Position correction device, position correction method, and position correction program

Abstract

According to the present invention, a correspondence identifying unit (221) applies a plurality of processing terminals, which are targets of positional identification, to a template, in which the expected relative positions of the plurality of terminals are indicated by lattice points that are intersections of a plurality of lines drawn in a lattice pattern, on the basis of the estimated position of each of the plurality of processing terminals, and thereby identifies the lattice points, respectively corresponding to the plurality of processing terminals, in the template. A template correction unit (222) generates a corrected template by correcting the distances between the lattice points in the template so that the deviation calculated from the distance to the corresponding lattice point identified for each of the plurality of processing terminals is reduced. A position correction unit (23) sets each of the plurality of processing terminals as a target processing terminal and corrects the estimated positions of the target processing terminals on the basis of the lattice points, corresponding to the target processing terminals, in the corrected template.

Description

[Technical field]

[0001] The present disclosure relates to a technique for correcting a measured terminal position. [Background technology]

[0002] The location of the terminal may be estimated by a location estimation algorithm based on information such as radio wave strength, radio wave arrival angle, and radio wave arrival time. The location of the terminal may also be estimated from the results of measurement using a laser range finder or a tape measure. Here, the terminal may be, for example, a wireless terminal. The wireless terminal may be, for example, an air conditioner indoor unit or a lighting fixture having a wireless communication function. The terminal position estimated by the above-mentioned method may contain errors.

[0003] Patent Document 1 describes a technique for correcting the position of a terminal estimated by wireless technology. In Patent Document 1, the position of the terminal is corrected by applying the position of the terminal to a template configured at intervals of a construction unit, or at intervals of an integer multiple or an integer fraction of the construction unit. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2006-90868 A Summary of the Invention [Problem to be solved by the invention]

[0005] The installation intervals of terminals vary depending on the size of the room or the type of equipment. In other words, terminals are not necessarily installed according to intervals based on the construction unit. Therefore, as in Patent Document 1, if the position of a terminal is fitted to a template configured with intervals based on the construction unit, there is a risk that the position of the terminal will be corrected to an incorrect position. An object of the present disclosure is to enable appropriate correction of the position of a terminal. [Means for solving the problem]

[0006] The position correction device according to the present disclosure comprises: a correspondence identification unit that identifies, based on an estimated position of each of a plurality of processing terminals to be identified, a template that indicates the assumed relative positions of the plurality of terminals using lattice points that are the intersections of a plurality of lines drawn in a lattice pattern, by fitting the plurality of processing terminals to the template, and identifies lattice points in the template that correspond to each of the plurality of processing terminals; a template correction unit that corrects a distance between lattice points in the template so that a deviation calculated from a distance between the corresponding lattice points identified by the correspondence identification unit for each of the plurality of processing terminals becomes small, thereby generating a corrected template; a position correction unit that corrects an estimated position of each of the plurality of processing terminals as a target processing terminal based on a lattice point corresponding to the target processing terminal in the correction template generated by the template correction unit; Equipped with. Effect of the Invention

[0007] In the present disclosure, the template is corrected so that the degree of discrepancy between the estimated position of the processing terminal and the positions of the grid points in the template is reduced, and then the estimated position is corrected based on the template. This reduces the possibility that the position of the processing terminal is corrected to an incorrect position, and makes it possible to appropriately correct the position of the processing terminal. [Brief description of the drawings]

[0008] [Figure 1] 1 is a configuration diagram of a position correction device 10 according to a first embodiment. [Diagram 2] 4 is a flowchart of processing by the position correction device 10 according to the first embodiment. [Diagram 3] FIG. 4 is an explanatory diagram of information stored in an estimated position storage unit 31 according to the first embodiment. [Figure 4] FIG. 2 is an explanatory diagram of a template 40 according to the first embodiment. [Diagram 5] FIG. 4 is an explanatory diagram of parameters of a template 40 according to the first embodiment. [Figure 6] 11 is a flowchart of a template optimization process according to the first embodiment. [Figure 7] FIG. 4 is an explanatory diagram of a position correction process according to the first embodiment. [Figure 8] FIG. 4 is a configuration diagram of a position correction device 10 according to a first modified example. [Figure 9] 11 is a flowchart of a process of the position correction device 10 according to the first modified example. [Figure 10] FIG. 11 is a configuration diagram of a position correction device 10 according to a second embodiment. [Figure 11] FIG. 11 is a configuration diagram of a position correction device 10 according to a third embodiment. [Figure 12] FIG. 11 is a diagram illustrating an outline of the operation of the position correction device 10 according to the third embodiment. [Figure 13] FIG. 11 is an explanatory diagram of information stored in a connection relationship storage unit 34 according to the third embodiment. [Figure 14] FIG. 13 is an explanatory diagram of information stored in a connection relationship storage unit 34 according to Modification 5. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Embodiment 1 ***Configuration Description*** The configuration of a position correction device 10 according to the first embodiment will be described with reference to FIG. The position correction device 10 is a computer. The position correction device 10 includes the following hardware components: a processor 11, a memory 12, a storage 13, and a communication interface 14. The processor 11 is connected to other hardware components via signal lines and controls the other hardware components.

