations. Placing magnetic anchors in such areas can give the magnetic map unique characteristics, contributing to improved positioning accuracy. In another example, the geomagnetic field may be the same at different indoor locations. Even in such cases, placing magnetic anchors can give the magnetic map unique characteristics, contributing to improved positioning accuracy.

[0080] For example, in places where there is no power source, such as construction sites, it is possible to incorporate a battery-powered wireless beacon device, such as a BLE beacon for positioning, as an anchor at a location where detailed detection is desired, but this alone requires measures such as waterproofing, battery consumption, maintenance, etc. In contrast, in this embodiment, the same result can be achieved by using a magnetic anchor that does not require a power source and can be used permanently regardless of the installation location.

[0081] In the positioning system 1 according to this embodiment, by placing the magnetic anchors 12-1 to 12-N on the surface of a door, a door frame, or a handrail at an entrance / exit, it is possible to reliably detect the passage of a person or the like through an important location.

[0082] In the integrated positioning system 601 according to this embodiment, it is also possible to comprehensively manage the movements of the plurality of magnetic anchors 12-1 to 12-N and the plurality of terminal devices 611-1 to 611-M (plurality of terminal holders).

[0083] For example, in the case of magnetic anchors 12-1 to 12-N, which are made of permanent magnets and are used to acquire location information, when a terminal device 11 capable of detecting magnetism and held by a terminal holder detects the magnetic field generated by the magnetic anchors 12-1 to 12-N, it is possible to identify the location (e.g., current location) by referring to magnetic information that has been measured in advance in association with the location information. The positioning system 1 employs a positioning method that utilizes magnetic anchors 12-1 to 12-N to acquire position information. Terminal device 11 performs positioning when it approaches within the range of the magnetic field of the magnets of magnetic anchors 12-1 to 12-N (for example, within a dozen centimeters), so highly accurate positioning is possible. Since the magnetic anchors 12-1 to 12-N are made up of permanent magnets, there is no need to secure a power source or perform maintenance, making it possible to keep costs low.

[0084] For example, in each of the magnetic anchors 12-1 to 12-N, it is possible to generate multiple specific magnetic information by combining the number of magnets, the type of magnet (including material, shape, magnetization direction, etc.), and the arrangement of the magnets in different patterns. This makes it possible to associate specific magnetic field information with each of the plurality of position information by associating it with magnetic anchors 12-1 to 12-N having different magnet arrangement patterns.

[0085] For example, the terminal holder is a person (for example, a user 21 who is the terminal holder), a motor vehicle, or a robot capable of autonomous running. There are no particular limitations on the powered vehicle, and for example, a vehicle that is powered by electricity or an engine may be used. In this way, the terminal holder may be various entities. An AGV (Automatic Guided Vehicle) may be used as the terminal holder.

[0086] Here, when the terminal holder is a powered vehicle or a robot, the function of the terminal device mounted on the terminal holder may, for example, store the identification information of the terminal holder in advance. In this case, the function of the terminal device may use the identification information of the terminal holder instead of the user ID, for example.

[0087] For example, the terminal device 11 may combine a method using magnetic anchors 12-1 to 12-N with PDR to improve positioning accuracy and user convenience. This can be achieved, for example, by using a state estimation technique that combines magnetic data and inertial data. For example, a particle filter (PF) or an extended Kalman filter (EKF) can be used. Filtering approaches using PFs or EKFs generally include iterative prediction and update phases. In the prediction phase, the filter predicts the position using PDR data such as step length and azimuth increment as input. In the update phase, when the terminal device approaches an artificial magnetic anchor or a natural geomagnetic anchor, the position is updated using measured values ​​of the magnetic fields of the artificial magnetic anchor or the natural geomagnetic anchor (correcting errors accumulated by PDR). By combining magnetic data and inertial data, accurate user position can be obtained not only near the anchors but also between anchors when the magnetic anchors are separated by a certain distance. This effect is also demonstrated when the terminal holder is a person and the person is moving freely.

[0088] For example, in the terminal device 11, in order to improve positioning accuracy and user convenience, a method using magnetic anchors 12-1 to 12-N may be used in combination with a VDR, similar to the case where the PDR is used as described above. This effect is also exhibited when the terminal holder is a powered vehicle or a robot that moves freely, for example. Furthermore, a similar approach can be used to fuse magnetic or inertial data with GNSS data, or Wi-Fi data or other measurements to further improve positioning accuracy.

