Gate control system, gate system, control method and program

Abstract

This aims to prevent gate malfunctions. [Solution] A gate control system 200 includes a first device 1 having a first transmitting antenna S1 and a first receiving antenna R1, and a second device 2 having a second transmitting antenna S2 and a second receiving antenna R2. The first transmitting antenna S1 transmits a first signal Sg1, the second receiving antenna R2 receives the first signal Sg1, the second transmitting antenna S2 transmits a second signal Sg2 in response to the second receiving antenna R2 receiving the first signal Sg1, and the first receiving antenna R1 receives the second signal Sg2. The first device 1 further includes a position estimator 433 and an output unit 432. The position estimator 433 estimates the position of the second device 2 based on at least one of the phase difference between the first signal Sg1 and the second signal Sg2 and the time difference between the time the first signal Sg1 is transmitted and the time the second signal Sg2 is received. The output unit 432 instructs the gate G1 to be opened when the second device 2 is located within a predetermined area.

Description

[Technical Field]

[0001] The present disclosure relates to a gate control system, a gate system, a control method, and a program, and more particularly to a gate control system, a gate system, a control method, and a program for controlling the opening and closing of a gate. [Background technology]

[0002] The chain gate described in Patent Document 1 has a ball screw installed inside a pair of gateposts arranged opposite each other at a predetermined distance, the upper and lower ends of the ball screw shaft supported by bearings and a drive unit connected to the upper end, chains connected to a connector that rises and falls together with the ball screw nut that rises and falls as the ball screw shaft rotates, and by rotating the ball screw shaft using the drive unit, the chains are raised and lowered between the gateposts to restrict vehicle passage. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-190208 Summary of the Invention [Problem to be solved by the invention]

[0004] In a chain gate (gate) such as that described in Patent Document 1, it is desired to suppress the occurrence of malfunctions of the gate.

[0005] The present disclosure has been made in view of the above circumstances, and aims to provide a gate control system, a gate system, a control method, and a program that can suppress the occurrence of gate malfunctions. [Means for solving the problem]

[0006] A gate control system according to one embodiment of the present disclosure includes a first device that controls the opening and closing of a gate and a second device that is movable relative to the first device. The first device has a first transmitting antenna and a first receiving antenna. The second device has a second transmitting antenna and a second receiving antenna. When the first device and the second device are in a pairing state in which they can wirelessly communicate with each other, the first transmitting antenna transmits a first signal to the second device, the second receiving antenna receives the first signal transmitted from the first transmitting antenna, and the second transmitting antenna transmits a second signal to the first device in response to the second receiving antenna receiving the first signal, and the first receiving antenna receives the second signal transmitted from the second transmitting antenna. The first device further includes a position estimator and an output unit. The position estimation unit estimates the position of the second device based on at least one of a phase difference between the first signal transmitted by the first transmitting antenna and the second signal received by the first receiving antenna and a time difference between a time when the first transmitting antenna transmitted the first signal and a time when the first receiving antenna received the second signal. The output unit outputs an instruction signal to open the gate when the position is within a predetermined area.

[0007] A control method according to one aspect of the present disclosure is a control method for a first device that controls the opening and closing of a gate and a second device that is movable relative to the first device. When the first device and the second device are in a paired state in which they can wirelessly communicate with each other, the control method includes the following steps: a first transmission step of transmitting a first signal from the first device to the second device; a first reception step of receiving the first signal transmitted in the first transmission step by the second device; a second transmission step of transmitting a second signal from the second device to the first device in response to receiving the first signal in the first reception step; and a second reception step of receiving the second signal transmitted in the second transmission step by the first device. The control method further includes a position estimation step and an output step. In the position estimation step, the position of the second device is estimated based on at least one of a phase difference between the first signal transmitted in the first transmission step and the second signal received in the second reception step, and a time difference between the time when the first signal was transmitted in the first transmission step and the time when the second signal was received in the second reception step. In the output step, when the position is in a predetermined region, an instruction signal for instructing the gate to be opened is output.

[0008] A program according to one aspect of the present disclosure is a program for causing a computer system to execute the control method. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to suppress the occurrence of gate malfunctions. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram of a gate system according to one embodiment of the present disclosure. [Figure 2] FIG. 2 is a schematic diagram of the internal structure of the antenna unit of the gate system. [Figure 3] FIG. 3 is a sequence diagram for explaining the operation of the gate system. [Figure 4] FIG. 4 is a sequence diagram for explaining the operation of the gate system. [Figure 5] FIG. 5 is an explanatory diagram for explaining the operation of the gate system. [Figure 6] FIG. 6 is an explanatory diagram for explaining the operation of the gate system. DETAILED DESCRIPTION OF THE INVENTION

[0011] A gate control system 200 according to an embodiment of the present disclosure and a gate system 100 including the gate control system 200 will be described in detail with reference to the drawings. Note that the figures referred to in the following description are schematic diagrams, and the ratios of the sizes and thicknesses of the components in the figures do not necessarily reflect the actual dimensional ratios. Furthermore, the embodiment and modified examples described below are merely examples of the present disclosure, and the present disclosure is not limited to the embodiment and modified examples. Various modifications other than these embodiment and modified examples are possible depending on the design, etc., as long as they do not deviate from the technical concept of the present disclosure.

[0012] (1) Overview First, an overview of the gate control system 200 and the gate system 100 will be described.

[0013] As shown in FIG. 1, the gate control system 200 includes a first device 1 that controls the opening and closing of a gate G1, and a second device 2 that is movable relative to the first device 1.

[0014] The first device 1 has a first transmitting antenna S1 and a first receiving antenna R1.

[0015] The second device 2 has a second transmitting antenna S2 and a second receiving antenna R2.

[0016] When the first device 1 and the second device 2 are in a pairing state in which they can wirelessly communicate with each other, the first transmitting antenna S1 transmits a first signal Sg1 to the second device 2. Furthermore, when the first device 1 and the second device 2 are in a pairing state, the second receiving antenna R2 receives the first signal Sg1 transmitted from the first transmitting antenna S1. Furthermore, when the first device 1 and the second device 2 are in a pairing state, the second transmitting antenna S2 transmits a second signal Sg2 to the first device 1 in response to the second receiving antenna R2 receiving the first signal Sg1. Furthermore, when the first device 1 and the second device 2 are in a pairing state, the first receiving antenna R1 receives the second signal Sg2 transmitted from the second transmitting antenna S2.

