Position information processing system and position information processing program

Abstract

To improve accuracy when estimating a position of a beacon in a position information processing system for processing position information of the beacon in a passage.SOLUTION: A position information process system (100) processes position information of one of a beacon (B) in a first path (A1) and a receiver (1) that receives a radio wave emitted from the beacon. A plurality of other devices of the beacon and the receiver, which are disposed in the first path and transmit and receive radio waves to and from the one device, respectively, a position estimation unit (21) which estimates the position of the one device as an estimated position according to the intensity of the radio wave received by the receiver, and a first condition determination unit (22) which adopts the estimated position as the position of the one device when the estimated position satisfies a first constraint condition, wherein, the first constraint condition is based on the shape of the first passage and defines a region where one of the devices can be present.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a location information processing system and a location information processing program. [Background technology]

[0002] Figure 1 of Patent Document 1 describes a progress management system (which can be interpreted as a location information processing system in one embodiment of the present invention) that includes a beacon attached to the object to be monitored (construction machinery and workers) inside the tunnel, multiple receivers arranged at predetermined intervals in the direction from the tunnel face to the tunnel entrance, a receiver that receives a first radio wave from the beacon with a strength equal to or greater than a first threshold, and a processing device that generates location information and operation information of the object to be monitored based on the beacon that emitted the first radio wave. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2024-040639 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in a mine where tunnel excavation work is carried out, scaffolding (an example of a three-dimensional passage in one aspect of the present invention) may be erected depending on the diameter of the tunnel. In such a case, it is conceivable to improve the accuracy of estimating the position of the beacon by placing multiple receivers on each floor (which can be read as each layer in one aspect of the present invention) of the three-dimensional passage. However, when the inventors of the present application tried to implement the above configuration, they found that the position of the beacon was often estimated incorrectly.

[0005] One aspect of the present invention has been developed in consideration of the above-mentioned problems, and its purpose is to improve the accuracy of estimating the position of a beacon in a position information processing system that processes position information of a beacon in a passageway. [Means for solving the problem]

[0006] In order to solve the above problem, a location information processing system according to one embodiment of the present invention is a location information processing system that processes location information of one of a beacon in a first passage and a receiver that receives radio waves emitted by the beacon, and includes: the other of the beacons and the receivers, which are arranged in multiple locations in the first passage and which transmit and receive radio waves to and from the one of the devices; a location estimation unit that estimates the location of the one of the devices as an estimated location based on the strength of the radio waves received by the receiver; and a first condition determination unit that adopts the estimated location as the location of the one of the devices if the estimated location satisfies a first constraint condition, and the first constraint condition defines an area in which the one of the devices may be located based on the shape of the first passage.

[0007] The location information processing system according to each aspect of the present invention may be realized by a computer. In this case, the information processing program of the location information processing system that realizes the location information processing system on a computer by causing the computer to operate as each part (software element) of the location information processing system, and the computer-readable recording medium on which it is recorded, also fall within the scope of the present invention. [Effects of the Invention]

[0008] According to one aspect of the present invention, it is possible to improve the accuracy in estimating the position of a beacon. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing the inside of a tunnel as an example of a place where the position information processing system according to the first and second embodiments of the present invention is used, with the upper part being a see-through perspective view and the lower left and lower right being cross-sectional views. [Figure 2] 1 is a block diagram showing a functional configuration of a position information processing system according to a first embodiment. [Figure 3]10 is a diagram illustrating the estimation of an estimated position performed by a position estimation unit of the system. FIG. [Figure 4] 10 is a diagram for explaining a method of defining a first constraint condition used by a first condition determination unit of the system. FIG. [Figure 5] 10 is a table showing an example of a first constraint condition used by a first condition determination unit of the system. [Figure 6] FIG. 2 is an image diagram showing an example of a screen displayed by an output unit of the system. [Figure 7] FIG. 10 is a block diagram showing the functional configuration of a position information processing system according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] <Embodiment 1> Hereinafter, the first embodiment of the present invention will be described in detail.

