Information Processing System

Abstract

To simplify man-hours for installing a wireless communication terminal.SOLUTION: The present invention comprises: a detection unit for detecting a wireless communication terminal installed in a prescribed space; an indication unit for indicating to a first wireless communication terminal detected by the detection unit to transmit a synchronizing signal; a determination unit for determining whether or not a second wireless communication terminal detected by the detection unit has received the synchronizing signal transmitted from the first wireless communication terminal at a first installation position; and a provision unit for providing information in which the determination result of whether or not the second wireless communication terminal has received the synchronizing signal is associated with identification information to identify the second wireless communication terminal. The indication unit indicates to the first and the second wireless communication terminals to execute a process for measuring the distance between the first and the second wireless communication terminals when it is determined by the determination unit that the second wireless information terminal has received the synchronizing signal, and the provision unit provides position information regarding the first installation position of the second wireless communication terminal included in the distance measurement result.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an information processing system. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there is known an apparatus in which a plurality of wireless tag readers are distributed and used to locate the positions of wireless tags attached to moving bodies or objects that are moved from place to place or carried around. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-153544 A Summary of the Invention [Problem to be solved by the invention]

[0004] It can be said that there is room for improvement in the above conventional technology in terms of simplifying the man-hours required for placing a wireless tag reader (wireless communication terminal). For example, to accurately measure the position of a wireless tag, it is necessary to place the wireless tag reader in an appropriate position, which can require a lot of man-hours for installation work by workers. However, the above conventional technology does not take into consideration reducing the burden on workers by simplifying this man-hours.

[0005] The present invention has been made in view of the above, and proposes an information processing device and a positioning system that can simplify the man-hours required for installing a wireless communication terminal. [Means for solving the problem]

[0006] An information processing system according to one embodiment of the present invention includes a detection unit that is used to measure the position coordinates of a device to be positioned and detects a wireless communication terminal installed in a specified space, an instruction unit that instructs a first wireless communication terminal detected by the detection unit to transmit a synchronization signal, a determination unit that determines whether a second wireless communication terminal detected by the detection unit has received the synchronization signal transmitted from the first wireless communication terminal at a first installation location, and a provision unit that provides information that correlates the determination result of whether the second wireless communication terminal has received the synchronization signal with identification information that identifies the second wireless communication terminal, wherein when the determination unit determines that the second wireless communication terminal has received the synchronization signal, the instruction unit instructs both the first wireless communication terminal and the second wireless communication terminal to perform a process for measuring the distance between the first wireless communication terminal and the second wireless communication terminal, and the provision unit provides location information regarding the first installation location of the second wireless communication terminal included in the distance measurement result. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing an overview of a positioning system according to an embodiment. [Diagram 2] FIG. 2 is a diagram showing an outline of an idea according to an embodiment. [Diagram 3] FIG. 3 is a diagram showing a specific configuration example of the positioning system according to the embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of information processing according to the embodiment. [Diagram 5] FIG. 5 is a block diagram showing an example of the main configuration of the anchor and the management device. [Figure 6] FIG. 6 is a diagram illustrating an example of the configuration of a management device according to the embodiment. [Figure 7] FIG. 7 is a diagram showing an example of a confirmation screen according to the embodiment. [Figure 8] FIG. 8 is a flowchart showing an example of a procedure for detecting a reference anchor. [Figure 9]FIG. 9 is a flow chart showing an example of a procedure for detecting other anchors. [Figure 10] FIG. 10 is an explanatory diagram for explaining the principle of tag positioning. [Figure 11] FIG. 11 is a hardware configuration diagram illustrating an example of a computer that realizes the functions of the management device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, a mode for carrying out the information processing system according to the present invention (hereinafter, referred to as an "embodiment") will be described in detail with reference to the drawings. Note that the information processing system according to the present invention is not limited to this embodiment. Also, the same components in the following embodiments are given the same reference numerals, and duplicated explanations will be omitted.

[0009] <Embodiment> [1. Overview of the positioning system] First, an overview of a positioning system according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an overview of a positioning system according to an embodiment. As shown in Fig. 1, the positioning system according to an embodiment may include a tag (a device to be positioned) and a plurality of anchors (wireless communication terminals) used to measure the position coordinates of the tag.

[0010] In addition, the positioning system of the embodiment is a system that transmits and receives ranging signals using ultra-wide band (UWB) radio waves in a line-of-sight environment (LOS environment) between a tag and multiple anchors, and measures the position coordinates of the tag based on the results of the transmission and reception.

[0011] The positioning system according to the embodiment can measure the position of a target device such as a tag in real time using, for example, a TDoA (Time Difference of Arrival) algorithm.

[0012] FIG. 1 also shows an example in which a positioning system is introduced in an indoor space SP, which is an example of a LOS environment. The indoor space SP may be any space, but may be a warehouse or a factory where various items such as merchandise and parts are managed. As shown in FIG. 1, the tag may be attached to a moving object for transporting items, or to an item placed on a shelf. In this way, the tag may periodically change its position depending on the attachment location, or may remain stationary for a certain period of time without changing its position. In either case, the TDoA algorithm can measure the current position coordinates.

[0013] Here, depending on the installation location of the anchor, radio waves may be blocked, making it impossible to properly measure the position coordinates of the tag. For this reason, anchors are often installed in specific locations (e.g., near the four corners of the indoor space SP) at high places (e.g., near the ceiling) as shown in Fig. 1.

[0014] For example, the installation work is carried out by installing multiple anchors (e.g., four or more) at a high altitude, then turning on the power of each anchor and synchronizing the time between the anchors. In order to perform proper time synchronization, workers must install each anchor in a location where NLOS (Non Line of Sigh) does not occur. In a situation where NLOS occurs, for example, position coordinates may be measured based on signals from reflected waves, which may cause errors in the positioning results.

[0015] To avoid such a situation, currently, workers check the radio wave conditions (radio wave strength and radio wave attenuation) of each anchor once they have finished installing the anchors. If there is an anchor that is not receiving a synchronization signal or has other problems with its radio wave conditions, they move to a higher place again to change the position or orientation of that anchor, and perform work at a higher place. However, repeatedly performing such dangerous work is time-consuming, and there is a demand for simplifying the labor required for installing anchors.

[0016] Therefore, the inventors of the present invention came up with the idea of ​​completing the installation work for each anchor one by one, rather than performing the work related to time synchronization after completing the installation of all anchors. Specifically, the inventors of the present invention focused on the fact that when installing the second and subsequent anchors, they continue the installation while checking the radio wave reception, and when the installation of all anchors is completed, the self-position of the anchor is automatically determined and time synchronization between the anchors is also completed. This point will be explained using FIG. 2.

[0017] [2. Overview of the idea] The inventor's idea will be outlined with reference to Fig. 2. Fig. 2 is a diagram showing an outline of the idea according to the embodiment.

[0018] An example of the work process currently being performed by workers is shown in Fig. 2(a). As shown in Fig. 2(a), for example, after installing multiple anchors, the worker checks whether time synchronization between the anchors can be achieved, and if time synchronization is not achieved, the worker determines that the installation positions of the anchors are not appropriate as previously assumed, and returns to a higher place to fine-tune the positions and orientations.

[0019] More specifically, the worker moves to a high place, performs installation work to install the first anchor, and returns to the ground. Next, the worker moves to another high place, performs installation work to install the second anchor, and returns to the ground. The worker then moves to another high place, performs installation work to install the third anchor, and returns to the ground. The worker then moves to another high place, performs installation work to install the fourth anchor, and returns to the ground. After completing installation of the desired number of anchors (four in the example of FIG. 2), the worker checks whether or not time synchronization is achieved between the anchors. If there is an anchor that is not synchronized, the worker will again climb to the high place where the synchronization NG anchor is installed and fine-tune it. According to the example of FIG. 2, two of the four anchors were synchronization NG, so after fine-tuning by moving to a high place twice, it is necessary to check the synchronization again. In the example of FIG. 2, the fine-tuning work is done twice, but there are cases where the work must be done more times, which is very troublesome.