[0010] The processor 11 is an IC that performs processing. IC is an abbreviation for Integrated Circuit. Specific examples of the processor 11 include a CPU, a DSP, and a GPU. CPU is an abbreviation for Central Processing Unit. DSP is an abbreviation for Digital Signal Processor. GPU is an abbreviation for Graphics Processing Unit.

[0011] The memory 12 is a storage device that temporarily stores data. Specific examples of the memory 12 include SRAM and DRAM. SRAM is an abbreviation for Static Random Access Memory. DRAM is an abbreviation for Dynamic Random Access Memory.

[0012] The storage 13 is a storage device that stores data. A specific example of the storage 13 is an HDD. HDD is an abbreviation for Hard Disk Drive. The storage 13 may also be a portable recording medium such as an SD (registered trademark) memory card, CompactFlash (registered trademark), NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD. SD is an abbreviation for Secure Digital. DVD is an abbreviation for Digital Versatile Disk.

[0013] The communication interface 14 is an interface for communicating with an external device. Specific examples of the communication interface 14 include Ethernet (registered trademark), USB, and HDMI (registered trademark) ports. USB is an abbreviation for Universal Serial Bus. HDMI is an abbreviation for High-Definition Multimedia Interface.

[0014] The position correction device 10 includes, as functional components, a template generation unit 21, a template optimization unit 22, and a position correction unit 23. The template optimization unit 22 includes a correspondence identification unit 221 and a template correction unit 222. The functions of the functional components of the position correction device 10 are realized by software. The storage 13 stores a program for implementing the functions of each functional component of the position correction device 10. The program is loaded into the memory 12 by the processor 11 and executed by the processor 11. In this way, the function of each functional component of the position correction device 10 is implemented.

[0015] The storage 13 realizes the function of the estimated position storage unit 31. Note that instead of the storage 13, a storage device external to the position correction device 10 may realize the function of the estimated position storage unit 31.

[0016] 1 shows only one processor 11. However, there may be a plurality of processors 11, and the plurality of processors 11 may cooperate to execute programs that realize the respective functions.

[0017] ***Explanation of Operation*** The operation of the position correction device 10 according to the first embodiment will be described with reference to FIGS. An operation procedure of the position correction device 10 according to the embodiment 1 corresponds to the position correction method according to the embodiment 1. Moreover, a program for realizing the operation of the position correction device 10 according to the embodiment 1 corresponds to the position correction program according to the embodiment 1.

[0018] The process of the position correction device 10 according to the first embodiment will be described with reference to FIG. (Step S11 in FIG. 2: Estimated position acquisition process) The template generation unit 21 acquires the estimated position of each of the multiple processing terminals from the estimated position storage unit 31. The processing terminal is a terminal whose position is to be specified. Here, it is assumed that the estimated position of each of the multiple processing terminals includes an error. It is also assumed that the multiple processing terminals are regularly arranged. Regularly arranged means that they are arranged in a parallel pattern or a staggered pattern, which will be described later.

[0019] With reference to FIG. 3, the information stored in estimated position storage unit 31 according to the first embodiment will be described. The estimated position storage unit 31 stores an estimated position for each terminal ID. ID is an abbreviation for IDentifier. The terminal ID is identification information of the processing terminal. The estimated position is the position of the processing terminal estimated by a position estimation algorithm or the like. The estimated position is a position relative to a reference point. The estimated position includes an x ​​coordinate and a y coordinate. The estimated position may have an error. The reference point is set in advance. The reference point may be, for example, the position of any processing terminal or the position of a corner of a facility where the processing terminal is installed.

[0020] (Step S12 in FIG. 2: template generation process) The template generation unit 21 generates a template 40 using the number of processing terminals and the estimated positions of each of the multiple processing terminals acquired in step S11.

[0021] A template 40 according to the first embodiment will be described with reference to FIG. Template 40 indicates the relative positions of multiple assumed terminals by lattice points 41, which are the intersections of multiple lines drawn in a lattice pattern. In other words, template 40 indicates the relative positions of multiple assumed terminals by lattice points 41, which are the intersections of multiple equally spaced parallel horizontal lines and multiple equally spaced parallel vertical lines. In the first embodiment, two arrangement patterns of terminals are assumed: a parallel arrangement and a staggered arrangement. The parallel pattern is a pattern in which lattice points are arranged in order in the x-axis direction and the y-axis direction. The staggered pattern is a pattern in which lattice points are arranged alternately in the x-axis direction or the y-axis direction. Templates 40A and 40B in Fig. 4 show examples of parallel patterns when the number N of processing terminals is 6. In template 40A, all six intersections of three horizontal lines and two vertical lines are set to lattice points 41 where terminals are assumed to be placed. In template 40B, all intersections of six horizontal lines and one vertical line are set to lattice points 41. Templates 40C and 40D in Fig. 4 show examples of a staggered pattern when the number N of processing terminals is 6. In templates 40C and 40D, lattice points are arranged alternately in the y-axis direction. Note that the staggered pattern does not have a single horizontal or vertical line due to its shape. In addition, various templates 40 having different numbers of processing terminals are possible, as shown in templates 40E and 40F.