[0017] As shown in FIG. 1, the first device 1 further includes a position estimation unit 433 and an output unit (second output unit) 432.

[0018] The position estimation unit 433 estimates the position P1 (see Figures 5 and 6) of the second device 2 based on at least one of the phase difference between the first signal Sg1 transmitted by the first transmitting antenna S1 and the second signal Sg2 received by the first receiving antenna R1, and the time difference between the time when the first transmitting antenna S1 transmitted the first signal Sg1 and the time when the first receiving antenna R1 received the second signal Sg2.

[0019] When the position P1 of the second device 2 is in a predetermined area Ar1 (see FIGS. 5 and 6), the output unit 281 outputs an instruction signal Sg3 that instructs the gate G1 to be opened.

[0020] As shown in FIG. 1, the gate system 100 also includes a gate control system 200 and a gate G1.

[0021] Here, the position estimation unit 433 may estimate the position P1 of the second device 2 as a virtual point, or may estimate that the position P1 is on a virtual circumference that is a certain distance away from the reference position P0.

[0022] With the above configuration, the position P1 of the second device 2 can be estimated with high accuracy compared to when using conventional ranging functions that measure distance based on the strength of the received signal, thereby preventing malfunction of the gate G1, such as the gate G1 being opened when the second device 2 is outside the specified area Ar1.

[0023] (2) Composition The configuration of the gate system 100 according to this embodiment will be described in detail with reference to the drawings.

[0024] 1, 5, and 6, the gate system 100 includes a gate G1 that restricts the entry and exit of a vehicle M1 into a parking lot L1, and a gate control system 200 that controls the opening and closing of the gate G1. Here, the vehicle M1 includes an automobile and a motorcycle. Note that the gate G1 is not limited to being installed in the parking lot L1, as long as it restricts the passage of the vehicle M1.

[0025] The gate control system 200 includes a first device 1 and a second device 2 that is movable relative to the first device 1. As will be described later, the first device 1 and the second device 2 are paired to be able to wirelessly communicate with each other.

[0026] (2.1) Gate 5 and 6, the gate G1 is provided at the entrance / exit of a parking lot L1 of a facility, for example. The gate G1 is switched between an open state and a closed state by a first device 1, which will be described later.

[0027] The gate G1 is, for example, a chain gate. However, the gate G1 is not limited to a chain gate. In other words, the gate G1 may be a shutter, a slat curtain made of a plurality of strip-shaped slat materials, a pipe grill curtain made of a plurality of pipe materials connected by link materials or the like, a panel curtain made of a plurality of panel materials, a net curtain made of a net material, a sheet curtain made of a sheet material made of synthetic resin or cloth fiber, or the like.

[0028] In this embodiment, the gate G1 is, for example, a chain gate. The chain gate has a chain G12 stretched between two gateposts G11 that are installed at a predetermined distance apart so that the vehicle M1 can pass through. The chain G12 is moved up and down by an electric motor, so that the gate can be switched between an open state that allows the vehicle M1 to pass through and a closed state that does not allow the vehicle to pass through.

[0029] (2.2) First device The first device 1 controls the opening and closing of the gate G1.

[0030] 1, the first device 1 includes an antenna unit 3 and a control unit 4, which are connected to each other. In this embodiment, the antenna unit 3 and the control unit 4 are configured as separate entities. However, the antenna unit 3 and the control unit 4 may also be configured as an integrated unit.

[0031] The antenna unit 3 and the control unit 4 are provided, for example, inside a member constituting the gate G1 (for example, a gatepost G11 of a chain gate). At least one of the antenna unit 3 and the control unit 4 may be provided outside the gate G1.

[0032] The antenna unit 3 has a first transmitting antenna S1 and a plurality of (for example, three) first receiving antennas R1 (R11 to R13).

[0033] The first transmitting antenna S1 is an antenna that transmits signals to the second device 2. The first transmitting antenna S1 is, for example, a monopole antenna or a dipole antenna. The first receiving antennas R11 to R13 are antennas that receive signals from the second device 2. The first receiving antennas R11 to R13 are, for example, chip antennas. The first receiving antennas R11 to R13 are arranged spaced apart from each other within the housing of the antenna unit 3. Specifically, as shown in FIG. 2, the first receiving antennas R11 to R13 are arranged spaced apart from each other in an L-shape. The positions of the first receiving antennas R11 to R13 relative to a reference position P0 (see FIGS. 5 and 6) are stored in a storage unit 44 (described later) as, for example, coordinate points with the reference position P0 as the origin. The reference position P0 can be set arbitrarily, for example, to the midpoint of an imaginary line segment connecting the centers of the two gateposts G11 of the gate G1. The reference position P0 may be the position where the first device 1 is installed. Furthermore, the term "coordinate point" in this disclosure includes coordinate points in a Cartesian coordinate system and coordinate points in a polar coordinate system.

[0034] The control unit 4 includes a connection unit 41, a communication unit 42, a control unit 43, and a storage unit 44.

[0035] The connection unit 41 is a connection port that can be connected by wire to the external device 5. The external device 5 is, for example, a personal computer, a tablet terminal, etc. The connection unit 41 may also be a communication interface that can be connected to the external device 5 wirelessly.

[0036] The communication unit 42 is a communication interface that performs wireless communication with the second device 2 via the first transmitting antenna S1 and the first receiving antennas R11 to R13 in accordance with standards such as Bluetooth (registered trademark) Low Energy. In this embodiment, the communication unit 42 performs wireless communication using Bluetooth (registered trademark) Low Energy in accordance with communication standards of Bluetooth (registered trademark) 6.0 or later.

[0037] The control unit 43 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 43 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0038] 1, the control unit 43 has functions such as a first output unit 431, a second output unit 432, a position estimation unit 433, an entry determination unit 434, and an ID determination unit 435. Note that these merely indicate functions realized by the control unit 43 and do not necessarily indicate actual configurations.

[0039] The first output unit 431 generates and outputs the first signal Sg1 and the like to be transmitted to the second device 2 by the communication unit .

[0040] The position estimation unit 433 estimates the position P1 (see FIGS. 5 and 6) of the second device 2 based on the first signal Sg1 and the second signal Sg2 transmitted from the second device 2.

[0041] The entry determination unit 434 determines, based on the position P1 of the second device 2 estimated by the position estimation unit 433, whether the second device 2 has entered a predetermined area Ar1 (see FIGS. 5 and 6).

[0042] The second output unit 432 generates and outputs an instruction signal Sg3 for opening the gate G1 when the second device 2 enters the predetermined area Ar1.