[0020] In addition, when the workers have achieved time synchronization among the four anchors, they will finally measure the position coordinates of each anchor. For the measurement work, general surveying techniques (for example, a total station or a laser distance sensor) may be used, but this work itself can be said to be time-consuming.

[0021] On the other hand, Fig. 2(b) shows an example in which the man-hours of the work process are simplified by introducing the positioning system according to the embodiment. With the positioning system according to the embodiment, a worker moves to a high place to install the first anchor, and can check the time synchronization on the spot. In addition, the positioning system according to the embodiment can also obtain the measurement result of the position coordinate of the first anchor at the current time.

[0022] If the time synchronization is achieved, the worker returns to the ground and proceeds to the installation work of the second anchor. That is, the worker moves to another high place to perform the installation work to install the second anchor, and can check the time synchronization on the spot. For example, if one anchor is set as the reference anchor, the worker can check whether or not the time synchronization is achieved between the first anchor and the second anchor. Furthermore, according to the positioning system according to the embodiment, the measurement result of the position coordinate of the second anchor at the current time can also be obtained.

[0023] If the time synchronization is achieved, the worker returns to the ground and proceeds to the installation work of the third anchor. That is, the worker moves to another high place to perform the installation work to install the third anchor, and can check the time synchronization on the spot. For example, the worker can check whether or not the time synchronization is achieved between the first anchor and the third anchor. In addition, according to the positioning system according to the embodiment, the measurement result of the current position coordinate of the third anchor can also be obtained.

[0024] If the time synchronization is achieved, the worker returns to the ground and proceeds to the installation work of the fourth anchor. That is, the worker moves to another high place to perform the installation work to install the fourth anchor, and can check the time synchronization on the spot. For example, the worker can check whether or not the time synchronization is achieved between the first anchor and the fourth anchor. Furthermore, according to the positioning system according to the embodiment, the measurement result of the current position coordinate of the fourth anchor can also be obtained.

[0025] Thus, according to the idea obtained from the inventor's conception, i.e., the positioning system according to the embodiment, the man-hours required for workers to install anchors can be reduced and simplified. As a result, the workers do not have to go back and do something due to lack of time synchronization between anchors, and the workload is effectively reduced. In addition, since the present invention can calculate the position coordinates of anchors regardless of the situation, it can contribute to the achievement of Goal 9 of the Sustainable Development Goals (SDGs), "Build resilience and innovate inclusive and sustainable ways."

[0026] 2B is realized by the management device 40. Next, a specific example of a positioning system including the management device 40 will be described.

[0027] [3. Specific examples of positioning systems] A specific example of the positioning system according to the third embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram showing a specific configuration example of the positioning system according to the embodiment. Fig. 3 shows a positioning system Sy as an example of the positioning system according to the embodiment. The positioning system Sy is an example of an information processing system according to the embodiment.

[0028] 3, the positioning system Sy may be configured to include a user device 10, an anchor 20, a tag 30, and a management device 40. In the positioning system Sy, the user device 10, the anchor 20, the tag 30, and the management device 40 may be communicatively connected via a network N by wire or wirelessly. The positioning system Sy may be introduced into the indoor space SP described in FIG. 1 including the management device 40, or only the management device 40 may be placed outside the indoor space SP.

[0029] The user device 10 is an information processing terminal used by a user. The user device 10 is realized, for example, by a smartphone, a tablet terminal, a notebook PC (Personal Computer), a desktop PC, a mobile phone, a PDA (Personal Digital Assistant), etc. In this embodiment, the user device 10 is a smartphone.

[0030] Furthermore, an application for realizing transmission and reception of information between the user device 10 and the management device 40 described below may be pre-installed. Such an application may be a dedicated application compatible with the management device 40, or may be a general-purpose application (e.g., a browser). Furthermore, the user here may be a worker who proceeds with work while checking the information provided by the management device 40 via the user device 10.

[0031] The anchor 20 is an example of a wireless communication terminal used to measure the position coordinates of the tag 30, and as described with reference to FIG. 1, is usually installed at a high position in the indoor space SP.

[0032] The tag 30 is an example of a device to be positioned, and is installed at an arbitrary location in the indoor space SP. For example, the tag 30 may be installed on an item for which a user wishes to manage the location information.

[0033] The management device 40 is an example of an information processing device constituting the information processing system according to the embodiment, and is a central device that performs information processing for realizing simplification of the man-hours of the work process (hereinafter, may be referred to as "information processing according to the embodiment"). The management device 40 may be, for example, a server device present on the cloud side.

[0034] The management device 40 has a function of detecting the anchors 20 installed in the indoor space SP, and a function of instructing a specific one of the anchors 20 (for example, the reference anchor 20 in the information processing according to the embodiment) to transmit a synchronization signal. In the following embodiment, the reference anchor 20 may be referred to as the "reference anchor 20x," and other anchors 20 other than the reference anchor as the "other anchors 20y." Furthermore, the reference anchor 20x is an example of a first wireless communication terminal, and the other anchor 20y is an example of a second wireless communication terminal.

[0035] The management device 40 also has a function of determining whether or not the synchronization signal transmitted by the reference anchor 20x has been received by another anchor 20y, and a function of providing information that associates the determination result of whether or not the other anchor 20y has received the synchronization signal with identification information that identifies the other anchor 20y.

[0036] Furthermore, when the management device 40 determines that the other anchor 20y has received the synchronization signal, the management device 40 has a function of instructing both the reference anchor 20x and the other anchor 20y to execute a process for measuring the distance between the reference anchor 20x and the other anchor 20y. The measurement method for measuring the distance between the reference anchor 20x and the other anchor 20y may be a TWR (Two Way Ranging) method. In the TWR method, the distance is calculated by transmitting and receiving a ranging signal by UWB radio waves between the reference anchor 20x and the other anchor 20y.

[0037] For example, distance measurement between the reference anchor 20x and another anchor 20y requires transmission and reception of timestamps between these anchors. Specifically, the reference anchor 20x sends a timestamp indicating the time of signal transmission to the other anchor 20y. The other anchor 20y returns the timestamp sent by the reference anchor 20x to the reference anchor 20x immediately or after a set time. The reference anchor 20x calculates the distance to the other anchor 20y based on the timestamp indicating the time of acquisition of the timestamp returned from the other anchor 20y and the timestamp sent by its own device. This process is performed in consideration of the possibility that the time information held by the reference anchor 20x and the other anchor 20y may differ, and with the purpose of eliminating this difference in the calculation of the distance between the anchors.

[0038] The management device 40 measures, for example, the relative position coordinates of the other anchor 20y based on the distance between the reference anchor 20x and the other anchor 20y, with the position coordinates of the reference anchor 20x as the reference. That is, the management device 40 may also have a function of providing the position coordinates of the reference anchor 20x and the position coordinates of the other anchor 20y.

[0039] 4. Specific Examples of Information Processing According to the Embodiment The functions of the management device 40 will be described with reference to an example of information processing according to the embodiment. FIG. 4 is a diagram showing an example of information processing according to the embodiment. FIG. 4 shows a scene in which anchors 20 for measuring position coordinates of a tag 30A (an example of a tag 30) are sequentially installed by a worker U in an indoor space SP1 (an example of an indoor space SP), and the management device 40 performs information processing according to the embodiment in response to this work. FIG. 4 also shows a positioning system SyA (an example of the positioning system Sy) corresponding to the scene. In the positioning system SyA, a management device 40A is introduced as an example of the management device 40.

[0040] 4 also shows an example in which the scene transitions from FIG. 4(a) to FIG. 4(b) to FIG. 4(c) in accordance with the installation work by the worker U. In this example, the worker U performs the installation work of, for example, installing the anchors 20 one by one in sequence.

[0041] According to the example of Fig. 4(a), in a state where the tag 30A has already been installed, the worker U may perform the task of installing the first anchor 20. For example, as shown in Fig. 4, the worker U moves to a high place, installs the first anchor 20A(1), and sets the power of the anchor 20A(1) to ON.