[0022] The template generation unit 21 generates a template 40 based on the number of processing terminals and the range of the estimated position of each of the multiple processing terminals acquired in step S11. Here, the template generating unit 21 generates the template 40 by generating a combination of parameters that represent the template 40. The parameters include the number of columns nx, the number of rows ny, the distances between lattice points Δx and Δy, and the shape parameters αx, αy, and β. The number of columns nx is the number of lines that constitute a lattice point arranged in the x-axis direction. The number of rows ny is the number of lines that constitute a lattice point arranged in the y-axis direction. The distance between lattice points Δx is the distance between lattice points in the x-axis direction. The distance between lattice points Δy is the distance between lattice points 41 in the y-axis direction. The shape parameter αx indicates whether or not a staggered arrangement is formed in the x-axis direction. The shape parameter αy indicates whether or not a staggered arrangement is formed in the y-axis direction. The shape parameters αx and αy are set to a value of 0 or 1. When the shape parameters αx and αy are 0, they represent a parallel arrangement, and when they are 1, they represent a staggered arrangement. The shape parameter β indicates the starting point position in the case of a staggered pattern. In the staggered pattern, lattice points 41 are arranged with an alternating shift, so that the position of the starting point is shifted to the position of the adjacent lattice point 41 when the shape parameter β is 0 as in templates 40C and 40D and when the shape parameter β is 1.

[0023] FIG. 5A shows a template 40 where the parameters are number of columns nx=2, number of rows ny=3, distance between lattice points Δx=2, distance between lattice points Δy=2, shape parameter αx=0, shape parameter αy=0, and shape parameter β=0. FIG. 5B shows template 40 where the parameters are number of columns nx=2, number of rows ny=6, distance between lattice points Δx=2, distance between lattice points Δy=1, shape parameter αx=0, shape parameter αy=1, and shape parameter β=0. FIG. 5C shows a template 40 where the parameters are number of columns nx=2, number of rows ny=6, distance between lattice points Δx=2, distance between lattice points Δy=1, shape parameter αx=0, shape parameter αy=1, and shape parameter β=1.

[0024] Specifically, the template generating unit 21 generates each of the following templates 40 (A) and (B). In the following description, distance Δ(a,b)=a / (b-1). Range w is the range in the x-axis direction within the range of the estimated position. Range h is the range in the y-axis direction within the range of the estimated position. That is, range w=max(X)-min(X) and range h==max(Y)-min(Y). Here, X is the set of x-coordinates of the estimated positions of the processing terminal. Y is the set of y-coordinates of the estimated positions of the processing terminal. Here, it is assumed that the lattice points 41 are arranged without any missing points. Missing lattice points 41 means that some of the regularly arranged lattice points 41 are not arranged.

[0025] (A) Template generation unit 21 identifies one or more combinations of the number of columns nx and the number of rows ny such that the product of the number of columns nx and the number of rows ny is the number N of processing terminals. In other words, nx·ny=N. The template generation unit 21 sets each of the one or more combinations as a target combination. The template generation unit 21 sets the distance Δ(w, nx) for the target combination as the distance between lattice points in the x-axis direction Δx. That is, the template generation unit 21 sets the distance obtained by dividing the range w in the x-axis direction in the range of the estimated position by the value obtained by subtracting 1 from the number of columns nx as the distance between lattice points in the x-axis direction Δx. The template generation unit 21 sets the distance Δ(h, ny) for the target combination as the distance between lattice points in the y-axis direction Δy. That is, the template generation unit 21 sets the distance obtained by dividing the range h in the y-axis direction in the range of the estimated position by the value obtained by subtracting 1 from the number of rows ny as the distance between lattice points in the y-axis direction Δy. Then, the template generating unit 21 sets the shape parameters αx, αy, and β for the target combination to 0, and generates the template 40.

[0026] (B) Template generation unit 21 identifies one or more combinations of the number of columns nx and the number of rows ny such that the product of the number of columns nx and the number of rows ny is twice the number of devices N, twice plus 1, or twice minus 1. In other words, nx·ny=2N, nx·ny=2N±1. The template generation unit 21 sets each of the one or more combinations as a target combination. The template generation unit 21 sets the distance Δ(w, nx) for the target combination as the distance between lattice points in the x-axis direction Δx. That is, the template generation unit 21 sets the distance obtained by dividing the range w in the x-axis direction by the value obtained by subtracting 1 from the number of columns nx as the distance between lattice points in the x-axis direction. The template generation unit 21 sets the distance Δ(h, ny) for the target combination as the distance between lattice points in the y-axis direction Δy. That is, the template generation unit 21 sets the distance obtained by dividing the range h in the y-axis direction by the value obtained by subtracting 1 from the number of rows ny as the distance between lattice points in the y-axis direction Δy. Then, the template generating unit 21 generates templates 40 for all combinations of the shape parameters αx, αy, and β for the target combination.