[0011] [Usage environment of location information processing system 100] The position information processing system 100 processes position information of a beacon B in a first passage. That is, the position information processing system 100 detects the position of a beacon B that exists in the space of the first passage or moves along the first passage. The first passage is installed, for example, at a construction site. Construction includes general civil engineering and architectural work. Specifically, construction includes tunnel construction, earthwork, road construction, bridge construction, box and drain construction, foundation work, ground improvement work, retaining wall construction, and building construction such as buildings and warehouses. In addition, a second passage, a third passage, etc., different from the first passage may be installed in the space where the first passage is installed. That is, the position information processing system 100 may be configured to process position information of a beacon B in the second passage, the third passage, etc., in addition to the first passage. Furthermore, at least one of the first passage, the second passage, and the third passage, etc., may include a three-dimensional passage. A "three-dimensional passage" is a passage that includes multiple intra-layer passages and a means of communication that connects each intra-layer passage. An "intra-layer passage" is a passage that constitutes part of a three-dimensional passage, provided on each layer at a different height in space. A "communication means" is a means that enables communication between intra-layer passages. "Communication means" includes stairs, ladders, slopes, elevators, etc. Note that a three-dimensional passage may also constitute equipment used in construction (for example, scaffolding, centers (mobile formwork), etc.). Furthermore, some of the multiple intra-layer passages provided in a three-dimensional passage may not be directly connected to other intra-layer passages by a means of communication (it may be necessary to descend to the ground to travel between other intra-layer passages).

[0012] The subject traveling through the first passage may be a person or a vehicle. The subjects traveling through the second passage, the third passage, etc. may be different from or the same as those traveling through the first passage. The passage through which people travel may be one that both vehicles can travel on, or one where vehicle passage is restricted (a passage exclusively for people). "Passages where vehicle passage is restricted" include passages that are narrower than a vehicle, passages that cannot support the weight of a vehicle, passages where there are obstacles on or around the road surface, passages where rules prohibit vehicle passage, etc. The passage through which vehicles travel may be one that both vehicles can travel on, or one where pedestrian passage is restricted. "Passages where pedestrian passage is restricted" include passages where there are obstacles around the road surface, passages where pedestrian passage is restricted, etc.

[0013] Beacon B is provided for a management object whose position should be managed. The management object is at least one of a person and a vehicle passing through passages A1, A2, etc. Therefore, beacon B moves along with the management object. Furthermore, beacon B has unique identification information. Therefore, even if there are multiple management objects, each of which is equipped with a beacon B, location information processing system 100 can individually identify each beacon B, and therefore can estimate the location of each beacon B. Furthermore, beacon B repeatedly emits radio waves at a predetermined output. The period at which beacon B emits radio waves may be constant or may be variable.

[0014] The following describes the location information processing system 100, taking as an example a case where the location information processing system 100 is used in a space provided with two intra-level roads, a first passage A1, and one intra-level road, a second passage A2, as shown in FIG. The illustrated first passage A1 and second passage A2 are both provided within a tunnel T. The illustrated second passage A2 is a passage through which a vehicle V passes. The illustrated second passage A2 is a linear two-dimensional passage provided on the ground within the tunnel T so as to extend along the extension direction of the tunnel T. On the other hand, the illustrated two first passages A1 are both passages through which people pass, and through which the passage of a vehicle V is restricted. One of the illustrated two first passages A1, which are intra-level roads, (on the right side of FIG. 1) is a scaffold (three-dimensional passage) for applying a waterproof sheet S to the tunnel T. The intra-layer passage A11 constituting the scaffolding has a first partial passage A111 extending along the extension direction of the tunnel T. Furthermore, some of the multiple intra-layer passages A11 (intra-layer passages A11 located relatively higher) extend in a horizontal direction perpendicular to the extension direction of the tunnel T and have second partial passages A112 connecting the first partial passages A111 to each other. Furthermore, the travel means A12 in the illustrated first passage A1 is a staircase. Furthermore, the other side of the illustrated first passage A1 is a center (three-dimensional passage) for pouring concrete C into the tunnel T. The center is equipped with each intra-layer passage A11 and travel means A12, as well as a formwork A13, similar to the scaffolding.

[0015] [Configuration of location information processing system 100] 2, the position information processing system 100 includes multiple receivers 1 and a position information processing device 2. The receivers 1 and the position information processing device 2 communicate with each other via a network. The network may be a local area network within a construction site, or a wide area network that enables communication between the construction site and a location remote from the construction site.