[0042] When the anchor 20A(1) is powered on, it outputs radio waves including its own identification information (anchor ID). As a result, the management device 40 detects the anchor 20A(1) (step S41). For example, the management device 40 detects that the anchor 20A(1) has been installed.

[0043] In the following, the anchor 20A(1) will be described as the reference anchor 20x. The management device 40 may determine the first anchor 20A(1) that was installed first as the reference anchor 20x, or the reference anchor 20x may be designated by the worker U. As an example, the worker U may use the user device 10 to designate the second anchor 20 as the reference anchor 20x.

[0044] Returning to the explanation, the management device 40A instructs the anchor 20A(1), which is the reference anchor 20x, to transmit a synchronization signal (step S42).

[0045] On the other hand, after installing anchor 20A(1), worker U returns to the ground and starts the installation work of the second anchor. That is, as shown in FIG. 4(b), worker U moves to another high place, installs second anchor 20A(2), and turns on the power of anchor 20A(2). After installing anchor 20A(2), worker U does not return to the ground, but simply checks the information provided by management device 40A at the current high place. For example, worker U can check the information via user device 10.

[0046] In response to the power ON, the anchor 20A(2) outputs radio waves including its own identification information (anchor ID). As a result, the management device 40A detects the anchor 20A(2) (step S43). For example, the management device 40A detects that the anchor 20A(2) has been installed. The anchor 20A(2) corresponds to another anchor 20y based on the anchor 20A(1).

[0047] The management device 40A also determines whether the anchor 20A(2) has received a synchronization signal transmitted by the anchor 20A(1) (step S44). For example, the management device 40A may determine whether the anchor 20A(2) has received a synchronization signal transmitted by the anchor 20A(1) at the current installation position. The management device 40A may also determine whether the synchronization signal has been received based on the level of radio wave intensity from the anchor 20A(2).

[0048] When the management device 40A determines that the anchor 20A(2) has received the synchronization signal, it executes a distance measurement process to measure the distance between the anchors, and measures the position coordinates of the anchor 20A(2) based on the distance measurement result (step S45). Specifically, the management device 40A instructs both the anchor 20A(1) and the anchor 20A(2) to execute a process to measure the distance between the anchor 20A(1) and the anchor 20A(2). As a result, distance measurement is performed between the anchor 20A(1) and the anchor 20A(2) by the TWR method. For example, the distance between the anchor 20A(1) and the anchor 20A(2) is measured by transmitting and receiving a distance measurement signal by UWB radio waves between the anchor 20A(1) and the anchor 20A(2). For example, the anchor 20A(1) measures the distance between its own device and the anchor 20A(2) based on the result of transmitting and receiving the distance measurement signal. Then, the anchor 20A(1) transmits the measurement result to the management device 40A.

[0049] The management device 40A measures the position coordinates of the anchor 20A(2) based on the information on the measurement result transmitted by the anchor 20A(1) and the height of the anchor 20A(2). For example, the management device 40A may measure the relative position coordinate P2 of the anchor 20A(2) based on the position coordinate Pb of the anchor 20A(1). Note that the information indicating the height of the anchor 20A(2) may be transmitted to the management device 40 by the worker U operating the user device 10, or may be input by the worker U into the anchor 20A(1) and transmitted from the anchor 20A(1) to the management device 40.

[0050] In step S45, the management device 40A may also perform a time synchronization process for the anchor 20A(2) based on the measurement result of measuring the distance between the anchor 20A(1) and the anchor 20A(2). For example, the management device 40A estimates the time at which the anchor 20A(2) receives the synchronization signal transmitted by the anchor 20A(1) at a predetermined timing based on the distance indicated by the measurement result and the propagation speed of the signal. The management device 40A also acquires the actual time at which the anchor 20A(2) receives the synchronization signal transmitted by the anchor 20A(1) at a predetermined timing. The management device 40A then manages the time difference between the estimated time, i.e., the estimated reception time, and the actual time as information on time synchronization between the anchor 20A(1) and the anchor 20A(2).

[0051] Next, the management device 40A provides the worker U with a confirmation screen G including information F2 in which the anchor ID for identifying the anchor 20A(2), the determination result obtained in step S44, and the position coordinates P2 obtained in step S45 are associated with each other (step S46). Specifically, the management device 40A transmits the confirmation screen G to the user device 10. Note that the confirmation screen G may also include information F1 regarding the anchor 20A(1). In addition, without being limited to the above example, the management device 40A may transmit the information F2 and the information F1 to the user device 10, so that the confirmation screen G is generated on the user device 10 side.

[0052] 4(b), the management device 40A may also determine whether or not a position coordinate P2 (an example of a first installation position) of the anchor 20A(2) matches a position coordinate (an example of a second installation position) set in advance by the worker U. For example, the worker U can predict in advance the installation position of the anchor 20A(2) according to his or her own rule of thumb, and set in advance in the management device 40A position coordinates indicating this position.

[0053] When the position coordinates P2 of the anchor 20A(2) and the position coordinates set in advance by the worker U match, the management device 40A may further link and display information indicating that the position coordinates P2 are appropriate to the above information F2. On the other hand, when the position coordinates P2 of the anchor 20A(2) and the position coordinates set in advance by the worker U do not match, the management device 40A may further link and display information indicating that the position coordinates P2 are inappropriate to the above information F2. As a result, the worker U realizes that he has installed the anchor 20A(2) in a position different from the position he had intended, and can fine-tune the installation position of the anchor 20A(2) at the current high altitude before returning to the ground.

[0054] Furthermore, the fact that the position coordinate P2 does not match the position coordinate previously set by the worker U suggests that a positioning error due to NLOS has occurred in the position coordinate P2. A positioning error may also occur due to multipath fading. For this reason, the worker U may realize that the current installation position of the anchor 20A(2) is an inappropriate position where the radio waves from the anchor 20A(1) do not reach directly, but where reflected waves or the like reach, and that the installation position needs to be reconsidered.

[0055] Up to now, an example has been shown in which the management device 40A performs information processing (specifically, a synchronization signal reception determination process, a position coordinate measurement process, and a time synchronization process) for the anchor 20A(2) using the detection of the anchor 20A(2) as a trigger. However, after the management device 40A detects the anchor 20A(2), the management device 40A may perform information processing for the anchor 20A(2) at a predetermined cycle (for example, continuously in real time). Specifically, after the management device 40A detects the anchor 20A(2), it again instructs the anchor 20A(1), which is the reference anchor 20x, to transmit a synchronization signal. Then, the management device 40A determines whether the anchor 20A(2) has received the synchronization signal transmitted by the anchor 20A(1), and if it is determined that the synchronization signal has been received, it again executes a distance measurement process to measure the inter-anchor distance.

[0056] By repeating such a series of distance measurement processes at a predetermined cycle, for example, the information F2 displayed on the confirmation screen G is updated in response to the worker U adjusting the installation position and orientation of the anchor 20A(2) at a high altitude. Therefore, the worker U can check whether the time synchronization of the anchor 20A(2) is achieved at the current high altitude after installing one anchor 20A(2). Also, at this point, a world view is realized in which the measurement of the position coordinates of the anchor 20A(2) and the management of the time synchronization information related to the anchor 20A(2) are automatically completed.

[0057] Here, the worker U returns to the ground after confirming that the time synchronization is achieved for the anchor 20A(2), that the measurement of the position coordinates of the anchor 20A(2) is completed, and that the anchor 20A(2) has been installed at the expected position. Then, the worker U moves to the installation work of the third anchor. That is, as shown in FIG. 4(c), the worker U moves to another high place and installs the third anchor 20A(3), and sets the power of the anchor 20A(3) to ON. In the above example, the worker U does not return to the ground after installing the anchor 20A(3), and can check the information provided by the management device 40A at the current high place. For example, the worker U can check the information via the user device 10.

[0058] When the anchor 20A(3) is powered on, it outputs radio waves including its own identification information (anchor ID). As a result, the management device 40A detects the anchor 20A(3) (step S47). For example, the management device 40 detects that the anchor 20A(3) has been installed. The anchor 20A(3) corresponds to another anchor 20y that uses the anchor 20A(1) as a reference.