[0027] For example, assume that the number of devices N is 4. In this case, the parameters (nx, ny, Δx, Δy, αx, αy, β) of the following seven templates 40 (1) to (7) are generated. (1){1,4,0,Δ(h,4),0,0,0} (2){4,1,Δ(w,4),0,0,0,0} (3){2,2,Δ(w,2),Δ(h,2),0,0,0} (4){2,4,Δ(w,2),Δ(h,4),1,0,0} (5){2,4,Δ(w,2),Δ(h,4),1,0,1} (6){4,2,Δ(w,4),Δ(h,2),1,0,0} (7){4,2,Δ(w,4),Δ(h,2),1,0,1}

[0028] Here, it is assumed that the lattice points 41 are arranged without any missing points. If the lattice points 41 are missing in the parallel arrangement, the upper limit of the number of missing points n c It is necessary to generate the template 40 taking into consideration the above. Specifically, for (A), the template generation unit 21 takes into consideration nx·ny=N+n c Then, the template generating unit 21 generates a template 40 for each arrangement of the missing lattice points 41.

[0029] (Step S13 in FIG. 2: Template Optimization Process) The template optimization unit 22 selects the template 40 with the smallest degree of deviation from among one or more templates 40 generated in step S12. At the same time, the template optimization unit 22 optimizes the lattice point interval distances Δx and Δy and the fitting position θ of the template 40 so that the degree of deviation becomes smaller. The degree of deviation is an evaluation value calculated from the distances between the processing terminals and the corresponding lattice points 41 for each of the plurality of processing terminals. For example, the degree of deviation is the total value of the distances between the processing terminals and the corresponding lattice points 41 for the plurality of processing terminals. The fitting position θ indicates the position where the template 40 is associated with the coordinate systems of the plurality of processing terminals. That is, the fitting position θ indicates at which position of the template 40 the reference positions of the coordinate systems of the plurality of processing terminals are located.

[0030] Specifically, the template optimization unit 22 optimizes the lattice point interval distances Δx and Δy and the fitting position θ by solving the optimization problem shown in Equation 1, and selects the template 40 with the smallest degree of deviation among the optimized templates 40. In the following description, the position p^ i of the processing terminal i is p^ i =p^ i -[min(X),min(Y)] T is assumed to have been coordinate-transformed.

Equation

[0031] The template optimization process according to the first embodiment will be described with reference to FIG. By solving the optimization problem shown in Equation 1, the following processes are carried out collectively.

[0032] (Step S131 in FIG. 6: Correspondence Identification Processing) The correspondence identifying unit 221 sets each of the one or more templates 40 generated in step S12 as a target template 40. The correspondence identifying unit 221 matches the multiple processing terminals to the target template 40 based on the estimated positions of each of the multiple processing terminals. In this way, the correspondence identifying unit 221 identifies lattice points 41 in the target template 40 that correspond to each of the multiple processing terminals. Here, the correspondence identifying unit 221 uses the function ζ(p^ i ,Z (0) u ,Z u ) is used to identify, for each of a plurality of processing terminals, the lattice point 41 closest to the processing terminal of interest as the lattice point 41 corresponding to the processing terminal of interest.

[0033] At this time, the initial position of the fitting position θ is set to the reference position of the coordinate system of the template 40. Assuming that the fitting position θ is at the reference position of the coordinate system of the template 40, the correspondence identifying unit 221 identifies lattice points 41 in the target template 40 that correspond to each of the multiple processing terminals.

[0034] (Step S132 in FIG. 6: template correction process) The template correction unit 222 sets each of the one or more templates 40 generated in step S12 as a target template 40. The template correction unit 222 corrects the inter-lattice point distances Δx, Δy and the fitting position θ in the target template 40 so as to minimize the degree of deviation calculated using the evaluation function J, thereby generating a corrected template 42.

[0035] (Step S133 in FIG. 6: template selection process) The template corrector 222 selects the corrected template 42 with the smallest degree of deviation from among the corrected templates 42 generated from each of the one or more templates 40 generated in step S12.

[0036] (Step S14 in FIG. 2: Position correction process) The position correction unit 23 sets each of the plurality of processing terminals as the target processing terminal. Then, based on the grid point 41 corresponding to the target processing terminal in the correction template 42 selected in step S133, the position correction unit 23 corrects the estimated position of the target processing terminal. Specifically, as shown in FIG. 7, the position correction unit 23 corrects the estimated position of the target processing terminal to the position of the grid point 41 corresponding to the target processing terminal in the correction template 42. At this time, the position correction unit 23 corrects the estimated position of the target processing terminal to the position of the grid point corresponding to the target processing terminal when the reference positions of the coordinate systems of the plurality of processing terminals are at the fitting positions in the correction template 42.