[0043] The ID determination unit 435 determines whether or not there is a registration ID among the multiple registration IDs stored in the memory unit 44 that matches the unique ID included in the advertising signal transmitted from the second device 2. A new registration ID is registered by placing the control unit 4 in registration mode using a master transmitter owned by an administrator of the gate system 100, and transmitting a registration signal from the second device 2 having the new registration ID when the control unit 4 is in registration mode. A registration ID to be deleted is deleted by placing the control unit 4 in deletion mode using the master transmitter, and transmitting a deletion signal from the second device 2 having the registration ID to be deleted when the control unit 4 is in deletion mode.

[0044] The storage unit 44 is configured with a device selected from a ROM (Read Only Memory), a RAM (Random Access Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), etc. The storage unit 44 pre-stores the positions (coordinate points) of the first receiving antennas R11 to R13 relative to the reference position P0, settings related to the control unit 4 such as a predetermined area Ar1, and multiple IDs (registration IDs), etc.

[0045] (2.3)Second device The second device 2 is, for example, a dedicated remote controller carried by a user U1 (see FIGS. 5 and 6) of a vehicle M1 about to pass through gate G1. The second device 2 is movable relative to the first device 1. The user U1 of the vehicle M1 is the driver or a passenger of the vehicle M1. In other words, the second device 2 moves along with the movement of the vehicle M1.

[0046] As shown in FIG. 1, the second device 2 has a second receiving antenna R2, a second transmitting antenna S2, a communication unit 21, a first operating unit 22, a second operating unit 23, an acceleration sensor 24, an alarm unit 25, a battery 26, a voltage detection unit 27, a control unit 28, and a memory unit 29.

[0047] The second receiving antenna R2 is an antenna that receives signals from the first device 1. The second transmitting antenna S2 is an antenna that transmits signals to the first device 1. The second receiving antenna R2 and the second transmitting antenna S2 are, for example, pattern antennas formed on a substrate. Note that the second receiving antenna R2 may also serve as the second transmitting antenna S2.

[0048] The communication unit 21 is a communication interface that performs wireless communication with the first device 1 via the second receiving antenna R2 and the second transmitting antenna S2 in accordance with a standard such as Bluetooth (registered trademark) Low Energy. In this embodiment, the communication unit 21 performs wireless communication using Bluetooth (registered trademark) Low Energy in accordance with the communication standard of Bluetooth (registered trademark) 6.0 or later.

[0049] The first operation unit 22 and the second operation unit 23 are each a portion that receives an operation from the user U1 of the second device 2, and are, for example, push buttons. Note that the first operation unit 22 and the second operation unit 23 are not limited to push buttons, and may be slide switches or the like.

[0050] The acceleration sensor 24 detects the acceleration applied to the second device 2 and outputs the detection result to the control unit 28. The acceleration sensor 24 detects, for example, the acceleration applied in each of three orthogonal axis directions.

[0051] The notification unit 25 notifies the user U1 of the operating state of at least one of the first device 1 and the second device 2. The notification unit 25 has a light emitting unit 251 and a sound output unit 252, for example.

[0052] The light emitting unit 251 has a light source 253 that emits light in accordance with the operating state of at least one of the first device 1 and the second device 2, and a power supply unit 254 that supplies a voltage for causing the light source 253 to emit light.

[0053] The light source 253 is, for example, an LED (Light Emitting Diode).

[0054] The power supply unit 254 includes a boost chopper circuit 255. The boost chopper circuit 255 has a choke coil, a switching element, a rectifier element, and a smoothing capacitor. The boost chopper circuit 255 converts the battery voltage of the battery 26 into a DC voltage higher than the battery voltage and supplies the DC voltage to the light source 253. This reduces the possibility that the light source 253 will not light up when the battery voltage drops.

[0055] The audio output unit 252 includes, for example, a piezoelectric speaker.

[0056] The battery 26 is a power source for the communication unit 21, the control unit 28, the notification unit 25, etc. The battery 26 is, for example, a button battery.

[0057] The voltage detection unit 27 detects the battery voltage of the battery 26 and outputs the detection result to the control unit 28.

[0058] The control unit 28 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 28 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0059] 1, the control unit 28 has functions such as an output unit 281, a mode switching unit 282, and a notification control unit 283. Note that these merely indicate the functions realized by the control unit 28, and do not necessarily indicate actual configurations.

[0060] Output unit 281 generates and outputs second signal Sg2 and the like to be transmitted to first device 1 by communication unit 21.

[0061] The mode switching unit 282 switches the operation mode of the control unit 28 between manual mode and automatic mode in response to operation of the second operation unit 23 by the user U1. Specifically, when the user U1 operates the second operation unit 23 continuously for a predetermined time (e.g., three seconds) or more, the mode switching unit 282 switches the operation mode of the control unit 28. In other words, when the control mode is the manual mode, if the second operation unit 23 is operated continuously for a predetermined time or more, the mode switching unit 282 switches the control mode from the manual mode to the automatic mode. Also, when the control mode is the automatic mode, if the second operation unit 23 is operated continuously for a predetermined time or more, the mode switching unit 282 switches the control mode from the automatic mode to the manual mode.

[0062] When the control mode of the control unit 28 is the manual mode, the gate G1 switches from the closed state to the open state in response to the operation of the first operating unit 22 of the second device 2 by the user U1. When the control mode of the control unit 28 is the automatic mode, the gate G1 automatically switches from the closed state to the open state when the second device 2 enters the predetermined area Ar1. The operation of the gate system 100 when the control unit 28 is in each control mode will be described in detail in "(3) Operation Example."

[0063] The notification control unit 283 controls the notification unit 25 to notify the user U1 of the operating state of at least one of the first device 1 and the second device 2. Specifically, when the battery voltage of the battery 26 detected by the voltage detection unit 27 falls below a predetermined value, the notification control unit 283 controls the notification unit 25 to notify the user U1 of the drop in battery voltage. This allows the user U1 to prompt the user U1 to replace the battery 26. Furthermore, when the mode switching unit 282 switches the operating mode of the control unit 28, the notification control unit 283 controls the notification unit 25 to notify the user U1 that the operating mode of the control unit 28 has been switched. This allows the user U1 to confirm that the operating mode of the control unit 28 has been switched. Note that the operation of the notification unit 25 in these cases includes, for example, at least one of emitting light from the light source 253 and outputting a buzzer sound from the audio output unit 252.