[0016] [Receiver 1, 1A] The multiple receivers 1 are each arranged in the first passage A1. As described above, the illustrated first passage A1 includes a three-dimensional passage. Therefore, the multiple receivers 1 according to this embodiment are arranged in each intra-level passage A11 in the three-dimensional passage. The multiple receivers 1 in the three-dimensional passage may be arranged in the travel means A12, or may be arranged in both the intra-level passage A11 and the travel means A12. The receivers 1 according to this embodiment may be attached to the ceiling of the intra-level passage A11 (the underside of the scaffolding boards that constitute the upper intra-level passage A11 in the scaffolding). The receivers 1 may be attached to the road surface of the passages A11 and A2 (the upper surface of the scaffolding boards that constitute the intra-level passage A11 in the scaffolding), or may be attached to the wall of a tunnel T or structure beside the intra-level passage A11, the building site that supports the scaffolding boards, etc. As described above, the position information processing system 100 according to this embodiment also processes the position information of the beacon B in the second passage A2. For this reason, a plurality of receivers 1A for the vehicles V are arranged in the second passage A2.

[0017] The interval between the receiver 1 (1A) and another receiver 1 (1A) is not particularly limited, but it is desirable to determine it according to the average moving speed of the passers-by. For example, if the passage where the receivers 1, 1A are arranged is a passage where people mainly pass, the moving speed of people is assumed to be 0 to 5 km / h, and the interval is set to about 2 to 20 m. If the passage is a passage where vehicles V mainly pass, the moving speed of vehicles V is assumed to be 20 km / h, and the interval is set to about 10 to 100 m, more preferably about 40 to 50 m.

[0018] The multiple receivers 1 arranged in this manner each receive radio waves emitted by the beacon B. Upon receiving the radio waves, each receiver 1 transmits information indicating the strength of the received radio waves to the location information processing device 2 together with information identifying the receiver 1.

[0019] [Location information processing device 2] The position information processing device 2 includes a position estimation unit 21 and a first condition determination unit 22. The position information processing device 2 according to this embodiment further includes a first database generation unit 23, a second condition determination unit 24, a second database generation unit 25, a storage unit 26, a registration unit 27, and an output unit 28. The position information processing device 2 may be installed at the construction site or at a location away from the construction site. In addition, when the position information processing system 100 processes only the position information of the beacon B in the first passage A1 (for example, when the second passage A2 does not exist in the space or when the position information of the beacon B in the second passage A2 is not processed), the position information processing device 2 does not need to include the second condition determination unit 24 and the second database generation unit 25.

[0020] (Storage unit 26) A first database 261 is constructed in the storage unit 26. A second database 262 is also constructed in the storage unit 26 according to this embodiment. The first database 261 and the second database 262 will be described in detail later. At least one of the first database 261 and the second database 262 may be constructed in a device different from the position information processing device 2. Furthermore, when both the first database 261 and the second database 262 are constructed in other devices, the position information processing device 2 does not need to include the storage unit 26.

[0021] (Registration Section 27) The registration unit 27 associates multiple beacons B with the managed object. If the managed object is a person, the registration unit 27 associates the beacon B with the name of the person wearing the beacon B (adding at least one of the affiliation and role as necessary). The registration unit 27 may associate the name input by an input operation performed using an operation unit (not shown), or may associate the name selected from a list of people's names (not shown) by a selection operation performed using an operation unit (not shown). If the managed object is a vehicle V, the registration unit 27 associates the beacon B with the vehicle number, model, etc.

[0022] (Position estimation unit 21) The position estimation unit 21 estimates the position of beacon B as an estimated position based on the strength of the radio waves received by each receiver 1. As described above, the position information processing system 100 includes multiple receivers 1. Therefore, the position estimation unit 21 according to this embodiment calculates the distance from each receiver 1 to beacon B based on the strength of the radio waves received by each of the three or more receivers 1. As shown in FIG. 3, beacon B emits radio waves that spread in a spherical shape centered on beacon B. Furthermore, there is a limit to the range within which radio waves can reach with a detectable strength. For example, suppose a person carrying beacon B is located at the left end of the first-floor intra-floor passage A11 as shown in FIG. 3, and the range within which the radio waves emitted by beacon B can reach is within the dashed circle in FIG. 3. In this case, the radio waves are normally received by only receivers 1 (1), (2), (4), (5), (7), and (8) at a strength equal to or greater than a predetermined level. However, in a location where an obstacle exists (for example, inside a tunnel T), the radio waves emitted by the beacon B (1) may be received by the receivers 1 (3), (6), and (9). This is because the radio waves emitted by the beacon B are reflected by the obstacle and travel in a different direction as reflected waves. The strength of the reflected waves does not accurately reflect the distance between the beacon B and the receiver 1. For this reason, the position estimation unit 21 according to this embodiment compares the calculated distance to the beacon B with a preset upper limit value of the radio wave transmission distance. If the calculated distance is equal to or greater than the upper limit value, the position estimation unit 21 excludes the radio waves used to calculate the distance from the radio waves used to estimate the estimated position. The position estimation unit 21 then determines the position of the beacon B as the overlapping position of circles with each receiver 1 as the center and the calculated distance as the radius. Note that the position estimation unit 21 may be configured to estimate the position of the beacon B by taking into account not only the strength of the radio waves but also the time it takes for the radio waves to reach the receiver 1 after the radio waves are emitted, the direction from which the radio waves came, and the like.