[0059] The management device 40A also determines whether the anchor 20A(3) has received a synchronization signal transmitted by the anchor 20A(1) (step S48). For example, the management device 40A may determine whether the anchor 20A(3) has received a synchronization signal transmitted by the anchor 20A(1) at the current installation position. The management device 40A may also determine whether the synchronization signal has been received based on the level of radio wave intensity from the anchor 20A(3).

[0060] When the management device 40A determines that the anchor 20A(3) has received the synchronization signal, it executes a distance measurement process to measure the distance between the anchors, and measures the position coordinates of the anchor 20A(3) based on the distance measurement result (step S49). Specifically, the management device 40A instructs both the anchor 20A(1) and the anchor 20A(3) to execute a process to measure the distance between the anchor 20A(1) and the anchor 20A(3). As a result, distance measurement is performed between the anchor 20A(1) and the anchor 20A(3) by the TWR method. For example, the distance between the anchor 20A(1) and the anchor 20A(3) is measured by transmitting and receiving a distance measurement signal by UWB radio waves between the anchor 20A(1) and the anchor 20A(3). For example, the anchor 20A(1) measures the distance between its own device and the anchor 20A(3) based on the result of transmitting and receiving the distance measurement signal. Then, the anchor 20A(1) transmits the measurement result to the management device 40A.

[0061] The management device 40A measures the position coordinates of anchor 20A(3) based on the information on the measurement result transmitted by anchor 20A(1) and the height of anchor 20A(3). For example, the management device 40A may measure a relative position coordinate P3 based on the position coordinate Pb of anchor 20A(1) as the position coordinate of anchor 20A(3). Note that the information indicating the height of anchor 20A(3) may be transmitted to the management device 40A by the worker U operating the user device 10, or may be input by the worker U into anchor 20A(1) and transmitted from anchor 20A(1) to the management device 40A.

[0062] In step S49, the management device 40A may also perform a time synchronization process for the anchor 20A(3) based on the measurement result of measuring the distance between the anchor 20A(1) and the anchor 20A(3). For example, the management device 40A estimates the time at which the anchor 20A(3) receives the synchronization signal transmitted by the anchor 20A(1) at a predetermined timing based on the distance indicated by the measurement result and the signal propagation speed. The management device 40A also acquires the actual time at which the anchor 20A(3) receives the synchronization signal transmitted by the anchor 20A(1) at a predetermined timing. The management device 40A then manages the time difference between the estimated time, i.e., the estimated reception time, and the actual time as information on time synchronization between the anchor 20A(1) and the anchor 20A(3).

[0063] Next, the management device 40A provides the worker U with a confirmation screen G including information F3 in which the anchor ID for identifying the anchor 20A(3), the determination result obtained in step S48, and the position coordinates P3 obtained in step S49 are associated with each other (step S50). Specifically, the management device 40 transmits the confirmation screen G to the user device 10. In addition, without being limited to the above example, the management device 40A may transmit the information F3 to the user device 10, causing the confirmation screen G to be generated on the user device 10 side.

[0064] 4(c), the management device 40A may also determine whether or not a position coordinate P3 (an example of a first installation position) of the anchor 20A(3) matches a position coordinate (an example of a second installation position) set in advance by the worker U. For example, the worker U can predict in advance the installation position of the anchor 20A(3) according to his or her own rule of thumb, and set in advance in the management device 40A position coordinates indicating this position.

[0065] When the position coordinates P3 of the anchor 20A(3) and the position coordinates preset by the worker U match, the management device 40A may further link and display information indicating that the position coordinates P3 are appropriate to the above information F3. On the other hand, when the position coordinates P3 of the anchor 20A(3) and the position coordinates preset by the worker U do not match, the management device 40A may further link and display information indicating that the position coordinates P3 are inappropriate to the above information F3. As a result, the worker U realizes that he has installed the anchor 20A(3) in a position different from the position he had intended, and can fine-tune the installation position of the anchor 20A(3) at the current high altitude before returning to the ground.

[0066] Furthermore, the fact that the position coordinate P3 does not match the position coordinate previously set by the worker U suggests that a positioning error due to NLOS has occurred in the position coordinate P3. Therefore, the worker U can realize that the current installation position of the anchor 20A(3) is an inappropriate position where the radio waves from the anchor 20A(1) do not reach directly, but where reflected waves reach, and that the installation position needs to be reconsidered.

[0067] FIG. 4(c) shows an example in which the management device 40A performs information processing (specifically, a synchronization signal reception determination process, a position coordinate measurement process, and a time synchronization process) for the anchor 20A(3) using the detection of the anchor 20A(3) as a trigger. However, after the management device 40A detects the anchor 20A(3), the management device 40A may perform information processing for the anchor 20A(3) at a predetermined cycle (for example, continuously in real time). Specifically, after the management device 40A detects the anchor 20A(3), the management device 40A again instructs the anchor 20A(1), which is the reference anchor 20x, to transmit a synchronization signal. Then, the management device 40A determines whether the anchor 20A(3) has received the synchronization signal transmitted by the anchor 20A(1), and if it is determined that the synchronization signal has been received, again performs a distance measurement process to measure the inter-anchor distance.

[0068] By repeating such a series of distance measurement processes at a predetermined cycle, for example, the information F3 displayed on the confirmation screen G is updated in response to the worker U adjusting the installation position and orientation of the anchor 20A(3) at a high altitude. Therefore, the worker U can confirm whether or not the time synchronization of the anchor 20A(3) is achieved at the current high altitude after installing one anchor 20A(3). Also, at this point, a world view is realized in which the measurement of the position coordinates of the anchor 20A(3) and the management of the time synchronization information related to the anchor 20A(3) are automatically completed.

[0069] The functions of the management device 40A have been described above with reference to FIG. 4. According to the information processing according to the embodiment realized by the functions, the worker U can check the time synchronization status and the change in the installation position every time he installs one anchor 20 while working at the high altitude where the installation work was performed. Therefore, the worker U can move on to the installation work of the next anchor 20 after checking that the time synchronization is achieved for this one anchor 20 and that it has been installed in an appropriate position. In other words, the management device 40A can reduce and simplify the man-hours of the work process that has been imposed on the worker U so far. In addition, the workload is effectively reduced.

[0070] Moreover, UWB is a wireless communication using a bandwidth of 500 MHz or more, and can communicate with a pulse signal of a very short time length on the order of nanoseconds. Therefore, the management device 40A can achieve a positioning accuracy of about several tens of centimeters by utilizing UWB radio waves, whereas the positioning accuracy is several meters or more when using radio waves of Wi-Fi (registered trademark) or IMES (Indoor Messaging System). Therefore, not only can the installation location of the anchor be determined with high accuracy, but also when the tagged article or moving object is miniaturized or the number of these is increased, the positioning can be determined with high accuracy. Also, in FIG. 4, an example is shown in which the installer who installs the anchor is a human worker, but for example, a work robot that replaces a human may be used. In this way, even when human work is robotized, according to the present invention, the number of steps in the work process can be reduced, and the work by the robot can be made more efficient.

[0071] 5. Functional configuration of the positioning system Fig. 5 is a block diagram showing an example of main configurations of the anchor 20, the anchor 20', and the management device 40A when an anchor 20' is additionally installed in the positioning system Sy of Fig. 3. If the positioning system Sy is the positioning system SyA of Fig. 4, the anchor 20 here corresponds to the anchor 20A(1), and the anchor 20' corresponds to the anchor 20A(2) or the anchor 20A(3).

[0072] The anchor 20 (similar to the anchor 20′) includes a UWB communication unit 210, a storage unit 230, and a NW communication unit 240 that also functions as an information transmission unit. The UWB communication unit 210 also functions as a receiving unit for a distance measurement signal when the tag 30 is located.