[0064] The storage unit 29 is configured by a device selected from a ROM, a RAM, an EEPROM, etc. The storage unit 29 stores a unique ID assigned to the second device 2 in advance.

[0065] (3) Example of operation Below, we will explain an example of the operation of the gate system 100. In the following explanation, it is assumed that a user U1 of a vehicle M1 about to exit a parking lot L1 (see FIGS. 5 and 6) is carrying the second device 2. Note that the operation of the gate system 100 is the same even when a user U1 of a vehicle M1 about to enter parking lot L1 is carrying the second device 2, and only the traveling direction of the vehicle M1 is different from when exiting.

[0066] In the following description, it is assumed that the gate G1 is initially in a closed state.

[0067] (3.1) Manual mode First, an example of the operation of the gate system 100 when the control mode of the control unit 28 of the second device 2 is the manual mode will be described with reference to the sequence diagram of FIG.

[0068] The user U1 of the vehicle M1 operates (for example, pushes) the first operating unit 22 of the second device 2 at any timing of the user U1 (for example, when the vehicle M1 approaches the gate G1). That is, the first operating unit 22 accepts an operation by the user U1 at any timing (step ST1).

[0069] When the first operation unit 22 accepts the operation of the user U1, the output unit 281 of the second device 2 generates an advertising signal and outputs it to the communication unit 21. Here, the advertising signal includes a unique ID (unique ID) assigned to the second device 2, mode information indicating that the control mode of the control unit 28 is manual mode (not automatic mode), and the like. The communication unit 21 causes the second transmitting antenna S2 to transmit the advertising signal to the first device 1 (step ST2).

[0070] When at least one of the first receiving antennas R11 to R13 of the first device 1 receives an advertising signal transmitted from the second transmitting antenna S2, the ID determination unit 435 determines whether or not there is a registered ID among the multiple registered IDs stored in the memory unit 44 that matches the unique ID included in the advertising signal.

[0071] If there is a registration ID that matches the unique ID included in the advertising signal among the multiple registration IDs stored in the storage unit 44, the first output unit 431 generates a connection request signal and outputs it to the communication unit 42. The communication unit 42 causes the first transmitting antenna S1 to transmit the connection request signal to the second device 2 (step ST3).

[0072] When the second receiving antenna R2 receives the connection request signal transmitted from the first transmitting antenna S1, the first device 1 and the second device 2 enter a state in which they can wirelessly communicate with each other (a pairing state).

[0073] Furthermore, when first device 1 and second device 2 enter a pairing state, notification control unit 283 controls notification unit 25 to notify user U1. Note that the operation of notification unit 25 in this case includes, for example, at least one of emitting light from light source 253 and outputting a buzzer sound from audio output unit 252.

[0074] When the first device 1 and the second device 2 are in a pairing state, the output unit 281 outputs a generation instruction signal to the communication unit 21 to instruct the communication unit 21 to generate an instruction signal Sg3 that instructs the communication unit 21 to open the gate G1. The communication unit 21 causes the second transmitting antenna S2 to transmit the generation instruction signal to the first device 1 (step ST4).

[0075] When at least one of the first receiving antennas R11 to R13 of the first device 1 receives the generation instruction signal transmitted from the second transmitting antenna S2, the second output unit 432 generates an instruction signal Sg3 instructing the gate G1 to open and outputs the instruction signal Sg3 to the gate G1 (step ST5).

[0076] When the instruction signal Sg3 instructing the gate G1 to open is input, the gate G1 lowers the chain G12 and enters an open state (step ST6), thereby allowing the vehicle M1 to exit the parking lot L1.

[0077] When a predetermined time has elapsed since the gate G1 was opened, the chain G12 is raised and the gate G1 is closed.

[0078] (3.2) Automatic mode Next, an example of the operation of the gate system 100 when the control mode of the control unit 28 of the second device 2 is the automatic mode will be described with reference to the sequence diagram of FIG.

[0079] When the operation mode of the control unit 28 is the automatic mode, if the acceleration detected by the acceleration sensor 24 exceeds a threshold value (step ST11), the output unit 281 generates an advertising signal and outputs it to the communication unit 21. The threshold value of the acceleration sensor 24 is stored, for example, in the storage unit 29. Here, the advertising signal includes a vehicle ID unique to the second device 2, mode information indicating that the control mode of the control unit 28 is the automatic mode, and the like. The communication unit 21 causes the second transmitting antenna S2 to transmit the advertising signal to the first device 1 (step ST12).

[0080] When at least one of the first receiving antennas R11 to R13 of the first device 1 receives an advertising signal transmitted from the second transmitting antenna S2, the ID determination unit 435 determines whether or not there is a registered ID among the multiple registered IDs stored in the memory unit 44 that matches the unique ID included in the advertising signal.

[0081] If there is a registration ID that matches the unique ID included in the advertising signal among the multiple registration IDs stored in the storage unit 44, the first output unit 431 generates a connection request signal and outputs it to the communication unit 42. The communication unit 42 causes the first transmitting antenna S1 to transmit the connection request signal to the second device 2 (step ST13).

[0082] When the second receiving antenna R2 receives the connection request signal transmitted from the first transmitting antenna S1, the first device 1 and the second device 2 enter a state (pairing state) in which they can wirelessly communicate with each other. In this way, when the acceleration detected by the acceleration sensor 24 exceeds a threshold, the first device 1 and the second device 2 enter a pairing state. This reduces consumption of the battery 26 compared to when the second device 2 constantly transmits an advertising signal. Note that if the second device 2 does not pair with the first device 1 within a predetermined time after the acceleration sensor 24 detects acceleration exceeding the threshold, the output unit 281 stops outputting the advertising signal.

[0083] When the first device 1 and the second device 2 are in a paired state in which they can wirelessly communicate with each other, the first output unit 431 generates a first signal Sg1, which is a continuous wave having a specific frequency and amplitude information, and outputs it to the communication unit 42. The communication unit 42 causes the first signal Sg1 to be transmitted from the first transmitting antenna S1 to the second device 2 (step ST14).

[0084] When the second receiving antenna R2 receives the first signal Sg1 transmitted from the first transmitting antenna S1, the output unit 281 generates a second signal Sg2 and outputs it to the communication unit 21. The communication unit 21 causes the second transmitting antenna S2 to transmit the second signal Sg2 (step ST15). That is, in response to the second receiving antenna R2 receiving the first signal Sg1, the second transmitting antenna S2 transmits the second signal Sg2 to the first device 1. The second signal Sg2 is a signal having the same frequency and amplitude information as the first signal Sg1.