[0023] The position estimation unit 21 may be configured to estimate the estimated position using a trained model M. The trained model M may be provided in the position information processing device 2 or in another device that communicates with the position information processing device 2. Like the position information processing device 2, the other device may be installed at the construction site or at a location away from the construction site. The position information processing device 2 and the other device may be installed together in the same location or in different locations. In this case, the trained model M is strength data along the time series of radio waves received by each receiver 1, which is strength data associated with a single beacon B, and outputs the position of the single beacon B as the estimated position. The trained model M can be constructed, for example, by machine learning using a learning device (not shown) that uses pairs of past strength data and the position of beacon B as training data. This eliminates the need to consider an algorithm for implementing the position estimation unit 21, making it easy to construct the position information processing system 100.

[0024] (First condition determination unit 22) If the estimated position estimated by the position estimation unit 21 satisfies a first constraint, the first condition determination unit 22 adopts the estimated position as the position of beacon B. The "first constraint" defines an area where beacon B may exist based on the shape of the first passage A1. The first constraint referred to by the first condition determination unit 22 in this embodiment defines the first passage A1 by multiple points. Specifically, as shown in FIG. 4, identification numbers (100-118, 211-218, 221-224) are assigned to multiple points (both ends of each intra-floor passage A11, midpoints of some intra-floor passages A11, and starting points of the means of transportation A12) of the first passage A1 (and the second passage A2, if necessary). Therefore, the first constraint is expressed in the form of a list of pairs of two points (identification numbers) between which people can pass, as shown in FIG. 5. Then, the first condition determination unit 22 refers to the list, and if the estimated position of beacon B estimated by the position estimation unit 21 is between two passable points, the first condition determination unit 22 adopts the estimated position as the position of beacon B. On the other hand, if the obtained estimated position of beacon B is not between two passable points, the first condition determination unit 22 determines that the estimated position is an incorrect position and does not adopt it. The first constraint condition according to this embodiment is stored in the storage unit 26. Note that the first constraint condition may also be stored in another external device (not shown).

[0025] The first condition determination unit 22 according to this embodiment adopts the estimated location as the location of beacon B if the estimated location satisfies a second constraint in addition to the first constraint. The "second constraint" defines an upper limit on the moving speed of beacon B (or the person carrying it). The upper limit is obtained from the location stored in the first database 261 and the estimated location. The second constraint referred to by the first condition determination unit 22 according to this embodiment is the standard time required for beacon B to move through a section connecting one point and another nearby point, and is set for each section taking various conditions into consideration. The "point" may be the location of each receiver 1, or may be set on a corridor separate from the location of each receiver 1. For example, consider a case in which a person at the left end of the intra-floor corridor A11 on the first floor (near receiver 1(1)) in FIG. 3 moves to the right end of the intra-floor corridor A11 on the third floor (near receiver 1(9)). In this case, a person carrying beacon B follows a route consisting of the first-floor intra-level passage A11, the stairs between the first floor and ground level, the ground level, the stairs between the ground level and the second floor, the second-floor intra-level passage A11, the stairs between the second floor and the third floor, and the third-floor intra-level passage A11. Assume also that the total time required to travel through the multiple sections included in this route is two minutes. Here, if the position estimation unit 21 estimates the estimated location of the person carrying beacon B as a point near receiver 1(1) and then estimates it as a point near receiver 1(9) in a time that is two minutes or longer, the estimated location indicating a point near receiver 1(9) is adopted as the location of beacon B. On the other hand, if the time that elapses between the estimation of a point near receiver 1(1) and the estimation of it as a point near receiver 1(9) in a time that is less than two minutes, the estimated location indicating a point near receiver 1(9) is determined to be an incorrect location and is not adopted. This allows the position information processing system 100 to further improve the accuracy of estimating the location of beacon B. The second constraint condition according to this embodiment is stored in the storage unit 26. Note that the second constraint condition may also be stored in another device.