[0073] The UWB communication unit 210 of the anchor 20 also functions as a transmitting / receiving unit for a ranging signal when the anchor 20' is installed. Furthermore, when the anchor 20' is installed, the UWB communication unit 210 of the anchor 20 transmits a ranging signal to the anchor 20' by UWB radio waves via the antenna 211. Furthermore, the UWB communication unit 210 receives the ranging signal returned from the anchor 20' via the antenna 211. Furthermore, the UWB communication unit 210 of the anchor 20 outputs transmission time information (timestamp) when the ranging signal is transmitted to the anchor 20' and reception time information (timestamp) when the ranging signal returned from the anchor 20' is received.

[0074] The storage unit 230 of the anchor 20 stores various information included in the ranging signal output from the UWB communication unit 210 in association with transmission time information (timestamp) and reception time information (timestamp) of the ranging signal, which is information on the transmission and reception result of the ranging signal. The storage unit 230 may further store measurement information of the height (Z-axis coordinate) of the anchor 20 in association with each other.

[0075] The NW communication unit 240 of the anchor 20 transmits the positioning related information related to the positioning of the anchor 20' stored in the storage unit 230 to the management device 40A. The transmission format of the positioning related information transmitted to the management device 40A includes, for example, the anchor ID of the anchor 20, the anchor ID of the anchor 20', transmission time information (timestamp) of the ranging signal to the anchor 20', and reception time information (timestamp) of the ranging signal from the anchor 20'.

[0076] The management device 40A includes a NW communication unit 410, a control unit 420A, and a storage unit 430. The NW communication unit 410 also functions as a receiver for receiving information on the results of transmission and reception of a distance measurement signal when the tag 30 is positioned.

[0077] The NW communication unit 410 communicates with a plurality of anchors 20 via wired or wireless communication lines. When positioning the tag 30, the NW communication unit 410 receives positioning-related information related to the positioning of the tag 30 from each anchor 20. The positioning-related information from the anchor 20 may include, for example, the tag ID of the tag 30, the anchor ID of the anchor 20, tag count information (TAG Counter), positioning management identification information (Purpose ID), reception time information (Timestamp) of the ranging signal from the tag 30, radio wave intensity, and absolute time information (Epoch Time).

[0078] The control unit 420A corresponds to a processing unit that controls functions corresponding to information processing according to the embodiment, and details will be described with reference to FIG.

[0079] The storage unit 430 stores the positioning related information and the positioning result calculated for each positioning management identification information (Purpose ID) and for each tag 30. The storage unit 430 also stores the positioning management identification information (Purpose ID) previously set for each of the multiple anchors 20.

[0080] 6. Configuration of the Management Device Next, a management device 40A according to an embodiment will be described with reference to Fig. 6. Fig. 6 is a diagram showing a configuration example of the management device 40A according to an embodiment. As shown in Fig. 6, the management device 40A has a NW communication unit 410, a control unit 420A, and a storage unit 430.

[0081] (About the NW communication unit 410) The NW communication unit 410 is realized by, for example, a network interface card (NIC) etc. For example, the NW communication unit 410 is wirelessly connected to the network N and transmits and receives information between the user device 10, the anchor 20, and the tag 30.

[0082] (Regarding the storage unit 430) The storage unit 120 is realized by, for example, a semiconductor memory element such as a random access memory (RAM) or a flash memory, or a storage device such as a hard disk or an optical disk.

[0083] (Regarding control unit 420A) The control unit 420A (an example of the control unit 420) is realized by executing various programs stored in a storage device inside the management device 40A using a RAM (Random Access Memory) as a working area by a CPU (Central Processing Unit), MPU (Micro Processing Unit), etc. Also, the control unit 420A is realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0084] As shown in Fig. 6, control unit 420A has reception unit 421, detection unit 422, instruction unit 423, determination unit 424, positioning unit 425, synchronization management unit 426, and provision unit 427, and realizes or executes functions and actions of information processing described below. Note that the internal configuration of control unit 420A is not limited to the configuration shown in Fig. 6, and may be other configurations as long as they perform information processing described below. Also, the connection relationship of each processing unit included in control unit 420A is not limited to the connection relationship shown in Fig. 6, and may be other connection relationships.

[0085] (Regarding reception unit 421) The reception unit 421 receives various information related to the installation of the anchor 20 from a user (e.g., worker U). For example, the reception unit 421 receives an anchor ID of the anchor 20 to be installed and position information of an assumed installation location of the anchor 20. For example, the reception unit 421 may receive horizontal coordinate axes (X-axis, Y-axis) as position information of an assumed installation location of the anchor 20. The reception unit 421 may also receive information indicating the height of the anchor 20 (Z-axis).

[0086] The reception unit 421 may also receive information on the indoor space SP in which the tag 30 and the anchor 20 are installed. For example, the reception unit 421 may also receive site information indicating the site that the indoor space SP constitutes. The site information here may be, for example, map information of the indoor space SP as viewed from above.

[0087] (Regarding the detection unit 422) The detection unit 422 detects the anchor 20 installed in a predetermined space. For example, the detection unit 422 detects the presence of the anchor 20 installed in the indoor space SP. For example, the detection unit 422 may detect that the power of the anchor 20 has been turned on (i.e., that the anchor 20 has been installed in the indoor space SP) based on radio waves (signals included in the radio waves) transmitted by the anchor 20.

[0088] (Regarding the instruction section 423) The instruction unit 423 instructs the reference anchor 20x (first wireless communication terminal) among the anchors 20 detected by the detection unit 422 to transmit a synchronization signal.

[0089] In addition, when it is determined that the other anchor 20y has received the synchronization signal, the instruction unit 423 instructs both the reference anchor 20x and the other anchor 20y to execute processing for measuring the distance between the reference anchor 20x and the other anchor 20y.

[0090] (Regarding the determination unit 424) The determination unit 424 determines whether or not another anchor 20y (second wireless communication terminal) among the anchors 20 detected by the detection unit 422 has received a synchronization signal transmitted by the reference anchor 20x. For example, the determination unit 424 may determine whether or not the other anchor 20y has received a synchronization signal transmitted by the reference anchor 20x at the current installation position. Furthermore, the management device 40 may determine whether or not a synchronization signal has been received based on the level of radio wave intensity from the other anchor 20y.

[0091] Furthermore, the determination unit 424 may determine whether or not the other anchors 20y have received a synchronization signal at a predetermined cycle. For example, after the detection unit 422 detects the other anchors 20y, the determination unit 424 may continuously determine in real time whether or not the other anchors 20y have received a synchronization signal for each of the detected other anchors 20y.

[0092] The determination unit 424 may also determine whether or not the position coordinates of the other anchor 20y (an example of a first installation position) coincide with the position coordinates (an example of a second installation position) previously set by the user for the other anchor 20y. The position coordinates of the other anchor 20y (first installation position) referred to here are position coordinates measured by the positioning unit 425 described later.

[0093] (Regarding the positioning unit 425) In response to an instruction from the instruction unit 423, distance measurement is performed between the reference anchor 20x and the other anchor 20y by the TWR method. For example, the distance between the reference anchor 20x and the other anchor 20y is measured by transmitting and receiving a distance measurement signal by UWB radio waves between the reference anchor 20x and the other anchor 20y. For example, the reference anchor 20x measures the distance between its own device and the other anchor 20y based on the result of transmitting and receiving the distance measurement signal. Then, the reference anchor 20x transmits the measurement result to the management device 40A.

[0094] In this case, the positioning unit 425 measures the position coordinates of the other anchor 20y based on the information of the measurement result transmitted by the reference anchor 20x and the height of the other anchor 20y. For example, the positioning unit 425 may measure the relative position coordinates of the other anchor 20y when the position coordinates of the reference anchor 20x are used as a reference.

[0095] Furthermore, the positioning unit 425 may measure the position coordinates of the other anchors 20y at a predetermined period. For example, after the detection unit 422 detects the other anchors 20y, the positioning unit 425 may continuously measure the position coordinates of each of the detected other anchors 20y in real time.

[0096] The positioning unit 425 also performs positioning calculations to calculate the position coordinates of the tag 30 based on positioning related information related to the positioning of the tag 30 received by the NW communication unit 410. Here, the positioning related information includes information related to the time when the anchor 20 received the radio wave emitted by the tag 30A and information related to the position of the anchor 20. Furthermore, the information related to the position of the anchor 20 includes the position coordinates of the anchor 20, time synchronization information (time difference) targeting the anchor 20, and the like.