[0085] The second signal Sg2 transmitted from the second transmitting antenna S2 is received by the first receiving antennas R11 to R13.

[0086] Here, the position estimation unit 433 uses a Channel Sounding function provided in Bluetooth (registered trademark) 6.0 (version 6.0) or later to measure the distance between each of the first receiving antennas R11 to R13 and the second device 2 based on the first signal Sg1 transmitted from the first transmitting antenna S1 and the second signal Sg2 received by each of the first receiving antennas R11 to R13 (step ST16). Here, the Channel Sounding function of Bluetooth (registered trademark) 6.0 or later is a ranging method that estimates the distance between two devices designated as an initiator and a reflector, and is a ranging method that operates in the 2.4 GHz band and exchanges information across up to 72 channels to improve communication reliability and efficiency. In this embodiment, the first device 1 is the initiator, and the second device 2 is the reflector. Note that the position estimation unit 433 may use a Channel Sounding function of another communication standard as long as it has a function equivalent to the Channel Sounding function of Bluetooth (registered trademark) 6.0 or later.

[0087] The Channel Sounding function of Bluetooth (registered trademark) 6.0 and later is characterized by combining phase-based ranging and round trip time-based ranging to perform accurate adjustments across the entire 2.4 GHz band. That is, the transmission and reception of the first signal Sg1 and the second signal Sg2 in steps ST14 and ST15 are repeatedly performed on multiple channels set in the 2.4 GHz band. Here, in phase-based ranging, ranging is performed based on changes in the phase difference between the first signal Sg1 and the second signal Sg2 when the channel changes. The phase difference between the first signal Sg1 and the second signal Sg2 is calculated from the phase of the first signal Sg1 measured by the second device 2 and the phase of the second signal Sg2 measured by the first device 1 (control unit 4). In addition, in round trip time-based ranging, ranging is performed by multiplying the RTT of the first signal Sg1 and the second signal Sg2 measured by the first device 1 (control unit 4) and the second device 2 by the speed of light and dividing the result by 2.

[0088] The position estimation unit 433 uses the Channel Sounding function of Bluetooth (registered trademark) 6.0 or later to perform phase-based ranging based on the phase difference between the first signal Sg1 and the second signal Sg2 received by the first receiving antenna R11, thereby measuring the distance (first distance) between the first receiving antenna R11 and the second device 2. The position estimation unit 433 also uses the Channel Sounding function of Bluetooth (registered trademark) 6.0 or later to perform round-trip time-based ranging based on the time difference between when the first transmitting antenna S1 transmits the first signal Sg1 and when the first receiving antenna R11 receives the second signal Sg2, thereby measuring the first distance. The position estimation unit 433 determines the first distance based on the measurement value of the first distance measured by phase-based ranging and the measurement value of the first distance measured by round-trip time-based ranging. The position estimation unit 433 may measure the first distance based on either phase-based ranging or round-trip time-based ranging.

[0089] Similarly, the position estimation unit 433 performs phase-based ranging based on the phase difference between the first signal Sg1 and the second signal Sg2 received by the first receiving antenna R12, and measures the distance (second distance) between the first receiving antenna R12 and the second device 2. The position estimation unit 433 also performs round-trip time-based ranging based on the time difference between when the first transmitting antenna S1 transmits the first signal Sg1 and when the first receiving antenna R12 receives the second signal Sg2, and measures the second distance. The position estimation unit 433 determines the second distance based on the measurement value of the second distance measured by phase-based ranging and the measurement value of the second distance measured by round-trip time-based ranging. The position estimation unit 433 may measure the second distance based on either phase-based ranging or round-trip time-based ranging.

[0090] Similarly, the position estimation unit 433 performs phase-based ranging based on the phase difference between the first signal Sg1 and the second signal Sg2 received by the first receiving antenna R13, and measures the distance (third distance) between the first receiving antenna R13 and the second device 2. The position estimation unit 433 also performs round-trip time-based ranging based on the time difference between when the first transmitting antenna S1 transmits the first signal Sg1 and when the first receiving antenna R13 receives the second signal Sg2, and measures the third distance. The position estimation unit 433 determines the third distance based on the measurement value of the third distance measured by phase-based ranging and the measurement value of the third distance measured by round-trip time-based ranging. The position estimation unit 433 may measure the third distance based on either phase-based ranging or round-trip time-based ranging.

[0091] Here, the position estimation unit 433 may measure the first distance, the second distance, and the third distance sequentially or simultaneously.

[0092] Next, the position estimation unit 433 estimates the position P1 of the second device 2 by three-point positioning based on the positions (coordinate points) of the first receiving antennas R11 to R13 relative to the reference position P0, the first distance, the second distance, and the third distance (step ST17). Here, the position P1 of the second device 2 is estimated as, for example, the coordinate point of the second device 2 relative to the reference position P0. That is, the position estimation unit 433 estimates the position P1 of the second device 2 based on at least one of the phase difference between the first signal Sg1 transmitted by the first transmitting antenna S1 and the second signal Sg2 received by each of the first receiving antennas R11 to R13, and the time difference between the time when the first transmitting antenna S1 transmitted the first signal Sg1 and the time when each of the first receiving antennas R11 to R13 received the second signal Sg2. Here, the Channel Sounding function (or an equivalent ranging function) of Bluetooth (registered trademark) 6.0 or later enables more accurate ranging than conventional ranging functions that measure ranging based on the strength of received signals. Therefore, by using the Channel Sounding function of Bluetooth (registered trademark) 6.0 or later (or a ranging function equivalent to the Channel Sounding function of Bluetooth (registered trademark) 6.0 or later, such as UWB (ultra-wideband) wireless communication, AoA, or AoD), the position estimation unit 433 can measure the first distance, the second distance, and the third distance more accurately, and can estimate the position of the second device 2 with higher accuracy. Furthermore, by using the Channel Sounding function of Bluetooth (registered trademark) 6.0 or later (or an equivalent ranging function), the risk of gate system 100 being subjected to a man-in-the-middle attack such as a relay attack can be reduced.

[0093] When the position estimation unit 433 estimates the position P1 of the second device 2, the entry determination unit 434 determines whether the position P1 of the second device 2 is within a predetermined area Ar1 (see FIGS. 5 and 6). The predetermined area Ar1 is set, for example, to a circular area centered on the reference position P0. Note that the predetermined area Ar1 can be set arbitrarily. For example, the predetermined area Ar1 can be set by a user, such as an administrator of the gate system 100, operating the external device 5 connected to the connection unit 41. This can improve user convenience.