[0026] (First database generation unit 23) The first database generation unit 23 generates a first database 261. The first database 261 stores the positions of the beacons B adopted by the first condition determination unit 22 in chronological order. The first database 261 is also associated with the beacons B that emitted radio waves. The first database generation unit 23 according to this embodiment generates a second constraint condition based on the positions of the beacons B stored in the first database 261.

[0027] (Second condition determination unit 24) The second condition determination unit 24 adopts the estimated position as the position of beacon B if the estimated position satisfies the third constraint condition. The "third constraint condition" defines an area where beacon B may exist based on the shape of a two-dimensional passage. The third constraint condition referenced by the second condition determination unit 24 according to this embodiment defines the second passage A2 by multiple points, similar to the first constraint condition. Then, like the first condition determination unit 22, the second condition determination unit 24 adopts the obtained estimated position of beacon B as the position of beacon B depending on whether the estimated position is between two passable points. As a result, even when both the first passage A1 and the second passage A2 are formed, it is possible to estimate the position of each beacon B while distinguishing between beacons B present on the first passage A1 and beacons B present on the second passage A2. The third constraint condition according to this embodiment is stored in the storage unit 26. Note that the third constraint condition may be stored in another device.

[0028] Furthermore, the second condition determination unit 24 according to this embodiment adopts the estimated position as the position if the estimated position satisfies a fourth constraint condition in addition to the third constraint condition. The "fourth constraint condition" defines an upper limit for the travel speed of the beacon B (or the vehicle V to which the beacon B is attached). The upper limit is obtained from the positions stored in the second database 262 and the estimated position. The fourth constraint condition referred to by the second condition determination unit 24 according to this embodiment, like the second constraint condition, is the standard time required for the beacon B to travel through a section connecting one point and another nearby point, and is set for each section taking various conditions into consideration. For example, consider a case in which the vehicle V, which is located at the left end of the second passage A2 (near the receiver 1A(1)) in FIG. 1, moves to the right end of the second passage A2 (near the receiver 1A(3)), 100 m away. If vehicle V travels along the multiple sections included in this route while adhering to a typical speed limit (e.g., 20 km / h) at a construction site, the total travel time will be approximately 20 seconds. Therefore, if the time it takes for the position estimation unit 21 to estimate the estimated position of vehicle V equipped with beacon B as a point near receiver 1A(1) and then estimate it as a point near receiver 1A(3) is 20 seconds or longer, vehicle V does not exceed the upper limit of its travel speed, and the estimated position indicating a point near receiver 1A(3) is adopted as the position of beacon B. On the other hand, if the time it takes for the estimation unit 21 to estimate the position near receiver 1A(1) and then estimate it as a point near receiver 1A(3) is less than 20 seconds, vehicle V exceeds the upper limit of its travel speed, and therefore the estimated position indicating a point near receiver 1A(3) is determined to be an incorrect position and not adopted. This allows the position information processing system 100 to further improve the accuracy of estimating the position of beacon B. The fourth constraint condition according to this embodiment is stored in the storage unit 26. Note that the fourth constraint condition may also be stored in another device.

[0029] (Second database generation unit 25) The second database generation unit 25 generates a second database 262. The second database 262 stores the positions of the beacons B adopted by the second condition determination unit 24 in chronological order. The second database 262 is also associated with the beacons B that emitted radio waves. The second database generation unit 25 according to this embodiment generates a fourth constraint condition based on the positions of the beacons B stored in the second database 262.

[0030] (output unit 28) The output unit 28 outputs the position of the beacon B adopted by the first condition determination unit 22. The output unit 28 according to this embodiment is configured with a display device (a liquid crystal display panel, a cathode ray tube, etc.). The output unit 28 displays a map of the first passage A1, for example, as shown in FIG. 6, and displays a mark (for example, an icon I resembling a person) superimposed on the position of the adopted beacon B on the map M. The output unit 28 according to this embodiment also outputs the position of the beacon B adopted by the second condition determination unit 24. The output unit 28 according to this embodiment also displays information on the managed objects linked to the multiple beacons B by the registration unit 27. The output unit 28 may be configured to display the position of the beacon B as a numerical value (coordinates, etc.). The output unit 28 may also be configured with a speaker that emits a sound indicating the position of the beacon B, a communication device that transmits data indicating the position of the beacon B, etc.