[0037] That is, the position correction unit 23 corrects the estimated position as shown in Equation 2 based on the correction template 42 selected in step S133.

Equation

[0038] ***Effects of Embodiment 1*** As described above, the position correction device 10 according to Embodiment 1 corrects the template 40 so that the degree of deviation between the estimated position of the processing terminal and the position of the grid point in the template 40 becomes small, and generates the correction template 42. Then, the position correction device 10 corrects the estimated position based on the correction template 42. As a result, the possibility that the position of the processing terminal is corrected to an incorrect position is reduced, and the position of the processing terminal can be appropriately corrected.

[0039] Further, the position correction device 10 according to Embodiment 1 generates a template 40 with a corresponding arrangement based on the number of processing terminals and the range of the estimated position. As a result, it is possible to correct the estimated position only by fitting to an appropriate template 40 without fitting to a large number of templates 40. As a result, the computational load related to the correction of the estimated position can be reduced.

[0040] ***Other configurations*** <Variation 1> In the first embodiment, the position correction device 10 generates the template 40 having the corresponding arrangement. However, the position correction device 10 may read out the template 40 having the corresponding arrangement from a plurality of templates 40 generated in advance.

[0041] The configuration of a position correction device 10 according to the first modification will be described with reference to FIG. 1 in that the position correction device 10 includes a template reading unit 24 instead of the template generating unit 21 as a functional component. The position correction device 10 also differs from the position correction device 10 shown in FIG. 1 in that the storage 13 realizes the function of the template storage unit 32. The template storage unit 32 stores a plurality of templates 40 that are generated in advance. Note that, instead of the storage 13, a storage device external to the position correction device 10 may realize the function of the template storage unit 32.

[0042] The process of the position correction device 10 according to the first modification will be described with reference to FIG. The process of step S21 is the same as the process of step S11 in Fig. 2. However, the main subject of the process is the template reading unit 24, not the template generating unit 21. The processes of steps S23 and S24 are the same as the processes of steps S13 and S14 in Fig. 2.

[0043] (Step S22 in FIG. 9: template reading process) The template reading unit 24 reads out one or more templates 40 corresponding to the number of processing terminals and the ranges of the estimated positions of each of the multiple processing terminals acquired in step S21 from the template storage unit 32. Specifically, the template reading unit 24 reads out one or more templates 40 generated in (A) and (B) in step S12 of FIG.

[0044] In step S23, the template optimization unit 22 selects the template 40 having the smallest degree of deviation from the one or more templates 40 read out in step S22. In addition, the template optimization unit 22 optimizes the distances Δx, Δy between lattice points of the template 40 and the fitting position θ.

[0045] This makes it possible to obtain the same effects as in the first embodiment.

[0046] <Variation 2> In the first embodiment, each functional component is realized by software. However, as a second modification, each functional component may be realized by hardware. The following describes the second modification, focusing on the differences from the first embodiment.

[0047] When each functional component is realized by hardware, the position correction device 10 includes an electronic circuit instead of the processor 11, the memory 12, and the storage 13. The electronic circuit is a dedicated circuit for realizing the functions of each functional component, the memory 12, and the storage 13.

[0048] The electronic circuits include single circuits, composite circuits, programmed processors, parallel programmed processors, logic ICs, GAs, ASICs, and FPGAs. GA stands for Gate Array. ASIC stands for Application Specific Integrated Circuit. FPGA stands for Field-Programmable Gate Array. Each functional component may be realized by one electronic circuit, or each functional component may be realized by distributing it among a plurality of electronic circuits.

[0049] <Modification 3> As a third modification, some of the functional components may be realized by hardware, and other functional components may be realized by software.

[0050] The processor 11, the memory 12, the storage 13, and the electronic circuitry are collectively referred to as a processing circuit. In other words, the functions of the functional components are realized by the processing circuit.

[0051] Embodiment 2 The second embodiment differs from the first embodiment in that the correction range of the lattice point distances Δx, Δy is limited by utilizing the limitation of the installation interval of the processing terminals. In the second embodiment, this difference will be described, and the description of the same points will be omitted.

[0052] ***Configuration Description*** The configuration of a position correction device 10 according to the second embodiment will be described with reference to FIG. 1 in that the storage 13 realizes the function of the threshold storage unit 33. The threshold storage unit 33 stores a limit range of the installation interval of the processing terminals. The limit range is represented by an upper limit and a lower limit of the installation interval. Note that, instead of the storage 13, a storage device external to the position correction device 10 may realize the function of the threshold storage unit 33.