[0089] For example, by installing magnetic anchors 12-1 to 12-N according to spatial height, it is possible to identify the terminal holder depending on which of magnetic anchors 12-1 to 12-N the magnetic field of which is detected. This makes it possible to identify the holder of the terminal device 11 (terminal holder) based on the magnetic information of the magnetic anchors 12-1 to 12-N detected by the terminal device 11, for example. As a specific example, if the terminal holder is a person, a powered vehicle, or a robot, and the height position (for example, a certain height range) of the magnetic detection unit 111 differs, it is possible to determine which type of terminal holder it is.

[0090] A program for implementing the functions of any of the components of any of the above-described devices may be recorded on a computer-readable recording medium and loaded into a computer system for execution. The term "computer system" as used herein includes hardware such as an operating system or peripheral devices. The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and compact discs (CDs) or read-only memories (ROMs), as well as storage devices such as hard disks built into computer systems. The term "computer-readable recording medium" also includes devices that retain a program for a certain period of time, such as volatile memory within a computer system that acts as a server or client when a program is transmitted over a network such as the Internet or a communication line such as a telephone line. Such volatile memory may be, for example, random access memory (RAM). The recording medium may also be, for example, a non-transitory recording medium.

[0091] The above program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by transmission waves in the transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has the function of transmitting information, such as a network such as the Internet or a communication line such as a telephone line. The program may also be a program that implements some of the functions described above. Furthermore, the program may be a so-called differential file that can implement the functions described above in combination with a program already recorded in the computer system. A differential file, sometimes called a differential program, represents the changes between two versions of firmware or software. Using this file can reduce the amount of data to be transferred and shorten the time required for the update process.

[0092] Furthermore, the functions of any of the components in any of the above-described devices may be implemented by a processor. For example, each process in the embodiments may be implemented by a processor operating based on information such as a program and a computer-readable recording medium storing information such as the program. Here, the functions of each unit of the processor may be implemented by, for example, individual hardware, or may be implemented by integrated hardware. For example, the processor may include hardware, and the hardware may include at least one of a circuit for processing digital signals and a circuit for processing analog signals. For example, the processor may be configured using one or more circuit devices mounted on a circuit board, or one or both of one or more circuit elements. An integrated circuit (IC) or the like may be used as the circuit device, and a resistor or a capacitor may be used as the circuit element.

[0093] Here, the processor may be, for example, a CPU. However, the processor is not limited to a CPU, and various types of processors such as a GPU (Graphics Processing Unit) or a DSP (Digital Signal Processor) may be used. The processor may also be, for example, a hardware circuit such as an ASIC (Application Specific Integrated Circuit). The processor may also be, for example, composed of multiple CPUs, or may be, for example, composed of a hardware circuit such as a multiple ASIC. The processor may also be, for example, composed of a combination of multiple CPUs and a hardware circuit such as a multiple ASIC. The processor may also include, for example, one or more of an amplifier circuit or a filter circuit that processes analog signals.

[0094] The embodiments of this disclosure have been described in detail above with reference to the drawings, but the specific configuration is not limited to this embodiment, and includes designs within the scope that do not deviate from the gist of this disclosure.

[0095] [Note] An example configuration is shown below.

[0096] [Configuration example 1] A terminal device held by a terminal holder, a magnetic detection unit that detects a magnetic field generated by a magnetic anchor composed of a magnet; a position information acquisition unit that acquires position information corresponding to the magnetic information detected by the magnetic detection unit by referring to a correspondence between magnetic information and position information that has been prepared in advance; A terminal device comprising:

[0097] Here, the magnetic position correspondence table 1111 shown in FIG. 2 is an example of the correspondence between magnetic information and position information.

[0098] [Configuration example 2] The terminal holder is a person, a powered vehicle, or a robot capable of autonomous movement. The terminal device described in [Configuration Example 1].

[0099] It should be noted that a configuration in which the powered vehicle and the robot are integrated may also be used, in which case the vehicle may be called a powered vehicle, a robot, or any other name.

[0100] [Configuration example 3] The terminal device according to [Configuration Example 1] or [Configuration Example 2], wherein the location information acquisition unit acquires the location information by using information from pedestrian autonomous navigation.

[0101] [Configuration example 4] the position information acquisition unit acquires the position information by utilizing information of vehicle autonomous navigation; The terminal device according to any one of [Configuration Example 1] to [Configuration Example 3].

[0102] It should be noted that, for example, either the pedestrian self-contained navigation information or the vehicle self-contained navigation information may be used, or both may be used.

[0103] [Configuration example 5] the magnetic anchors are installed at two or more different heights in space, Depending on the arrangement of the magnetic detection unit when held by the terminal holder, the magnetic detection unit detects a magnetic field generated by the magnetic anchor installed at any height. The terminal device according to any one of [Configuration Example 1] to [Configuration Example 4].