[0031] [Effects of the location information processing system 100] In the position information processing system 100 described above, the first condition determination unit 22 adopts the estimated position as the position of beacon B when the estimated position satisfies the first constraint condition. Therefore, even if the strength of the radio waves received by one or more of the multiple receivers 1, 1A fluctuates significantly for some reason, the estimated position obtained at that time is not adopted as the position of beacon B. Therefore, according to this position information processing system 100, it is possible to improve the accuracy when estimating the position of beacon B.

[0032] <Embodiment 2> A second embodiment of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0033] [Usage environment of location information processing system 100A] The position information processing system 100A according to the second embodiment is a system that processes position information of the receiver 1 in the first passage A1. That is, the position information processing system 100A detects the position of the receiver 1 that exists in the space of the first passage or moves on the first passage A1.

[0034] The receiver 1 is provided for the managed object whose position needs to be managed. The managed object is at least one of a person passing through passages A1, A2, etc. and a vehicle V. Therefore, the receiver 1 moves along with the managed object. If the managed object is a vehicle V, the receiver 1 can receive power from the vehicle V. On the other hand, if the managed object is a person, the receiver 1 receives power from a portable battery or the like carried by the person. In addition, the receiver 1 has unique identification information. Therefore, even if there are multiple managed objects, each of which receives radio waves from a beacon B, the location information processing system 100A can identify each receiver 1 individually, and therefore can estimate the location of each receiver 1.

[0035] [Configuration of location information processing system 100A]

[0036] As shown in FIG. 7, a position information processing system 100A according to the second embodiment includes a plurality of beacons B and a position information processing device 2A.

[0037] [Beacon B] The multiple beacons B are each placed in the first passage A1. The method of attaching each beacon B is the same as the multiple receivers 1 in the first embodiment. In addition, the position information processing system 100A also processes the position information of the beacons B in the second passage A2. The multiple beacons B for the vehicle V are placed in the second passage A2. The beacons B may be configured to receive power from a power source installed at the location of use. On the other hand, if a power source cannot be provided at the location of use, the beacons B may be battery-powered.

[0038] Each of the beacons B arranged in this manner emits radio waves. Upon receiving the radio waves, each receiver 1 transmits information indicating the strength of the received radio waves together with information identifying the receiver 1 to the position information processing device 2A.

[0039] [Location information processing device 2A] The position information processing device 2A includes a first condition determination unit 22, a first database generation unit 23, a second condition determination unit 24, a second database generation unit 25, a storage unit 26, and a registration unit 27, which are similar to those of the position information processing device 2 according to the first embodiment, as well as a position estimation unit 21A. However, when the descriptions of the units 22 to 27 of the first embodiment are applied mutatis mutandis to the descriptions of the units 22 to 27, "beacon B" shall be read as "receiver 1." Note that when the position information processing system 100A processes only the position information of beacon B in the first passage A1 (for example, when there is no second passage A2 in the space, or when the position information of beacon B in the second passage A2 is not processed), the position information processing device 2A does not need to include the second condition determination unit 24 and the second database generation unit 25.

[0040] (Position estimation unit 21A) The position estimation unit 21A estimates the position of the receiver 1 as an estimated position according to the intensity of radio waves received by the receiver 1 from each beacon B. As described above, the position information processing system 100A includes a plurality of beacons B. Therefore, the position estimation unit 21A according to the second embodiment calculates the distance from each beacon B to the receiver 1 based on the intensity of radio waves received by the receiver 1 from three or more beacons B. Furthermore, the position estimation unit 21A according to the second embodiment compares the calculated distance to the receiver 1 with a preset upper limit value of the radio wave transmission distance. If the calculated distance is equal to or greater than the upper limit value, the position estimation unit 21A excludes the radio waves used to calculate the distance from the radio waves used to estimate the estimated position. Then, the position estimation unit 21A determines the position where circles centered on each beacon B and having the calculated distance as their radius overlap as the estimated position of the receiver 1. In addition, the position estimation unit 21A may be configured to estimate the position of the beacon B by taking into account not only the strength of the radio waves but also the time it takes for the beacon B to emit the radio waves and reach the receiver 1, the direction from which the radio waves came, etc.