[0053] ***Explanation of Operation*** 2, the template optimization unit 22 limits the correction range of the lattice point distances Δx, Δy according to the limiting range stored in the threshold storage unit 33. Specifically, the template optimization unit 22 limits the correction range of the lattice point distances Δx, Δy to a range in which the installation interval calculated from the lattice point distances Δx, Δy is equal to or less than the upper limit indicated by the limiting range and equal to or more than the lower limit indicated by the limiting range.

[0054] ***Effects of the second embodiment*** As described above, the position correction device 10 according to the second embodiment limits the correction range of the distances Δx and Δy between lattice points by utilizing the restriction on the installation interval of the processing terminals. This makes it possible to omit calculations for unrealistic distances Δx and Δy between lattice points, and to reduce the calculation load related to the optimization of the template 40. In addition, inappropriate distances Δx and Δy between lattice points are prevented from being used.

[0055] ***Other configurations*** <Variation 4> In the second embodiment, the limit range of the installation interval of the processing terminals is stored in the threshold storage unit 33. The threshold storage unit 33 may store other thresholds related to the processing of the position correction device 10.

[0056] For example, an upper limit value of the deviation may be stored in the threshold storage unit 33. In this case, in step S14 of Fig. 2, the position correction unit 23 determines whether or not the deviation degree for the correction template 42 selected in step S133 of Fig. 6 is less than the upper limit value stored in the threshold storage unit 33. If the deviation degree is less than the upper limit value, the template optimization unit 22 corrects the estimated position as described in the first embodiment. On the other hand, if the deviation degree is equal to or greater than the upper limit value, the template optimization unit 22 stops correcting the estimated position. When the deviation is high, there is a large deviation between the estimated position and the grid points 41 in the correction template 42. Therefore, if the estimated position is corrected based on the correction template 42, the position of the processing terminal may be corrected to an incorrect position, which may actually decrease the accuracy of the position estimation. By stopping the correction using an upper limit value of the deviation, it is possible to prevent the accuracy of the position estimation from decreasing.

[0057] Embodiment 3 The third embodiment differs from the first and second embodiments in that a plurality of processing terminals are classified into a plurality of groups, and the estimated position is corrected for each group. In the third embodiment, this difference will be described, and the description of the same points will be omitted. In the third embodiment, a case will be described in which a function is added to the first embodiment. However, it is also possible to add a function to the second embodiment.

[0058] ***Configuration Description*** The configuration of a position correction device 10 according to the third embodiment will be described with reference to FIG. 1 in that the position correction device 10 includes a dividing unit 25 as a functional component. The function of the dividing unit 25 is realized by software or hardware, like the other functional components. 1 in that the storage 13 realizes the function of the connection relationship storage unit 34. Note that, instead of the storage 13, a storage device external to the position correction device 10 may realize the function of the connection relationship storage unit 34.

[0059] ***Explanation of Operation*** The operation of the position correction device 10 according to the third embodiment will be described with reference to FIGS. An operation procedure of the position correction device 10 according to the embodiment 3 corresponds to a position correction method according to the embodiment 3. Moreover, a program for realizing the operation of the position correction device 10 according to the embodiment 3 corresponds to a position correction program according to the embodiment 3.

[0060] An outline of the operation of the position correction device 10 according to the third embodiment will be described with reference to FIG. FIG. 12 shows an example in which 12 processing terminals are arranged. In FIG. 12, the 12 processing terminals are not arranged in a parallel pattern or a staggered pattern. Therefore, it is difficult to correct the estimated position for 12 processing terminals. However, they are arranged in a parallel pattern for each group of four processing terminals. Therefore, it is possible to correct the estimated position for each group of four processing terminals. Therefore, the position correction device 10 according to the third embodiment classifies a plurality of processing terminals to generate a plurality of groups, and corrects the estimated position for each group.

[0061] With reference to FIG. 13, information stored in the connection relationship storage unit 34 according to the third embodiment will be described. The connection relationship storage unit 34 stores the connection relationship of each processing terminal. In Fig. 13, the connection relationship storage unit 34 stores the connection destination device of each processing terminal. For example, if the processing terminal is an air conditioning indoor unit, the connection destination device may be an air conditioning controller or an air conditioning outdoor unit. Processing terminals connected to the same device are considered to be installed in the same area. The type of connected device depends on the type of processing terminal.

[0062] As a prerequisite for the process of Fig. 2, the division unit 25 classifies the multiple processing terminals to generate multiple groups. Specifically, the division unit 25 identifies the connection relationships between the multiple processing terminals by referring to the information stored in the connection relationship storage unit 34. Then, the division unit 25 classifies the multiple processing terminals based on the connection relationships between the multiple processing terminals to generate multiple groups. 13 is stored in the connection relationship storage unit 34, the division unit 25 classifies processing terminals connected to the same device into the same group as having a connection relationship. As a result, a group of processing terminals with terminal IDs of 1 to 4, a group of processing terminals with terminal IDs of 5 to 8, and a group of processing terminals with terminal IDs of 9 to 12 are generated.

[0063] Then, the process of FIG. 2 is executed for each of the multiple groups as a target group.