[0097] (Regarding the synchronization management unit 426) The synchronization management unit 426 performs a process of time synchronization with respect to the other anchor 20y based on a measurement result in which the distance between the reference anchor 20x and the other anchor 20y is measured. For example, the synchronization management unit 426 estimates the time at which the other anchor 20y receives a synchronization signal transmitted by the reference anchor 20x at a predetermined timing based on the distance indicated by the measurement result and the propagation speed of the signal. The synchronization management unit 426 also acquires the actual time at which the other anchor 20y receives a synchronization signal transmitted by the reference anchor 20x at a predetermined timing. Then, the synchronization management unit 426 manages the time difference between the estimated time, i.e., the estimated reception time, and the actual time as information on time synchronization between the reference anchor 20x and the other anchor 20y.

[0098] (About 427) The providing unit 427 provides the user with a confirmation screen G including information correlating the anchor ID of the other anchor 20y, the determination result of whether the other anchor 20y has received a synchronization signal, and the position coordinates of the other anchor 20y (relative position coordinates based on the position coordinates of the reference anchor 20x).

[0099] Here, as described above, since the determination unit 424 may continuously determine in real time whether or not a synchronization signal has been received for each of the other anchors 20y detected by the detection unit 422 after the other anchors 20y have been detected, the providing unit 427 may update in real time the information to be included in the confirmation screen G in accordance with this real-time determination. For example, the providing unit 427 provides the confirmation screen G on which information is displayed that associates, for each of the other anchors 20y, the determination result as to whether or not a synchronization signal has been received with the position coordinates, and updates the information to be displayed on the confirmation screen G in accordance with the real-time determination result.

[0100] Furthermore, since the positioning unit 425 may continuously measure the position coordinates of each of the other anchors 20y detected by the detection unit 422 in real time after the other anchors 20y are detected, the providing unit 427 may update the information to be included in the confirmation screen G in real time in accordance with this real-time measurement. For example, the providing unit 427 provides the confirmation screen G on which information is displayed that associates the determination result of whether or not a synchronization signal has been received with the position coordinates for each of the other anchors 20y, and updates the information to be displayed on the confirmation screen G in accordance with the real-time measurement results.

[0101] The providing unit 427 may also include in the confirmation screen G a determination result as to whether or not the position coordinates (an example of a first installation position) of another anchor 20y match the position coordinates (an example of a second installation position) previously set by the user for the other anchor 20y. For example, when the first installation position matches the second installation position, the providing unit 427 may provide in the confirmation screen G information indicating that the first installation position is appropriate, and when the first installation position does not match the second installation position, the providing unit 427 may provide in the confirmation screen G information indicating that the first installation position is inappropriate.

[0102] Here, the confirmation screen G provided by the providing unit 427 will be described with reference to Fig. 7. Fig. 7 is a diagram showing an example of the confirmation screen G according to the embodiment. Fig. 7(a) corresponds to the confirmation screen G provided in step S46 of Fig. 4, and shows an example in which a situation in which a second anchor 20A(2) is additionally installed in a state in which a first anchor 20A(1) is installed in the indoor space SP1 is displayed. Fig. 7(b) corresponds to the confirmation screen G provided in step S50 of Fig. 4, and shows an example in which a situation in which a third anchor 20A(3) is additionally installed is displayed.

[0103] First, the display items "Anchor_ID", "Alias", "ZoneNum", "X_Position", "Y_Position", "Z_Position", and "ColorCode" on confirmation screen G will be described as items common to both Figures 7(a) and 7(b).

[0104] "Anchor_ID" is identification information that identifies the anchor 20 installed in the indoor space SP1, i.e., an anchor ID. "Alias" is the name of the anchor 20 indicated by "Anchor_ID". "ZoneNum" is information that defines an area that is a unit for managing time synchronization. "SynSig" indicates the result of a determination as to whether or not the anchor 20 indicated by "Anchor_ID" has received a synchronization signal.

[0105] "X_Position" indicates the X-axis coordinate of the anchor 20 indicated by "Anchor_ID." "Y_Position" indicates the Y-axis coordinate of the anchor 20 indicated by "Anchor_ID." "Z_Position" indicates the Z-axis coordinate of the anchor 20 indicated by "Anchor_ID."

[0106] "ColorCode" is information indicating whether the installation position of the anchor 20 is appropriate or not. If the installation position of the anchor 20 is appropriate, a black square (ColorCode) indicating an appropriate installation position may be displayed. On the other hand, if the installation position of the anchor 20 is inappropriate, a "△" (ColorCode) indicating an inappropriate installation position may be displayed.

[0107] 7(a), the information F1 included in the confirmation screen G is information indicating the first anchor 20A(1) which is the reference anchor 20x. For example, when a synchronization signal reception determination process, a position coordinate measurement process, and a time synchronization process are performed in response to the detection of the anchor 20A(1), the providing unit 427 may generate the information F1 based on the results of each process. Furthermore, these processes are continued in real time as long as the anchor 20A(1) is detected, so the providing unit 427 may update the information F1 in real time in response to the continued processes.

[0108] The information F1 will be described in detail. In the information F1, the Alias ​​"Anchor1", ZoneNum "1", SynSig "---", X_Position "Xa", Y_Position "Ya", and Z_Position "Za" are associated with the Anchor_ID "20A(1)" of the anchor 20A(1). In this example, the SynSig is written as "---" because the anchor 20A(1) is a wireless communication terminal that transmits a synchronization signal. In addition, in the information F1, the ColorCode is also associated with the Anchor_ID "20A(1)" of the anchor 20A(1). This example indicates that the installation position of the anchor 20A(1) is appropriate.

[0109] 7(a), the information F2 included in the confirmation screen G is information indicating the second anchor 20A(2), which is another anchor 20y. For example, when the synchronization signal reception determination process, the position coordinate measurement process, and the time synchronization process are performed in response to the detection of the anchor 20A(2), the providing unit 427 may generate the information F2 based on the results of each process. Furthermore, these processes are continued in real time as long as the anchor 20A(2) is detected, so the providing unit 427 may update the information F2 in real time in response to the continued processes.

[0110] The information F2 will be specifically described. In the information F2, the Alias ​​"Anchor2", ZoneNum "1", SynSig "OK", X_Position "Xb", Y_Position "Yb", and Z_Position "Zb" correspond to the Anchor_ID "20A(2)" of the anchor 20A(2).

[0111] X_Position "Xb" indicates the X-axis coordinate relative to X_Position "0" of anchor 20A(1). Y_Position "Yb" indicates the Y-axis coordinate relative to Y_Position "0" of anchor 20A(1). Z_Position "Zb" indicates the Z-axis coordinate relative to Z_Position "0" of anchor 20A(1). SynSig "OK" is written because it has been determined that anchor 20A(2) has received a synchronization signal.

[0112] In addition, in the information F2, a ColorCode is also associated with the Anchor_ID "20A(2)" of the anchor 20A(2). This example indicates that the installation position of the anchor 20A(2) is appropriate.

[0113] Next, Fig. 7(b) will be described. According to the example of Fig. 7(b), the information F3 included in the confirmation screen G is information indicating the third anchor 20A(3), which is another anchor 20y. For example, when the synchronization signal reception determination process, the position coordinate measurement process, and the time synchronization process are performed in response to the detection of the anchor 20A(3), the providing unit 427 may generate the information F3 based on the results of each process. Furthermore, since these processes are continued in real time as long as the anchor 20A(3) is detected, the providing unit 427 may update the information F3 in real time in response to the continued processes.

[0114] The information F3 will be described in detail. In the information F3, the Alias ​​"Anchor3", the ZoneNum "1", the SynSig "OK", the X_Position "Xc", the Y_Position "Yc", and the Z_Position "Zc" correspond to the Anchor_ID "20A(3)" of the anchor 20A(3).