[0041] The position estimation unit 21A may also be configured to estimate the estimated position using a trained model M. In this case, the trained model M is strength data along the time series of each radio wave received by the receiver 1 from each beacon B, and is configured to input a plurality of pieces of strength data associated with a single receiver 1 and output the position of the single receiver 1 as an estimated position. The trained model M can be constructed, for example, by machine learning using a learning device (not shown) with a set of a plurality of past strength data and the position of the receiver 1 as training data.

[0042] [Actions and Effects of Position Information Processing System 100A] In the position information processing system 100A described above, similar to the position information processing system 100 according to the first embodiment, the first condition determination unit 22 adopts the estimated position as the position of beacon B when the estimated position satisfies the first constraint condition. Therefore, even if the strength of the radio waves received by the receiver 1 from one or more beacons B fluctuates significantly for some reason, the estimated position obtained at that time is not adopted as the position of beacon B. Therefore, according to the present position information processing system 100A, the accuracy of estimating the position of beacon B can be improved. Furthermore, the receiver 1 generally has a larger housing than the beacon B, and therefore requires wiring for placement. However, in the position information processing system 100A according to the second embodiment, beacons B, whose housings are relatively smaller than those of the receiver 1, are placed in passageways, and therefore, passageways for pedestrians can be easily secured even in narrow passageways such as tunnels T.

[0043] [Software implementation example] The functions of the location information processing systems 100, 100A can be realized by a program that causes a computer to function as the systems 100, 100A, and that causes a computer to function as each control block of the systems (location estimation units 21, 21A, first condition determination unit 22, first database generation unit 23, second condition determination unit 24, and second database generation unit 25).

[0044] In this case, the systems 100 and 100A include a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the programs. The functions described in the above embodiments are realized by executing the programs using the control device and storage device.

[0045] The program may be stored non-transitory on one or more computer-readable storage media. The storage media may or may not be included in the device. In the latter case, the program may be provided to the system 100, 100A via any wired or wireless transmission medium.

[0046] [Variations] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims.

[0047] For example, in the above embodiment, one position information processing device 2, 2A includes multiple control blocks 21 to 25. However, the position information processing system 100, 100A may include a first device and a second device, with at least one of the multiple control blocks 21 included in the first device and the remaining control blocks included in the second device.

[0048] Furthermore, some or all of the functions of the control blocks can be realized by logic circuits. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of the control blocks can also be realized by, for example, a quantum computer.

[0049] Furthermore, embodiments obtained by appropriately combining the technical means disclosed in the different embodiments are also included in the technical scope of the present invention.

[0050] <Summary> A location information processing system according to a first aspect of the present invention is a location information processing system that processes location information of one of a beacon in a first passage and a receiver that receives radio waves emitted by the beacon, and includes: the other of the beacons and the receivers, which are arranged in multiple locations in the first passage and transmit and receive radio waves to and from the one of the devices; a location estimation unit that estimates the location of the one of the devices as an estimated location based on the strength of the radio waves received by the receiver; and a first condition determination unit that adopts the estimated location as the location of the one of the devices if the estimated location satisfies a first constraint condition, and the first constraint condition defines an area in which the one of the devices may be located based on the shape of the first passage.

[0051] A location information processing system according to aspect 2 of the present invention may be configured in the above-mentioned aspect 1, further comprising a first database generation unit that generates a first database corresponding to one of the devices, the first database being a time series of the locations adopted by the first condition determination unit, wherein the first condition determination unit adopts the estimated location as the location if the estimated location satisfies a second constraint condition in addition to the first constraint condition, and the second constraint condition defines an upper limit value for the movement speed of the one of the devices obtained from the location stored in the first database and the estimated location.

[0052] A location information processing system according to aspect 3 of the present invention may be configured in the above-mentioned aspect 1 or 2 such that a second passage different from the first passage is provided in the space in which the first passage is provided, and further includes a second condition determination unit that adopts the estimated position as the position of one of the devices if the estimated position satisfies a third constraint condition, and the third constraint condition defines an area in which the one of the devices may be located based on the shape of the second passage.

[0053] A location information processing system according to aspect 4 of the present invention may be configured in the above-mentioned aspect 3 such that the second passage is a passage through which vehicles pass, and the first passage is a passage through which people pass, and in which vehicular passage is restricted.