[0094] The estimation of the position P1 of the second device 2 by the position estimation unit 433 and the determination of whether the position P1 of the second device 2 is in the predetermined area Ar1 by the entry determination unit 434 are repeatedly performed at predetermined time intervals.

[0095] The entry determination unit 434 determines that the second device 2 has entered the predetermined area Ar1 when the position P1 of the second device 2 changes from being outside the predetermined area Ar1 (see Figure 5) to being within the predetermined area Ar1 (see Figure 6) (step ST18).

[0096] When the position P1 of the second device 2 is in the predetermined area Ar1 and the entry determination unit 434 determines that the second device 2 has entered the predetermined area Ar1, the second output unit 432 generates an instruction signal Sg3 to open the gate G1 and outputs the instruction signal Sg3 to the gate G1 (step ST19).

[0097] When the instruction signal Sg3 is input, the gate G1 lowers the chain G12 and enters an open state (step ST20). This allows the vehicle M1 to exit the parking lot L1. As described above, the gate control system 200 of this embodiment can estimate the position P1 of the second device 2 with high accuracy compared to a conventional gate control system that uses a distance measurement function that measures distance based on the strength of the received signal. This makes it possible to prevent the gate G1 from malfunctioning, such as opening the gate G1 when the second device 2 is outside the predetermined area Ar1.

[0098] Thereafter, when the position P1 of the second device 2 moves from inside the predetermined area Ar1 to outside the predetermined area Ar1, the entry determination unit 434 determines that the second device 2 has left the predetermined area Ar1.

[0099] When the entry determination unit 434 determines that the second device 2 has exited the predetermined area Ar1, the second output unit 432 outputs an instruction signal to the gate G1 to instruct the gate G1 to close.

[0100] When a command signal to close gate G1 is input, gate G1 raises chain G12 and enters the closed state, thereby reducing the possibility that other vehicles will exit or enter parking lot L1 together with vehicle M1.

[0101] (4) Variations The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, functions similar to those of the gate control system 200 according to the above embodiment may be embodied in a control method for the first device 1 and the second device 2, a (computer) program, or a non-transitory recording medium on which a computer program is recorded.

[0102] A control method according to one aspect is a control method for a first device 1 that controls the opening and closing of a gate G1, and a second device 2 that is movable relative to the first device 1. The control method includes, when the first device 1 and the second device 2 are in a pairing state in which they can wirelessly communicate with each other, a first transmission step of transmitting a first signal Sg1 from the first device 1 to the second device 2, a first reception step of receiving the first signal Sg1 transmitted in the first transmission step by the second device 2, a second transmission step of transmitting a second signal Sg2 from the second device 2 to the first device 1 in response to receiving the first signal Sg1 in the first reception step, and a second reception step of receiving the second signal Sg2 transmitted in the second transmission step by the first device 1. The control method further includes a position estimation step and an output step. In the position estimation step, the position of the second device 2 is estimated based on at least one of the phase difference between the first signal Sg1 transmitted in the first transmission step and the second signal Sg2 received in the second reception step, and the time difference between the time when the first signal Sg1 was transmitted in the first transmission step and the time when the second signal Sg2 was received in the second reception step. In the output step, when the position P1 is within a predetermined area Ar1, an instruction signal Sg3 instructing the gate G1 to open is output.

[0103] A program according to one aspect is a program for causing a computer system to execute the above control method.

[0104] Modifications of the embodiment are listed below. The above embodiment and the modifications described below can be applied in appropriate combinations. In the modifications described below, components common to the above embodiment are designated by the same reference numerals, and their description will be omitted.

[0105] (4.1) Variation 1 The entry determination unit 434 may estimate the speed of the second device 2 in addition to determining whether the second device 2 has entered the predetermined area Ar1.

[0106] In detail, the entry determination unit 434 may estimate the speed of the second device 2 from the change over time in the position P1 of the second device 2 estimated by the position estimation unit 433, and determine whether the second device 2 is being carried by a user U1 riding in the vehicle M1 based on the estimated speed of the second device 2.

[0107] More specifically, when the estimated speed of the second device 2 is equal to or greater than a predetermined speed, the entry determination unit 434 determines that the second device 2 is carried by the user U1 who is riding in the vehicle M1. The predetermined speed can be set by a user, such as an administrator of the gate system 100, operating the external device 5 connected to the connection unit 41.

[0108] In addition, when the estimated speed of the second device 2 is less than a predetermined speed, the entry determination unit 434 determines that the second device 2 is not carried by the user U1 riding in the vehicle M1, that is, that the second device 2 is carried by the user U1 who is walking.

[0109] When the entry determination unit 434 determines that the second device 2 has entered the predetermined area Ar1 and that the second device 2 is being carried by a user U1 in the vehicle M1, the second output unit 432 outputs an instruction signal Sg3 to open the gate G1 to the gate G1. This reduces the possibility of erroneously opening the gate G1 to a user U1 who is walking while carrying the second device 2.

[0110] (4.2) Variation 2 When the position P1 of the second device 2 is estimated as a coordinate point relative to the reference position P0 as in the above embodiment, the predetermined area Ar1 is not limited to a circular area and can be set to a fan-like, polygonal, or other shape. In this case, the predetermined area Ar1 may be set to a different shape inside the parking lot L1 than outside the parking lot L1. For example, the predetermined area Ar1 set outside the parking lot L1 is set to be narrower than the predetermined area Ar1 set inside the parking lot L1. This allows the vehicle M1 attempting to enter the parking lot L1 to approach the gate G1 more closely, thereby reducing the possibility of the vehicle M1 obstructing traffic outside the parking lot L1.

[0111] (4.3) Variation 3 The second device 2 may further include a connection unit, which is, for example, a connection port to which an external device 5 can be connected via a wire. The external device 5 is, for example, a personal computer, a tablet terminal, etc. The connection unit included in the second device 2 may be a communication interface to which the external device 5 can be connected wirelessly.

[0112] By operating the external device 5 connected to the connection part of the second device 2, the user U1 can set the notification mode (e.g., the light color and light pattern of the light source 253, the sound output from the sound output part 252) when the notification part 25 notifies the user U1 of the operating state of at least one of the first device 1 and the second device 2. Furthermore, by operating the external device 5 connected to the connection part of the second device 2, the user U1 can switch the operation mode of the control part 28 between a manual mode and an automatic mode.