[0104] For example, it is possible to provide a system (magnetic anchor system) in which a plurality of magnetic anchors are installed at different positions. [Configuration example 6] Multiple magnetic anchors are provided in different positions, Each of the magnetic anchors includes a magnet; Each of the magnetic anchors has a magnet arrangement pattern that is different in at least one of the number of magnets, the type of magnets, and the arrangement of the magnets, thereby generating a magnetic field that is different from that of the other magnetic anchors. Magnetic anchor system.

[0105] [Configuration Example 7] The magnetic anchor is used to acquire position information of a terminal device that detects a magnetic field generated by the magnetic anchor. The magnetic anchor system described in [Configuration Example 6].

[0106] [Configuration example 8] the magnetic anchors are installed at two or more different heights in space, The magnetic anchor is used to acquire position information of different terminal devices for each height at which the magnetic anchor is installed. A magnetic anchor system according to [Configuration Example 6] or [Configuration Example 7].

[0107] [Configuration Example 9] Furthermore, changes in the geomagnetic field or natural geomagnetic anchors are used to obtain location information of the terminal device. A magnetic anchor system according to any one of [Configuration Example 6] to [Configuration Example 8].

[0108] For example, it is possible to provide methods (eg, location methods) for various processes performed by a location determination system or magnetic anchor system. [Configuration Example 10] Using multiple magnetic anchors, each consisting of a magnet and placed in different positions, A magnetic detection unit detects a magnetic field generated by the magnetic anchor, a position information acquisition unit refers to a correspondence between magnetic information and position information prepared in advance, and acquires position information corresponding to the magnetic information detected by the magnetic detection unit; A method for determining a position by a terminal device owned by a terminal holder. [Explanation of symbols]

[0109] 1...positioning system, 11, 611-1 to 611-M...terminal device, 12-1 to 12-N, 311, 331, 351, 421 to 423...magnetic anchor, 21...user, 111, 461 to 463...magnetic detection unit, 112...position information acquisition unit, 113...GPS unit, 114...DR unit, 116...communication unit, 117, 652...storage unit, 211, 411...door, 221a to 221d, 321a to 321d, 341a to 341d, 361a to 361d...magnet, 451 to 453...mobile body, 601...integrated positioning system, 621...server device, 651...communication unit, 1111...magnetic position correspondence table, 1121...integrated management table

Claims

1. A terminal device held by a terminal holder, a magnetic detection unit that detects a magnetic field generated by a magnetic anchor composed of a magnet; a position information acquisition unit that acquires position information corresponding to the magnetic information detected by the magnetic detection unit by referring to a correspondence between magnetic information and position information that has been prepared in advance; A terminal device comprising:

2. The terminal holder is a person, a powered vehicle, or a robot capable of autonomous movement. The terminal device according to claim 1 .

3. The terminal device according to claim 1 , wherein the position information acquisition unit acquires the position information by using information from pedestrian autonomous navigation.

4. the position information acquisition unit acquires the position information by utilizing information of vehicle autonomous navigation; 3. The terminal device according to claim 1 or 2.

5. the magnetic anchors are installed at two or more different heights in space, Depending on the arrangement of the magnetic detection unit when held by the terminal holder, the magnetic detection unit detects a magnetic field generated by the magnetic anchor installed at any height.

3. The terminal device according to claim 1 or 2.

6. Multiple magnetic anchors are provided in different positions, Each of the magnetic anchors includes a magnet; Each of the magnetic anchors has a magnet arrangement pattern that is different in at least one of the number of magnets, the type of magnets, and the arrangement of the magnets, thereby generating a magnetic field that is different from that of the other magnetic anchors. Magnetic anchor system.

7. The magnetic anchor is used to acquire position information of a terminal device that detects a magnetic field generated by the magnetic anchor.

7. The magnetic anchor system of claim 6.

8. the magnetic anchors are installed at two or more different heights in space, The magnetic anchor is used to acquire position information of different terminal devices for each height at which the magnetic anchor is installed.

8. A magnetic anchor system according to claim 6 or claim 7.

9. Furthermore, geomagnetism is used to acquire location information of the terminal device.

8. A magnetic anchor system according to claim 6 or claim 7.

10. Using multiple magnetic anchors, each consisting of a magnet and each consisting of a magnet in a different position, A magnetic detection unit detects a magnetic field generated by the magnetic anchor, a position information acquisition unit refers to a correspondence between magnetic information and position information prepared in advance, and acquires position information corresponding to the magnetic information detected by the magnetic detection unit; A method for determining a position by a terminal device owned by a terminal holder.

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