[0054] A location information processing system according to aspect 5 of the present invention may be configured such that, in aspect 3 above, at least one of the first passage and the second passage includes a three-dimensional passage including intra-layer passages provided on each layer of different heights and a means of communication that enables movement between the intra-layer passages.

[0055] A location information processing system according to aspect 6 of the present invention may be configured in the above-mentioned aspect 3, further comprising a second database generation unit that generates a second database corresponding to one of the devices, the second database being a time series of the locations adopted by the second condition determination unit, wherein the second condition determination unit adopts the estimated location as the location if the estimated location satisfies a fourth constraint condition in addition to the third constraint condition, and the fourth constraint condition defines an upper limit value for the movement speed of the one of the devices obtained from the location stored in the second database and the estimated location.

[0056] A location information processing system according to aspect 7 of the present invention may be configured such that, in any of aspects 1 to 6 above, the location estimation unit estimates the estimated location using a trained model that receives as input intensity data along a time series of radio waves received by a receiver, the intensity data corresponding to a single one of the devices, and outputs the location of the single one of the devices as an estimated location.

[0057] A location information processing program according to aspect 8 of the present invention is a location information processing program for causing a computer to function as the location information processing system in any of aspects 1 to 7 above, and may be configured to cause a computer to function as the location estimation unit and the first condition determination unit. [Explanation of symbols]

[0058] 100,100A Location Information Processing System 1,1A receiver 2,2A Location information processing device 21,21A Position estimation part 22 First condition determination section 23 First database generation unit 24 Second condition decision section 25 Second database generation section 26 Memory section 261 First Database 262 Second Database 27 Registration Department 28 Output section A1 1st aisle A11 Intralayer passage A111 First partial passage A112 Second partial passage A12 Means of transportation A13 Formwork A2 Second Passage

Claims

1. A location information processing system that processes location information of one of a beacon in a first passage and a receiver that receives radio waves emitted by the beacon, a plurality of other devices, each of which is one of the beacons and the receiver, and which are arranged in the first passage and transmit and receive radio waves to and from the other device; a position estimation unit that estimates the position of the one device as an estimated position according to the strength of the radio wave received by the receiver; a first condition determination unit that, when the estimated position satisfies a first constraint condition, adopts the estimated position as the position of the one device; A position information processing system, wherein the first constraint condition defines an area in which the one device may be located based on the shape of the first passage.

2. a first database generation unit that generates a first database along the time series of the positions adopted by the first condition determination unit and associated with the one device; the first condition determination unit adopts the estimated position as the position when the estimated position satisfies a second constraint condition in addition to the first constraint condition; 2. The position information processing system according to claim 1, wherein the second constraint condition defines an upper limit value for a moving speed of one of the devices obtained from the position stored in the first database and the estimated position.

3. a second passage different from the first passage is provided in the space in which the first passage is provided, a second condition determination unit that, when the estimated position satisfies a third constraint condition, adopts the estimated position as the position of the one device; 3. The position information processing system according to claim 1, wherein the third constraint condition defines an area in which the one device may be present based on a shape of the second passage.

4. the second passage is a passage through which vehicles pass, The position information processing system according to claim 3 , wherein the first passage is a passage where people pass through and where vehicular traffic is restricted.

5. 4. The position information processing system according to claim 3, wherein at least one of the first passage and the second passage includes a three-dimensional passage including intra-layer passages provided on each of the layers at different heights and a means of communication that enables communication between the intra-layer passages.

6. a second database generation unit that generates a second database along the time series of the positions adopted by the second condition determination unit and associated with the one device; the second condition determination unit adopts the estimated position as the position when the estimated position satisfies a fourth constraint condition in addition to the third constraint condition; 4. The position information processing system according to claim 3, wherein the fourth constraint condition defines an upper limit value for a moving speed of one of the devices obtained from the position stored in the second database and the estimated position.

7. 3. The location information processing system of claim 1, wherein the location estimation unit estimates the estimated location using a trained model that inputs intensity data along a time series of radio waves received by a receiver, the intensity data corresponding to a single device, and outputs the location of the single device as an estimated location.

8. 3. A position information processing program for causing a computer to function as the position information processing system according to claim 1, wherein the position information processing program causes the computer to function as the position estimation unit and the first condition determination unit.

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