[0115] X_Position "Xc" indicates the X-axis coordinate relative to X_Position "0" of anchor 20A(1). Y_Position "Yc" indicates the Y-axis coordinate relative to Y_Position "0" of anchor 20A(1). Z_Position "Zc" indicates the Z-axis coordinate relative to Z_Position "0" of anchor 20A(1). SynSig "OK" is written because it has been determined that anchor 20A(3) has received a synchronization signal.

[0116] In addition, in the information F3, a ColorCode is also associated with the Anchor_ID "20A(3)" of the anchor 20A(3). This example indicates that the installation position of the anchor 20A(3) is appropriate.

[0117] 7. Processing Procedure From here, the procedure of information processing according to the embodiment will be described with reference to Fig. 8 and Fig. 9. For example, when the management device 40A can detect the reference anchor 20x in the procedure of Fig. 8, the management device 40A may detect another anchor 20y in the procedure of Fig. 9. A specific description will be given below.

[0118] [7-1. Processing Procedure (1)] 8 is a flowchart showing an example of a procedure for detecting the reference anchor 20x. First, the reception unit 421 receives information on the indoor space SP and information on the anchor 20 to be installed in the indoor space SP from the worker U (step S801). For example, the reception unit 421 may receive site information (map information) indicating the site that the indoor space SP constitutes as the information on the indoor space SP. Furthermore, the reception unit 421 may receive an anchor ID of the anchor 20 to be installed and position coordinates assumed as the installation location of the anchor 20 as the information on the anchor 20 to be installed in the indoor space SP. Furthermore, the reception unit 421 may also receive information specifying the reference anchor 20x.

[0119] In this state, the detection unit 422 detects the anchor 20 (step S802). For example, the detection unit 422 may detect whether or not an anchor is installed in the indoor space SP based on the power supply status of the anchor 20. While the detection unit 422 cannot detect the anchor 20 (step S802; No), the detection unit 422 waits until the anchor 20 can be detected.

[0120] When an anchor 20 is detected, the instruction unit 423 determines whether the currently detected anchor 20 is the reference anchor 20x (step S803). For example, when the current detection is the first (i.e., when the currently detected anchor 20 is the first anchor 20), the instruction unit 423 may determine that the currently detected anchor 20 is the reference anchor 20x. Furthermore, the instruction unit 423 may compare the information on the anchor 20 received by the reception unit 421 with the anchor ID of the currently detected anchor 20, and when it is specified that the anchor 20 is used as a reference, determine that the currently detected anchor 20 is the reference anchor 20x.

[0121] If the currently detected anchor 20 is not the reference anchor 20x (step S803; No), the instruction unit 423 moves the process to step S802.

[0122] On the other hand, if the currently detected anchor 20 is the reference anchor 20x (step S803; Yes), the instruction unit 423 instructs this anchor 20 to transmit a synchronization signal (step S804).

[0123] [7-2. Processing Procedure (2)] 9 is a flowchart showing an example of a procedure for detecting another anchor 20y. First, the detection unit 422 detects the anchor 20 (step S901). For example, the detection unit 422 may detect whether or not an anchor is installed in the indoor space SP based on the power supply status of the anchor 20. While the detection unit 422 is unable to detect the anchor 20 (step S901; No), the detection unit 422 waits until it can detect the anchor 20.

[0124] On the other hand, if the detection unit 422 detects an anchor 20 (step S901; Yes), it recognizes this anchor 20 as an anchor 20y other than the reference anchor 20x, and outputs the recognition result to the determination unit 424 (step S902).

[0125] The determination unit 424 determines whether or not the synchronization signal transmitted by the reference anchor 20x detected by the process of FIG. 8 has been received by another anchor 20y (step S903).

[0126] When the providing unit 427 determines that the other anchor 20y has not received the synchronization signal (step S903; No), the providing unit 427 notifies the other anchor 20y that reception is NG via the confirmation screen G (step S904).

[0127] On the other hand, when it is determined that the other anchor 20y has received the synchronization signal (step S903; Yes), the positioning unit 425 executes a distance measurement process to measure the distance between the anchors (step S905). For example, the positioning unit 425 instructs both the reference anchor 20x and the other anchor 20y to execute a process to measure the distance between the reference anchor 20x and the other anchor 20y. As a result, for example, the reference anchor 20x measures the distance between its own device and the other anchor 20y according to the TWR method, and the anchor 20A(1) transmits the distance measurement result to the management device 40A.

[0128] The positioning unit 425 measures the position coordinates of the other anchor 20y based on the distance measurement result transmitted by the reference anchor 20x (step S906). For example, the positioning unit 425 measures the position coordinates of the other anchor 20y based on the distance measurement result and the height of the other anchor 20y.

[0129] Furthermore, the determination unit 424 determines whether or not the position coordinates of the other anchor 20y obtained in step S906 match the position coordinates of the other anchor 20y that have been set in advance by the worker U (step S907).

[0130] The synchronization management unit 426 executes a process of time synchronization with the other anchor 20y based on the measurement result (step S908). Specifically, the synchronization management unit 426 generates / manages, as information of time synchronization between the reference anchor 20x and the other anchor 20y, a time difference between an actual time when the other anchor 20y receives a synchronization signal transmitted at a predetermined timing by the reference anchor 20x and an estimated reception time of the other anchor 20y estimated from a distance indicated by a distance measurement result.

[0131] The providing unit 427 notifies, via the confirmation screen G, that reception of the synchronization signal from the other anchor 20y is OK, the position coordinates of the other anchor 20y, and the result of the match determination of the position coordinates (step S909).

[0132] Here, the determination unit 424 may determine whether or not installation of all of the anchors 20 that were to be installed in the indoor space SP has been completed (step S910). If installation has not been completed (step S910; No), the determination unit 424 shifts the process to step S903.

[0133] On the other hand, when it is determined that the installation is completed (step S910; Yes), the positioning unit 425 measures the position coordinates of the tag 30 using the time synchronization information and the positioning related information obtained in step S908 (step S911). Note that the providing unit 427 may provide a positioning result screen G2 on which the position coordinates of each tag 30 are displayed.

[0134] 8. Principle of tag positioning Next, the principle of positioning of tag 30 performed in step S911 of Fig. 9 will be described. Fig. 10 is an explanatory diagram explaining the principle of positioning of tag 30. As shown in Fig. 10, the principle of finding the position coordinates (x, y) of tag 30A using three anchors 20, anchor 20A(1), anchor 20A(2), and anchor 20A(3), will be described. When finding the position coordinates of tag 30A, the number of anchors 20 is not limited to three.

[0135] In the example of FIG. 10, the coordinates (Xa, Ya) of the anchor 20A(1), the coordinates (Xb, Yb) of the anchor 20A(2), and the coordinates (Xc, Yc) of the anchor 20A(3) are known.

[0136] Focusing on the anchor 20A(1) and the tag 30A, communication is performed between the anchor 20A(1) and the tag 30A, a command is sent from the anchor 20A(1) to the tag 30A, and a response is returned from the tag 30A to the anchor 20A(1). The command transmission time of the anchor 20A(1), the command reception time of the tag 30A, the response transmission time of the tag 30A, and the response reception time of the anchor 20A(1) are respectively set as T1, T2, T3, and T4. Here, the distance L1 between the anchor 20A(1) and the tag 30 is obtained by multiplying the command and response transfer times (T2-T1 and T4-T3) by the speed of light c and dividing the sum by 2. This means that the tag 30A exists on a circle with the distance L1 as a radius for the anchor 20A(1).

[0137] The above calculations described for anchor 20A(1) are also performed for anchor 20A(2) and anchor 20A(2), and the distance L2 between anchor 20A(2) and tag 30A, and the distance L3 between anchor 20A(3) and tag 30A are obtained. Then, circles with radii equal to distances L2 and L3 are drawn for anchor 20A(2) and anchor 20A(3), and the overlapping portion (intersection) of the three circles represents the desired position of tag 30A. Note that when distances L2 and L3 are obtained, the time synchronization information (time difference) obtained in step S908 is used.