[0113] (4.4) Variation 4 In the above embodiment, the second device 2 is a remote controller dedicated to the gate control system 200. However, the second device 2 may be a general-purpose information terminal on which a dedicated program is installed. The information terminal may be, for example, a wearable terminal such as a smartphone or a smart watch, or a tablet terminal. This can improve the versatility of the gate control system 200.

[0114] (4.5) Variation 5 The first device 1 can be simultaneously paired with a plurality of second devices 2, provided that the number does not exceed a maximum number (for example, five). If the number of second devices 2 paired with the first device 1 exceeds the maximum number, the first device 1 maintains the pairing state with the greatest number of second devices 2 that are closest to the reference position P0 among the plurality of second devices 2, and cancels pairing with the other second devices 2.

[0115] (4.6) Variation 6 In the above embodiment, the initiator of the Channel Sounding function is the first device 1 and the reflector is the second device 2. However, the initiator may be the second device 2 and the reflector may be the first device 1. In this case, the second device 2 may be provided with a plurality of second receiving antennas R2 spaced apart from one another. Furthermore, the control unit 28 of the second device 2 may have the functions of the position estimation unit 433 and the entry determination unit 434 of the above embodiment. The estimation result of the position estimation unit 433 and the determination result of the entry determination unit 434 may be transmitted from the second device 2 to the first device 1, and the first device 1 may control the gate G1 based on the estimation result of the position estimation unit 433 and the determination result of the entry determination unit 434 transmitted from the second device 2.

[0116] (4.7) Variation 7 The antenna unit 3 may have one first receiving antenna R1. In this case, the position estimation unit 433 estimates that the position P1 of the second device 2 is on a virtual circle that is a certain distance away from the reference position P0.

[0117] (4.8) Other Modifications All or part of the functions realized by the control section 43 of the control unit 4 may be realized by a computer system (such as a server) provided at a location remote from the gate G1.

[0118] The gate control system 200 of the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The functions of the gate control system 200 of the present disclosure are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), and ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmable after the LSI is manufactured, or logic devices that allow the reconfiguration of internal connections or circuit partitions within the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0119] (5) Summary As described above, the gate control system (200) of the first aspect includes a first device (1) that controls the opening and closing of a gate (G1) and a second device (2) that is movable relative to the first device (1). The first device (1) has a first transmitting antenna (S1) and a first receiving antenna (R1). The second device (2) has a second transmitting antenna (S2) and a second receiving antenna (R2). When the first device (1) and the second device (2) are in a pairing state in which they can wirelessly communicate with each other, the first transmitting antenna (S1) transmits a first signal (Sg1) to the second device (2). When the first device (1) and the second device (2) are in a pairing state in which they can wirelessly communicate with each other, the second receiving antenna (R2) receives the first signal (Sg1) transmitted from the first transmitting antenna (S1). Furthermore, when the first device (1) and the second device (2) are in a pairing state, the second transmitting antenna (S2) transmits a second signal (Sg2) to the first device (1) in response to the second receiving antenna (R2) receiving the first signal (Sg1). Furthermore, when the first device (1) and the second device (2) are in a pairing state, the first receiving antenna (R1) receives the second signal (Sg2) transmitted from the second transmitting antenna (S2). The first device (1) further includes a position estimation unit (433) and an output unit (432). The position estimation unit (433) estimates the position (P1) of the second device (2) based on at least one of the phase difference between the first signal (Sg1) transmitted by the first transmitting antenna (S1) and the second signal (Sg2) received by the first receiving antenna (R1) and the time difference between the time when the first transmitting antenna (S1) transmitted the first signal (Sg1) and the time when the first receiving antenna (R1) received the second signal (Sg2). The output unit (432) outputs an instruction signal (Sg3) to open the gate (G1) when the position (P1) of the second device (2) is within a predetermined area (Ar1).

[0120] According to this embodiment, compared to using a conventional ranging function that measures distance based on the strength of the received signal, the position (P1) of the second device (2) can be estimated with high accuracy, thereby preventing malfunction of the gate (G1), such as the gate (G1) being opened when the second device (2) is outside the specified area (Ar1).

[0121] In the gate control system (200) of the second aspect, the second device (2) in the first aspect further includes an acceleration sensor (24). When the acceleration detected by the acceleration sensor (24) exceeds a threshold, the first device (1) and the second device (2) enter a pairing state.

[0122] According to this embodiment, consumption of the battery (26) can be reduced compared to when the second device (2) constantly transmits an advertising signal.

[0123] In the gate control system (200) of the third aspect, in the first or second aspect, the first device (1) has a plurality of first receiving antennas (R1). The plurality of first receiving antennas (R1) are arranged at a distance from one another. The position estimation unit (433) estimates the position of the second device (2) based on at least one of the phase difference between the first signal (Sg1) transmitted by the first transmitting antenna (S1) and the second signal (Sg2) received by each of the plurality of first receiving antennas (R1), and the time difference between the time when the first transmitting antenna (S1) transmitted the first signal (Sg1) and the time when each of the plurality of first receiving antennas (R1) received the second signal (Sg2).

[0124] According to this embodiment, the position (P1) of the second device (2) can be estimated more accurately.

[0125] In a gate control system (200) of a fourth aspect, in any one of the first to third aspects, the second device (2) further includes a light source (253) that emits light in accordance with the operating state of at least one of the first device (1) and the second device (2), and a power supply unit (254) that supplies a voltage for causing the light source (253) to emit light. The power supply unit (254) includes a step-up chopper circuit (255).

[0126] According to this embodiment, it is possible to reduce the possibility that the light source (253) will not light up when the battery voltage drops.

[0127] In a gate control system (200) of a fifth aspect, in any of the first to fourth aspects, the second device (2) further includes a battery (26), a voltage detection unit (27) that detects the voltage of the battery (26), and an alarm unit (25) that notifies a user (U1) of the drop in voltage when the voltage detected by the voltage detection unit (27) falls below a predetermined value.

[0128] According to this embodiment, the user U1 can be prompted to replace the battery 26.

[0129] In the gate control system (200) of the sixth aspect, in any one of the first to fifth aspects, at least one of the first device (1) and the second device (2) further includes a connection part (41) to which an external device (5) can be connected. The predetermined area (Ar1) can be set by a user operating the external device (5) connected to the connection part (41).

[0130] According to this aspect, it is possible to improve convenience for the user.