[0064] ***Effects of the Third Embodiment*** As described above, the position correction device 10 according to the third embodiment classifies a plurality of processing terminals to generate a plurality of groups, and corrects the estimated position for each group. This makes it possible to appropriately correct the estimated position even if it is difficult to correct the estimated position when all processing terminals are the targets.

[0065] ***Other configurations*** <Variation 5> In the third embodiment, the connection relationship storage unit 34 stores the devices to which each processing terminal is connected. As shown in Fig. 14, the connection relationship storage unit 34 may further store the distance between the devices to which the terminals are connected. The distance may be a ratio scale such as 1 meter, or an ordinal scale such as close or far. The distance is estimated based on information such as radio wave intensity, radio wave arrival angle, and radio wave arrival time. Alternatively, the distance may be measured manually using a laser range finder or a tape measure. The division unit 25 regards processing terminals connected to devices that are close to each other as being installed in the same area, while the division unit 25 regards processing terminals connected to devices that are far away as being installed in different areas.

[0066] 14, it is stored that controller 1 and controller 2 are close, controller 1 and controller 3 are far, and controller 2 and controller 3 are far. Therefore, the processing terminals with terminal IDs 1 to 4 connected to controller 1 and the processing terminals with terminal IDs 5 to 8 connected to controller 2 are considered to be installed in the same area. The processing terminals with terminal IDs 1 to 8 are classified into the same group. On the other hand, the processing terminals with terminal IDs 9 to 12 connected to controller 3 are considered to be installed in a different area from the processing terminals with terminal IDs 1 to 8, and are classified into a different group from the processing terminals with terminal IDs 1 to 8.

[0067] As described above, by using the distance between connected devices, the processing terminals can be classified more accurately.

[0068] In addition, the word "part" in the above description may be read as a "circuit," "step," "procedure," "processing," or "processing circuit."

[0069] The embodiments and modification examples of the present disclosure have been described above. Some of these embodiments and modification examples may be implemented in combination. Also, any one or some of them may be partially implemented. Note that the present disclosure is not limited to the above embodiments and modification examples, and various changes can be made as necessary.

Explanation of Reference Numerals

[0070] 10 Position correction device, 11 Processor, 12 Memory, 13 Storage, 14 Communication interface, 21 Template generation unit, 22 Template optimization unit, 221 Corresponding determination unit, 222 Template correction unit, 23 Position correction unit, 24 Template reading unit, 25 Division unit, 31 Estimated position storage unit, 32 Template storage unit, 33 Threshold storage unit, 34 Connection relationship storage unit, 40 Template, 41 Lattice point, 42 Correction template.

Claims

1. a correspondence identification unit that identifies lattice points in the template that correspond to each of the processing terminals by fitting the processing terminals to the template, the lattice points being the intersections of a plurality of lines drawn in a lattice pattern, based on an estimated position of each of the processing terminals to be located, the lattice points being arranged in an x-axis direction and a y-axis direction, the number of columns nx being the number of lines constituting the lattice points arranged in the x-axis direction, the number of rows ny being the number of lines constituting the lattice points arranged in the y-axis direction, a lattice point distance Δx being the distance between the lattice points in the x-axis direction, and a lattice point distance Δy being the distance between the lattice points in the y-axis direction; a template correction unit that generates a corrected template by correcting the lattice point distance Δx and the lattice point distance Δy, which are distances between lattice points in the template, so that a deviation calculated from a distance between each of the plurality of processing terminals and the corresponding lattice point identified by the correspondence identification unit becomes small; a position correction unit that corrects an estimated position of each of the plurality of processing terminals as a target processing terminal based on a lattice point corresponding to the target processing terminal in the correction template generated by the template correction unit; A position correction device comprising:

2. the correspondence identification unit identifies lattice points in the template corresponding to each of the plurality of processing terminals, assuming that reference positions in a coordinate system of the plurality of processing terminals are at fitting positions in the template; the template correction unit corrects the fitting position so as to reduce the degree of deviation, and generates the corrected template; The position correction unit corrects the estimated position of the target processing terminal to a position of a lattice point corresponding to the target processing terminal when the reference position is at the fitting position in the correction template. The position correction device according to claim 1 .

3. The correspondence identification unit identifies each of the plurality of processing terminals as a target processing terminal, and identifies a lattice point closest to an estimated position of the target processing terminal as a lattice point corresponding to the target processing terminal. The position correction device according to claim 2 .

4. The position correction device further includes: A template generation unit that generates one or more of the templates based on the number of the plurality of processing terminals and the range of the estimated location of each of the plurality of processing terminals. Equipped with the correspondence identification unit identifies lattice points in the target template corresponding to each of the plurality of processing terminals, the one or more templates generated by the template generation unit being a target template; The template correction unit corrects the target template to generate a corrected template; The position correction unit corrects the estimated position of the target processing terminal by using a correction template having a small degree of deviation from among correction templates generated from the one or more templates. The position correction device according to claim 1 .