[0138] [9. Hardware Configuration] Moreover, the management device 40 (40A) according to the above embodiment is realized by a computer 1000 having a configuration as shown in Fig. 11, for example. Fig. 11 is a hardware configuration diagram showing an example of the computer 1000 that realizes the functions of the management device 40. The computer 1000 has a CPU 1100, a RAM 1200, a ROM 1300, a HDD 1400, a communication interface (I / F) 1500, an input / output interface (I / F) 1600, and a media interface (I / F) 1700. Note that a flash ROM may be adopted instead of the HDD 1400.

[0139] The CPU 1100 operates and controls each unit based on a program stored in the ROM 1300 or the HDD 1400. The ROM 1300 stores a boot program executed by the CPU 1100 when the computer 1000 is started up, programs that depend on the hardware of the computer 1000, and the like.

[0140] The HDD 1400 stores programs executed by the CPU 1100, data used by the programs, etc. The communication interface 1500 receives data from other devices via the communication network 50 and sends it to the CPU 1100, and transmits data generated by the CPU 1100 to other devices via the communication network 50.

[0141] The CPU 1100 controls output devices such as a display and a printer, and input devices such as a keyboard and a mouse, via the input / output interface 1600. The CPU 1100 acquires data from the input devices via the input / output interface 1600. The CPU 1100 also outputs generated data to the output devices via the input / output interface 1600.

[0142] The media interface 1700 reads a program or data stored in the recording medium 1800, and provides it to the CPU 1100 via the RAM 1200. The CPU 1100 loads the program from the recording medium 1800 onto the RAM 1200 via the media interface 1700, and executes the loaded program. The recording medium 1800 is, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or a PD (Phase change rewritable Disc), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory.

[0143] For example, when the computer 1000 functions as the management device 40 according to the embodiment, the CPU 1100 of the computer 1000 executes a program (e.g., a program according to the embodiment) loaded on the RAM 1200 to realize the function of the control unit 420 (420A). In addition, the HDD 1400 stores data in the storage unit 120. The CPU 1100 of the computer 1000 reads and executes these programs from the recording medium 1800, but as another example, these programs may be obtained from another device via the communication network 50.

[0144] [10. Other] In addition, each component of each device shown in the figure is a functional concept, and does not necessarily have to be physically configured as shown in the figure. In other words, the specific form of distribution and integration of each device is not limited to that shown in the figure, and all or part of them can be functionally or physically distributed and integrated in any unit according to various loads, usage conditions, etc.

[0145] In the above embodiment, as a hardware configuration, an example has been shown in which each processing unit according to the embodiment (the reception unit 421, the detection unit 422, the instruction unit 423, the determination unit 424, the positioning unit 425, the synchronization management unit 426, and the provision unit 427) is realized in one management device 40. However, these processing units may be realized separately in a plurality of different information processing devices (server devices) for each appropriate combination.

[0146] For example, in the case where two information processing devices, server device SV1 and server device SV2, are introduced in a positioning system Sy, a processing unit may be realized for each information processing device in the following pattern.

[0147] For example, a configuration may be adopted in which the reception unit 421, the detection unit 422, and the instruction unit 423 are realized in the server device SV1, and the determination unit 424, the positioning unit 425, the synchronization management unit 426, and the provision unit 427 are realized in the server device SV2.

[0148] As another example, a configuration may be adopted in which reception unit 421 is realized in server device SV1, and detection unit 422, instruction unit 423, determination unit 424, positioning unit 425, synchronization management unit 426 and provision unit 427 are realized in server device SV2.

[0149] As another example, a configuration may be adopted in which the reception unit 421, the detection unit 422, the instruction unit 423, the determination unit 424, the positioning unit 425, and the synchronization management unit 426 are realized in the server device SV1, and the provision unit 427 is realized in the server device SV2.

[0150] Next, in the case where three information processing devices, namely, server device SV1, server device SV2, and server device SV3, are introduced into the positioning system Sy, a processing unit may be realized for each information processing device in the following pattern.

[0151] For example, a configuration may be adopted in which the reception unit 421, the detection unit 422, and the instruction unit 423 are realized in a server device SV1, the determination unit 424, the positioning unit 425, and the synchronization management unit 426 are realized in a server device SV2, and the provision unit 427 is realized in a server device SV3.

[0152] As another example, a configuration may be adopted in which the reception unit 421 and the detection unit 422 are realized in server device SV1, the instruction unit 423, the judgment unit 424, and the positioning unit 425 are realized in server device SV2, and the synchronization management unit 426 and the provision unit 427 are realized in server device SV3.

[0153] As another example, a configuration may be adopted in which the reception unit 421 is realized in the server device SV1, the detection unit 422, the instruction unit 423, the judgment unit 424, the positioning unit 425 and the synchronization management unit 426 are realized in the server device SV2, and the provision unit 427 is realized in the server device SV3.

[0154] The number of information processing devices introduced into the positioning system Sy is not limited to two or three as in the above example, and any number may be introduced according to the purpose. In addition, the implementation pattern of the processing units for the information processing devices is not limited to the above example. For example, all the processing units may be divided into different information processing devices.

[0155] The above describes the embodiments of the present application in detail with reference to several drawings. However, these are merely examples, and the present invention can be embodied in other forms that incorporate various modifications and improvements based on the knowledge of those skilled in the art, including the aspects described in the Disclosure of the Invention section. [Explanation of symbols]

[0156] Sy Positioning System 10 User equipment 20. Anchor 30 Tags 40 Management device 421 Reception 422 Detection unit 423 Instruction section 424 Judgment section 425 Positioning Unit 426 Synchronization Management Department 427 Provision Department

Claims

1. a detection unit that is used to measure the position coordinates of a device to be positioned and detects a wireless communication terminal installed in a predetermined space; an instruction unit that instructs the first wireless communication terminal detected by the detection unit to transmit a synchronization signal; a determination unit that determines whether or not the second wireless communication terminal detected by the detection unit has received the synchronization signal transmitted from the first wireless communication terminal at a first installation position; a providing unit that provides information in which a determination result as to whether or not the second wireless communication terminal has received the synchronization signal is associated with identification information that identifies the second wireless communication terminal; Equipped with the instruction unit instructs both the first wireless communication terminal and the second wireless communication terminal to execute a process for measuring a distance between the first wireless communication terminal and the second wireless communication terminal when the determination unit determines that the second wireless communication terminal has received the synchronization signal; The providing unit is an information processing system that provides location information regarding the first installation location of the second wireless communication terminal included in the distance measurement result.

2. The providing unit further provides, as the position information of the second wireless communication terminal, position information measured based on a measurement result obtained by transmitting and receiving a ranging signal between the two terminals using a predetermined wireless medium. The information processing system according to claim 1 .

3. The determination unit determines at a predetermined period whether or not the second wireless communication terminal has received the synchronization signal. The information processing system according to claim 1 .

4. a measurement unit that generates information for indicating the location information of the second wireless communication terminal provided by the providing unit as a relative location when location information of the first wireless communication terminal is used as a reference, The information processing system according to claim 2 .

5. The measurement unit generates the information at a predetermined cycle.

5. The information processing system according to claim 4.

6. The determination unit determines whether or not the first installation position coincides with a second installation position that is preset by a user; The providing unit provides information indicating that the first installation position is appropriate when the first installation position and the second installation position match, and provides information indicating that the first installation position is inappropriate when the first installation position and the second installation position do not match. The information processing system according to claim 1 .

7. The second wireless communication terminal further includes a management unit that manages, as information on time synchronization between the first wireless communication terminal and the second wireless communication terminal, a time difference between an actual time at which the second wireless communication terminal receives the synchronization signal transmitted at a predetermined timing by the first wireless communication terminal and an estimated time of reception of the synchronization signal by the second wireless communication terminal estimated from a distance indicated by the measurement result. The information processing system according to claim 1 .

8. A method for measuring the distance between the first wireless communication terminal and the second wireless communication terminal is TWR (Two Way Ranging). The information processing system according to claim 1 .

9. The predetermined wireless medium is UWB (Ultra Wide Band) wireless radio waves. The information processing system according to claim 2 .

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