[0131] In the gate control system (200) of the seventh aspect, in any one of the first to sixth aspects, the second device (2) is a general-purpose information terminal in which a dedicated program is installed.

[0132] According to this embodiment, the versatility of the gate control system (200) can be improved.

[0133] The gate system 100 of the eighth aspect includes the gate control system (200) of any one of the first to seventh aspects and a gate (G1).

[0134] According to this embodiment, compared to using a conventional ranging function that measures distance based on the strength of the received signal, the position (P1) of the second device (2) can be estimated with high accuracy, thereby preventing malfunction of the gate (G1), such as the gate (G1) being opened when the second device (2) is outside the specified area (Ar1).

[0135] A ninth aspect of the control method is a control method for a first device (1) that controls the opening and closing of a gate (G1) and a second device (2) that is movable relative to the first device (1). The control method includes, when the first device (1) and the second device (2) are in a pairing state in which they can wirelessly communicate with each other, a first transmission step of transmitting a first signal (Sg1) from the first device (1) to the second device (2), a first reception step of receiving the first signal (Sg1) transmitted in the first transmission step by the second device (2), a second transmission step of transmitting a second signal (Sg2) from the second device (2) to the first device (1) in response to receiving the first signal (Sg1) in the first reception step, and a second reception step of receiving the second signal (Sg2) transmitted in the second transmission step by the first device (1). The control method further includes a position estimation step and an output step. In the position estimation step, the position (P1) of the second device (2) is estimated based on at least one of the phase difference between the first signal (Sg1) transmitted in the first transmission step and the second signal (Sg2) received in the second reception step, and the time difference between the time when the first signal (Sg1) was transmitted in the first transmission step and the time when the second signal (Sg2) was received in the second reception step. In the output step, when the position (P1) is in a predetermined area (Ar1), an instruction signal (Sg3) instructing the gate (G1) to open is output.

[0136] According to this embodiment, compared to using a conventional ranging function that measures distance based on the strength of the received signal, the position (P1) of the second device (2) can be estimated with high accuracy, thereby preventing malfunction of the gate (G1), such as the gate (G1) being opened when the second device (2) is outside the specified area (Ar1).

[0137] A program according to a tenth aspect is a program for causing a computer system to execute the control method according to the ninth aspect.

[0138] According to this embodiment, compared to using a conventional ranging function that measures distance based on the strength of the received signal, the position (P1) of the second device (2) can be estimated with high accuracy, thereby preventing malfunction of the gate (G1), such as the gate (G1) being opened when the second device (2) is outside the specified area (Ar1). [Explanation of symbols]

[0139] 1 1st device 2 Second device 5 External device 24 Acceleration sensor 25. Information Department 26 Batteries 27 Voltage detection section 41 Connection 200 Gate Control System 253 Light source 254 Power Supply Unit 255 Boost chopper circuit 432 Second output unit (output unit) 433 Position estimation part Ar1 area G1 Gate P1 position R1 First receiving antenna R2 Second receiving antenna S1 First transmitting antenna S2 Second transmitting antenna Sg1 1st signal Sg2 2nd signal Sg3 instruction signal U1 User

Claims

1. a first device for controlling the opening and closing of the gate; a second device movable relative to the first device; the first device has a first transmitting antenna and a first receiving antenna; the second device has a second transmitting antenna and a second receiving antenna; When the first device and the second device are in a pairing state in which they can wirelessly communicate with each other, the first transmitting antenna transmits a first signal to the second device; the second receiving antenna receives the first signal transmitted from the first transmitting antenna; the second transmitting antenna transmits a second signal to the first device in response to the second receiving antenna receiving the first signal; the first receiving antenna receives the second signal transmitted from the second transmitting antenna; The first device is a position estimation unit that estimates a position of the second device based on at least one of a phase difference between the first signal transmitted by the first transmitting antenna and the second signal received by the first receiving antenna and a time difference between a time when the first transmitting antenna transmits the first signal and a time when the first receiving antenna receives the second signal; and an output unit that outputs an instruction signal to instruct the gate to be opened when the position is in a predetermined area. Gate control system.

2. the second device further comprises an acceleration sensor; When the acceleration detected by the acceleration sensor exceeds a threshold, the first device and the second device enter the pairing state. The gate control system of claim 1 .

3. the first device has a plurality of the first receiving antennas; the plurality of first receiving antennas are spaced apart from one another, the position estimation unit estimates the position of the second device based on at least one of a phase difference between the first signal transmitted by the first transmitting antenna and the second signal received by each of the plurality of first receiving antennas, and a time difference between a time point when the first transmitting antenna transmits the first signal and a time point when each of the plurality of first receiving antennas receives the second signal; 3. The gate control system according to claim 1 or 2.

4. The second device is a light source that emits light in response to an operating state of at least one of the first device and the second device; a power supply unit that supplies a voltage for causing the light source to emit light, the power supply unit includes a boost chopper circuit, 3. The gate control system according to claim 1 or 2.

5. The second device is Batteries and a voltage detection unit that detects the voltage of the battery; and a notification unit that notifies a user of a drop in voltage when the voltage detected by the voltage detection unit falls below a predetermined value.

3. The gate control system according to claim 1 or 2.

6. At least one of the first device and the second device further includes a connection section to which an external device can be connected; the predetermined area can be set by a user operating the external device connected to the connection unit; 3. The gate control system according to claim 1 or 2.

7. the second device is a general-purpose information terminal on which a dedicated program is installed; 3. The gate control system according to claim 1 or 2.

8. A gate control system according to claim 1 or 2, and the gate. Gate system.

9. A method for controlling a first device that controls opening and closing of a gate and a second device that is movable relative to the first device, The control method includes, when the first device and the second device are in a pairing state in which they can wirelessly communicate with each other, a first transmitting step of transmitting a first signal from the first device to the second device; a first receiving step in which the second device receives the first signal transmitted in the first transmitting step; a second transmitting step of transmitting a second signal from the second device to the first device in response to receiving the first signal in the first receiving step; a second receiving step in which the first device receives the second signal transmitted in the second transmitting step; The control method includes: a position estimating step of estimating a position of the second device based on at least one of a phase difference between the first signal transmitted in the first transmitting step and the second signal received in the second receiving step and a time difference between a time point at which the first signal was transmitted in the first transmitting step and a time point at which the second signal was received in the second receiving step; and an output step of outputting an instruction signal instructing the gate to be opened when the position is in a predetermined region. Control method.

10. A control method for causing a computer system to execute the control method according to claim 9. program.

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