5. the template generation unit generates the templates corresponding to each of one or more combinations of the number of columns nx and the number of rows ny, where the product of the number of columns nx and the number of rows ny is the number N of the multiple processing terminals, by setting a distance obtained by dividing a range w in the x-axis direction in the range of the estimated position by a value obtained by subtracting 1 from the number of columns nx, as a distance between lattice points in the x-axis direction, and setting a distance obtained by dividing a range h in the y-axis direction in the range of the estimated position by a value obtained by subtracting 1 from the number of rows ny, as a distance between lattice points in the y-axis direction. The position correction device according to claim 4 .

6. The template generation unit For each of one or more combinations of the number of columns nx and the number of rows ny such that the product of the number of columns nx and the number of rows ny is twice the number of vehicles N, a distance obtained by dividing the range w in the x-axis direction by a value obtained by subtracting 1 from the number of columns nx is set as a distance between lattice points in the x-axis direction, and a distance obtained by dividing the range h in the y-axis direction by a value obtained by subtracting 1 from the number of rows ny is set as a distance between lattice points in the y-axis direction, thereby generating the templates corresponding to each of the one or more combinations. The position correction device according to claim 5 .

7. The position correction device further includes: a template reading unit that reads out one or more templates from a plurality of templates stored in a template storage unit based on the number of the plurality of processing terminals and the range of the estimated position of each of the plurality of processing terminals; Equipped with the correspondence identification unit identifies lattice points in the target template corresponding to each of the plurality of processing terminals, with each of the one or more templates read out by the template reading unit as a target template; The template correction unit corrects the target template to generate a corrected template; The position correction unit corrects the estimated position of the target processing terminal by using a correction template having a small degree of deviation from among correction templates generated from the one or more templates. The position correction device according to claim 1 .

8. The template correction unit corrects the distance between the lattice points within a limited range. The position correction device according to claim 1 .

9. The position correction unit stops correcting the estimated position when the deviation degree for the correction template is equal to or greater than an upper limit value. The position correction device according to claim 1 .

10. The position correction device further includes: a division unit that classifies the plurality of processing terminals based on a device connected to each of the plurality of processing terminals to generate a plurality of groups; Equipped with The correspondence identification unit treats each of the plurality of groups generated by the division unit as a target group, matches the plurality of processing terminals classified into the target group to a template, and identifies lattice points in the template. The position correction device according to claim 1 .

11. The division unit classifies the plurality of processing terminals based on a distance between devices to which the plurality of processing terminals are connected, to generate a plurality of groups. The position correction device according to claim 10.

12. a computer, based on an estimated position of each of a plurality of processing terminals to be located, fits the plurality of processing terminals to the template, the template indicating the assumed relative positions of a plurality of terminals by lattice points which are the intersections of a plurality of lines drawn in a lattice pattern, the lattice points being arranged in an x-axis direction and a y-axis direction, the template being set with a number of columns nx which is the number of lines constituting the lattice points arranged in the x-axis direction, a number of rows ny which is the number of lines constituting the lattice points arranged in the y-axis direction, a lattice point distance Δx which is the distance between the lattice points in the x-axis direction, and a lattice point distance Δy which is the distance between the lattice points in the y-axis direction; and a computer generates a corrected template by correcting the lattice point distance Δx and the lattice point distance Δy, which are distances between the lattice points in the template, so that a deviation calculated from a distance between each of the plurality of processing terminals and a corresponding lattice point becomes small; A position correction method in which a computer treats each of the plurality of processing terminals as a target processing terminal and corrects an estimated position of the target processing terminal based on a lattice point in the correction template that corresponds to the target processing terminal.

13. a correspondence specification process for fitting the multiple processing terminals to the template, which indicates the assumed relative positions of multiple terminals using lattice points that are the intersections of multiple lines drawn in a lattice pattern based on the estimated positions of each of the multiple processing terminals to be specified, and in which the lattice points are arranged in x-axis and y-axis directions, a number of columns nx that is the number of lines constituting the lattice points arranged in the x-axis direction, a number of rows ny that is the number of lines constituting the lattice points arranged in the y-axis direction, a lattice point distance Δx that is the distance between the lattice points in the x-axis direction, and a lattice point distance Δy that is the distance between the lattice points in the y-axis direction are set, and the multiple processing terminals are fitted to the template to specify lattice points in the template that correspond to each of the multiple processing terminals; a template correction process for generating a corrected template by correcting the lattice point distance Δx and the lattice point distance Δy, which are distances between lattice points in the template, so that a deviation calculated from a distance between each of the plurality of processing terminals and the corresponding lattice point identified by the correspondence identification process becomes small; a position correction process for correcting an estimated position of each of the plurality of processing terminals as a target processing terminal based on a lattice point corresponding to the target processing terminal in the correction template generated by the template correction process; A position correction program that causes a computer to function as a position correction device that performs the above-mentioned steps.

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